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FX3U-20SSC-H USER`S MANUAL
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1. CH O For details on the STOP command refer to Section 7 4 E For details on the related parameters control data and monitor data refer to Section 9 13 a 1 Operation n i Acceleration Deceleration 3 time geg 7 p time aximum spee om Speed a EEN S 5 f 2g table No 2 S 3 d speed A table No 3 table No 1 information 4 d Speed Speed information information Position _ a ei Position OAO Position F information information Ti gt ON Ime START commana OFF 5 ae ON ON Positioning completion ST or 1 Set the operation information speed information and position address information for each table 2 When activating the START command at the table operation start number with the specified multi speed operation the 20SSC H starts the positioning operation from the designated table number The positioning completion signal is turned OFF 3 The operation continuously executes the table positioning until the END command above figure Kiowa OD 4 The work piece decelerates to stop at the specified position address in the table before the END command When the operation ends the positioning completion signal turns ON ejep pue uolesnByuoo POINT D e In multi speed operation preparation for the next table number operation is performed simultaneously with 33 the current operation SE If a travel distance to shift th
2. Model name of connector Applicable cable UL 1061 recommended AXW1204A AWG22 0 3Mmm2 AXW7221 NETT AXY52000 AXW62001A Crimp tool Housing Contact 2 Terminal block 1 Terminal block by Mitsubishi Electric For the specification and internal circuit of the terminal block refer to the following respective PLC manual Refer to the FX3U Hardware Edition Refer to the FX3uc Hardware Edition Japanese document only Model name Application and remarks FX 16E TB Converts input connector to terminal block 2 Terminal layout of FX 16E TB connected to input connector For the pin array of the input connector refer to Subsection 3 5 1 Y START X A S S 1 X 6B X DOG S S Y A GIS Y B Y DOG S S 1 The S S terminal is connected inside FX 16E TB 28 5 Wiring FX3U 20SSC H Positioning Block User s Manual 5 2 Power Supply Wiring 5 2 Power Supply Wiring UONONPO U 5 2 1 Power supply wiring QW SE 23 g fa SE 3 e g say 24V DC os l SE Class D grounding SE Power on timing The 20SSC H power supply should be turned ON simultaneously or before the PLC main unit Before turning the power OFF ensure the safety of the system and then simultaneously turn the main unit 2OSSC H and other extension equipment the special extension equipment is included OFF For details refer to the following respective PLC manual u
3. Operation speed The actual operation speed is decided by the following calculation formulas Operation speed 1 x Override setting Operation speed 2 x Override setting The actual operation speed 1 and operation speed 2 can be changed using the operation speed change function except under the following conditions e During deceleration operation from operation speed 2 e When the speed change disable during operation signal is ON 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 4 2 speed Positioning Operation 3 Address Specification The absolute relative address can be specified With the specified absolute address Specifies a target address position using address 0 as the base With the specified relative address Specifies a travel distance from the current address UO ONPOJ U sch 4 Rotation Direction With the specified absolute address The rotation direction depends on whether the target address 1 and 2 are larger or smaller than the current address With the specified relative address The rotation direction is decided by the sign positive negative of target address 1 and 2 wasis N uoleinBiyuoo Note LA If the moving directions of target address 1 and target address 2 are not the same as follows a reverse operation is performed immediately after the deceleration stop at target address 1 UOOBUUOD jdwex4 With the specified absolute address when the sign difference between t
4. 2 Select the interrupt 1 speed constant quantity feed from the operation patterns and activate the START command to start the interrupt 1 speed constant quantity feed above figure The positioning completion signal is turned OFF 3 At interrupt input INTO ON the work piece moves at the operation speed 1 to the target address 1 where the operation ends and the positioning completion signal turns ON Note The travel distance for target address 1 must be larger than the deceleration distance to stop If the travel distance for target address 1 is smaller the work piece decelerates as much as possible and the operation stops For details refer to Subsection 7 10 2 2 Operation speed The actual operation speed is operation speed 1 x override setting Operation speed 1 can be changed using the operation speed change function except under the following conditions e During deceleration operation e When the speed change disable during operation signal is ON 86 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 3 Interrupt 1 speed Constant Quantity Feed 3 Address specification Specified addresses are handled as relative addresses travel distance from the current address The absolute relative address specification is ignored UO ONPOJ U sch 4 Rotation Direction The sign of the target address decides the operation direction Operates in the direction that increases the current value Whe
5. FROM TO instruction etc t 20SSC H Monitor data Control data Positioning parameter Servo parameter Table information SSCNET III cable Emergency stop input signal Upper limit signal Lower limit signal Servo amplifier MR J3 B FX 16E 150CAB R Connector attached flat cable for connecting terminal block with FX programmable logic controller FX 16E TB Terminal block Servo amplifier Emergency stop input signal MR J3 B Upper limit signal Lower limit signal START input X axis Y axis DOG input X axis Y axis Interrupt input X axis Y axis _ Manual pulse generator A B phase division input X axis Y axis MR Configurator PC Model name FX3U 20SSC H FX3uU FX3UC PLC GX Developer FX Configurator FP MR Configurator PC USB cable DOS V FX USB AW F2 232CAB 1 RS 232C cable FX 232AWC H FX 422CAB0 Servo amplifier MR J3 OB Inside panel standard code MR J3BUS OM SSCNET III cable Long distance cable MR J3BUS OM B Terminal block FX 16E TB FX 16E ICAB I O cable FX 16E LICAB R 18 Remarks PLC programming software Setting Monitoring software for setting or monitoring the servo parameters positioning parameters and table information Servo amplifier set up software Connection cable between FX PLC and PC PC connection cable and
6. FX3U 20SSC H Positioning Block User s Manual 11 1 Positioning Parameters 11 1 12 Zero return speed Creep BFM 14027 14026 BFM 14227 14226 This parameter sets the mechanical zero return operation speed creep DOG Stopper 1 2 For details on the mechanical zero return refer to Section 8 1 BFM 14227 Setting range 1 to 2 147 483 647 user unit 14226 Set the value within 1 to 50 000 000Hz in converted pulse data BFM Number Default BFM 14027 14026 K100 000 1 Refer to the section shown below for details on the user units and converted pulse data Refer to Section 7 9 Note e Set the zero return speed creep at or below the maximum speed and zero return speed high speed When the zero return speed creep exceeds the maximum speed the 20SSC H operates at the maximum speed e Set the speed as slow as possible to achieve the best stop position accuracy 11 1 13 Mechanical zero point address BFM 14029 14028 BFM 14229 14228 This parameter sets the current value address at zero return operation completion After mechanical zero return completion the 2OSSC H writes the current address to this parameter For details on the mechanical zero return refer to Section 8 1 BFM 14229 Setting range 2 147 483 648 to 2 147 483 647 user unit 14228 Set the value within 2 147 483 648 to 2 147 483 647PLS in converted pulse data BFM Number
7. 2 The work piece suddenly stops when the STOP command or limit switch turns ON during deceleration stop operation interpolation time constant uononpou In individual axis operation Speed A Maximum speed 7 wasis N uoleinBiyuoo Operation speed LA om F a Cd SS Time 5 Real sudden stop deceleration time lt 1 p Sudden stop deceleration time 4 Real deceleration time lt gt lt gt Deceleration time S D 5 ON OFF STOP command In simultaneous two axis operation interpolation operation Buum QI Speed A Maximum speed S Operation speed Kioway OF Di CH 5 a3 oe r D o O 5 Real sudden stop interpolation time constant gt k Sudden stop interpolation time constant gt Interpolation time constant lt Dune 10j g STOP some P Oomu03 yenueyy OO 01 U0D Buuonisog QO esst uoesedo ap 49 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 6 Changing During Operation Operation Speed Target Address 7 6 Changing During Operation Operation Speed Target Address 7 6 1 Changing the operation speed with the override function This function is possible to change the operation speed at an arbitrary timing through the override setting value 0 1 to 3000 0 For the related parameters control data and monitor
8. Describes FX3UC Series PLC specification for I O FX3UC Series wiring and installation extracted from the FX3uUC Supplied Hardware Manual User s Manual Hardware Edition Manual Only Japanese A For details refer to FX3UC Series Users Manual i document Hardware Edition Only Japanese document FX3UC Series Additional User s Manual Describes FX3UC Series PLC specification details Hardware Edition JY997D11601 for I O wiring installation and maintenance 09R513 Manual Only Japanese Only Japanese document document Programming for FX3u F X3uc Series FX3uU FX3UC Series Additional Programming Manual S Manual Basic amp Applied eee Instruction Edition Manuals for FX3U 20SSC H Positioning Block the FX3U 20SSC H User s Manual A Supplied FX3u 20SSC H JY997D21101 Manual Installation Manual For details refer to FX3U 20SSC H User s Manual ee ee JY997D21301 Describes FX3u 20SSC H Positioning block details 09R622 Manual User s Manual Supplied FX Configurator FP JY997D21801 Describes operation details of FX Configurator FP 09R916 Manual Operation Manual Configuration Software AC Servo Related Manual Additional MR J3 OB SH 030051 Explains parameters and the detailed specifications Manual Instruction Manual for MR J3 OB servo amplifier Additional Explains installation procedures to conform with IB67339 EMC Directives and fabrication method of control Model code Describes FX3u FX
9. Interrupt stop Ver 1 10 or later Multi speed operation Linear interpolation Linear interpolation interrupt stop Circular interpolation Mechanical zero return 1 When interpolation operations are consecutively repeated in a table operation the 20OSSC H provides continuous pass operation For details on continuous operation refer tosection 10 10 10 1 2 Types of table information and number of registered tables Type of table information Table number X axis table information 0 to 299 Y axis table information 0 to 299 XY axis table information 0 to 299 105 UON ONPOJ U wasis N uoieJnsiuoo LA Uo2euu07 9jdwex 3 uo ejlesu Ja Bui QI Kiowey Gd eyep pue uolesnByuoo Onu07 Buiuonisod Guies esojog N lo uo9 yenueyy OO 01 U0D Buuonisog QO D ler D O O D o O 5 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 1 Outline of Table Operation 10 1 3 Table information setting items Setting item Operation information Position information x y Speed information fx f fy Circle information i r j m code e 3 information 1 The operation information in the buffer memory has numerical value settings for instructions Type of table information Content X Y XY axis axis axis Sets a positioning operation in the table operation along with a current address change etc No processing Cir
10. Name Remark X axis Y axis Input Error reset X010 STOP X001 X011 Forward rotation limit X002 X012 Use external wiring with NC Reverse rotation limit X003 X013 contacts Forward rotation JOG X004 X014 Reverse rotation JOG X005 X015 Mechanical zero return command X016 1 X017 X021 X023 START command Selection of 1 speed positioning operation soysoubeiq OO Selection of table operation individual Selection of table operation simultaneous Control data gt 1 speed Positioning operation M100 OU x je Interrupt 1 speed constant quantity feed M1 M101 Sg 2 speed Positioning operation 2 M102 SZ Interrupt 2 speed constant quantity feed M3 M103 a Interrupt stop M M104 a Variable speed operation M M105 B Operation pattern Manual pulse generator M M106 ae selection Linear interpolation operation M M107 g A O R 8 8 R wu 5 Linear interpolation interrupt stop o M108 5 operation M109 M110 M111 M111 to M115 Always OFF Table operation individual z Table operation simultaneous M10 Reciprocal movement instruction Not available M11 to M15 z lt lt lt X X X Xx x lt A N OINI Error reset M20 M120 STOP M21 M121 Forward rotation limit M22 M122 Reverse rotation limit M23 M123 Forward rotation JOG M124 Reverse rotation JOG M125 Mechanical zero return command M126 Not available M127 Always OFF Relative absolute address specification M28 M128 Operation command 1 M129 Simulta
11. Travel time lt desired deceleration Hme 1 For the relation between the time for the actual deceleration and the specified time for desired deceleration refer to the following Refer to Section 7 2 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 10 Cautions for Positioning Operation 2 Ifthe travel distance of the second speed is small If the travel time at the second speed is smaller than the time 1 needed to decelerate from the operation speed 2 deceleration is started from operation speed 1 If the travel distance at the second speed is zero the operation decelerates to stop for the travel distance to be the target address 1 as if it were a 1 speed positioning operation No error is caused Desirred deceleration time Speed Trapezoidal control Kl Target address 2 Operation CR GE speed 1 S 7 Approximate S shaped control Time Start Travel lt desired deceleration time 4 For the relation between the time for the actual deceleration and the specified time for desired deceleration refer to the following Refer to Section 7 2 4 Linear interpolation operation If the time necessary for the travel distance target address 1 is smaller than the acceleration deceleration time the actual operation speed does not reach the command speed 5 Linear interpolation operation interrupt stop If the time necessary for the travel distance target a
12. Use the product within the generic environment specifications described in section 3 1 of this manual Never use the product in areas with excessive dust oily smoke conductive dusts corrosive gas salt air Cl2 H2S SO2 or NO2 flammable gas vibration or impacts or exposed to high temperature condensation or rain and wind If the product is used in such conditions electric shock fire malfunctions deterioration or damage may occur Do not touch the conductive parts of the product directly to avoid failure or malfunctions Install the product securely using a DIN rail or mounting screws Install the product on a flat surface If the mounting surface is rough undue force will be applied to the PC board thereby causing nonconformities When drilling screw holes or wiring make sure cutting or wiring debris does not enter the ventilation slits Failure to do so may cause fire equipment failures or malfunctions Be sure to remove the dust proof sheet from the PLC s ventilation port when installation work is completed Failure to do so may cause fire equipment failures or malfunctions Make sure to attach the terminal cover offered as an accessory before turning on the power or initiating operation after installation or wiring work Failure to do so may cause electric shock The product can be connected on the right side of the main unit or extension unit block To connect to the FX3uc PLC or FX2Nc PLC extension block the FX2NC CNV I
13. Y axis reverse rotation limit X013 Y axis forward rotation JOG X014 Y axis reverse rotation JOG X015 Y axis mechanical zero return X016 RUN monitor M8000 RUN monitor M8000 Y axis start command X017 Y axis positioning at 1 step speed M100 FNC 12 DMOV FNC 12 DMOV i FNC 12 Y axis table operation individual To next page 170 10000000006 12 Program Example 12 4 Sequence Program From previous page U0 G600 U0 G602 U0 G621 Simultaneous start flag In this example always OFF M31 X axis m code OFF command X axis change command in operation disable In this example always OFF X axis speed change command in positioning control In this example always OFF X axis target position change command in positioning control In this example always OFF Always OFF Y axis error reset Y axis STOP Y axis forward rotation limit Y axis reverse rotation limit Y axis forward rotation JOG Y axis reverse rotation JOG Y axis mechanical zero return command Always OFF Y axis relative absolute address specification Y axis START command Target address 1 for Y axis 1 speed positioning D601 D600 BFM 601 600 Operation speed 1 for Y axis 1 speed positioning D603 D602 BFM 603 602 Table operation start No for Y axis D621 BFM 621 To next page 12 Program Example FX3U 20SSC H Positioning Block User s Manual 12 4 Sequence Program 2 From pre
14. 0 X input X opr Y input Y opr 1 X input Y opr 2 X input X and Y opr Buum QI Pulse generator magnification BFM 525 524 numerator BFM 625 624 Pulse generator magnification BFM 527 526 denominator BFM 627 626 Pulse generator magnification response Ver 1 10 or later BFM 628 BFM 528 ejep pue uolesnByuoo Pulse generator magnification input selection Ver 1 10 or later BFM 529 ou Gd Monitor data 2 147 483 648 to 2 147 483 647 BFM 101 100 an user unit Current address user BFM 1 0 Current address pulse BFM 3 2 BFM 103 102 2 147 483 648 to 2 147 483 647PLS 85 ve pulse generator current ET GES BEM 113 112 2 147 483 648 to 2 147 483 647PLS 3 Q gJ oi O WM WA gmr o Se Ke The sign is positive for an increasing count while BFM 115 114 the sign is negative for a decreasing count 100 000 to 100 000Hz Manual pulse generator input BFM 15 14 frequency 1 For user units refer to the following Refer to Section 7 9 J01 Uu09 jenue 01 U0D Buuonisog QO uoesedo ap 83 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 1 Functions Available with Each Positioning Operation 9 Positioning Control This chapter describes the control of each positioning operation For table operation control refer to the following chapter For details on the table operation re
15. 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 4 Control Data 11 4 Control Data The control data is user specified data for controlling the positioning system For X axis BFM 500 to 599 For Y axis BFM 600 to 699 Caution Do not use unlisted BFMs for changing values not described in this section 11 4 1 Target address 1 BFM 501 500 BFM 601 600 This data item sets a target position or travel distance for the positioning operation distance as the target address 1 BFM Number Description BFM Setting range 2 147 483 648 to 2 147 483 647 User unit 601 600 Set the value within 2 147 483 648 to 2 147 483 647 PLS in the converted pulse data 1 Refer to the section shown below for details on the user units Default BFM 501 500 Refer to Section 7 9 Note e The positioning operation differs as follows depending on the procedure to specify the absolute address or relative address With absolute address travels from the current position to the target position The rotation direction depends on whether target address 1 is larger or smaller than the current address With relative address moves by the specified travel distance from the current position The rotation direction depends on the target address sign e The units of the value are user specified and include the position data magnification 11 4 2 Operation s
16. 15302 PRU E GEN 97 PNG patiery warning SE Always OFF p For manufacturer setting ZSP zero speed For manufacturer setting For manufacturer setting CDPS selecting a variable gain For manufacturer setting ABSV losing the absolute position ii 12 to 3F For manufacturer setting A Always OFF in speed control mode B Becomes SA speed achieved in speed control mode C Never specify the values for the manufacturer setting Specify a signal assigned output to the CN3 9 connector of the servo amplifier 010110 C Select CN3 9 pin output device Always OFF RDY ready ON RD servo ON ALM error INP In position G MBR electronic brake interlock DB external dynamic brake TLC torque is limited BFM BFM Output signal device Ee 15103 15303 EFSER RENE Geen oo eaten Warning SP Always OFF p For manufacturer setting ZSP zero speed For manufacturer setting For manufacturer setting CDPS selecting a variable gain For manufacturer setting ABSV losing the absolute position 12 to 3F For manufacturer setting A Always OFF in speed control mode RB Becomes SA speed achieved in speed control mode C Never specify the values for the manufacturer setting 133 Description Default wh welbold WM Aowaw yng jdwex4 sonsou eiqg QO gt elle pue sia oweled jo sr LU UOIEWWJOJU UOISIO
17. 5 Rotation Direction With the specified absolute address The rotation direction depends on whether the position address information is larger or smaller than the current address With the specified relative address The rotation direction is decided by the sign positive negative of position address information 94 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 9 Linear Interpolation Operation 9 9 Linear Interpolation Operation UO ONPOJ U sch For details on the operation speed change refer to Section 7 6 For details on the torque limit refer to Subsection 7 8 3 For details on the STOP command refer to Section 7 4 For details on the related parameters control data and monitor data refer to Section 9 13 wasis INQ CH 1 Operation Interpolation Interpolation a Y axis time constant time constant So Speed ee i 7 Target address 1 a K 3 X Y axis Z Maximum speed Sin F oes Vector speed D operation speed 1 5 of X axis Target address 1 4 X Y axis gt X axis Time 5 ON 2 START command OFF 3 CH l ON ON Positioning completion a OFF o 1 Set the operation speed 1 for the X axis and the target address 1 for the X Y axis Buum QI 2 Select the linear interpolation operation from the X axis and Y axis operation patterns and turn ON the START command for the X axis The linear interpolation operation shown above will
18. Circular Interpolation Operation When setting a different pulse rate feed rate X axis and pulse rate feed rate Y axis during interpolation operation If the 2OSSC H version is earlier than Ver 1 20 Circular arcs are deformed if the ratio of the pulse rate to the feed rate differs between the X axis and the Y axis Set ratios that are the same for the pulse rate to the feed rate for the X axis and the Y axis If the 20SSC H version is Ver 1 20 or later Set the interpolation gear ratio selection function in the X axis Y axis if the ratio of the pulse rate to the feed rate differs between the X axis and the Y axis Interpolation gear ratio selection The 20SSC H Ver 1 20 or later supports this method Use the interpolation gear ratio selection function when setting different pulse rate feed rate X axis and pulse rate feed rate Y axis during interpolation operation Sets the interpolation gear ratio selection To apply this function set BFM 14002 b14 in the operation parameter 2 to ON X axis Y axis 7 Before Starting Positioning Operation 7 11 Related parameter control data and monitor data FX3U 20SSC H Positioning Block User s Manual 7 11 Related parameter control data and monitor data BFM number X axis Item Description Y axis Positioning parameters EE ON Operation for remaining distance p STOP mode BFM 14000 b15 BFM 14200 b15 OFF End of positioning control parameter 1 SE initial setting
19. LA Uo2euu07 9jdwex 3 Note To refrain from using the software limit specify the software limit settings as shown below e Software limit upper Software limit lower e Software limit upper lt Software limit lower uomeIgieu Ja Cautions for use of software limit 1 The software limit is invalid under the following control a Mechanical zero return control b Current value change c Ring counter setting Ver 1 10 or later Buum QI 2 The limit error of the software limit is changed at the starting and end points of the operation Therefore the specified upper or lower software limit may be exceeded in circular interpolation control In this case deceleration does not occur even if the software limit is exceeded If there is a possibility of overshoot beyond the software limit install an external limit switch Kiowa OD Y axis Deceleration does not occur D CH 3 0 a 3 oe zb Y oi O Y axis stroke _ limit Arc address End point address Dune aiojag P Starting point address X axis Oomu03 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 45 7 4 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 4 Handling the STOP command Handling the STOP command 46 When the STOP command of 20SSC H turns ON during positioning operation the servomotor decelerates to stop When stopped by the STOP command the following
20. Ver 1 20 or later ch Received target speed av Ver 1 20 or later BFM 27 26 BFM 127 126 2 147 483 648 to 2 147 483 647 user unit Zero return BEM 28 b3 BEM 128 b3 OFF Zero return is being executed complete ON Zero return is completed This parameter turns OFF at the start of each operation at errors and turns ON at normal operation end but Status does not turn ON in STOP operations in the following pene End of positioning BFM 28 b6 BEM 128 b6 SE EE SE HERE JOG operation Mechanical zero return data set type Manual pulse generator operation Variable speed operation J01 Uu09 jenue QD OO SS Servo status End of positioning BFM 63 bO BFM 163 bO GER DS Ge EE e on i 7 7 Ca Servo parameters Extended Function selection BFM 15080 BFM 15280 0 Motor Z phase pass when power on is necessary setting C 4 1 Motor Z phase pass when power on is unnecessary 1 0 1 For user units refer to the following a Refer to Section 7 9 z E S 2 77 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 2 JOG Operation 8 2 JOG Operation 8 2 1 Outline of JOG operation 1 JOG operation Forward pulses are output in the forward JOG mode while reverse pulses are output in the reverse JOG mode Acceleration time Deceleration time 1 1 E lt gt Maximum speed lt _ gt Travel by current address a JOG speed user 1 l JOG comm
21. Y axis Default BFM 14029 14028 KO 1 Seta value within the range from 0 to the ring value during the ring operation 2 Refer to the section shown below for details on the user units and converted pulse data Refer to Section 7 9 11 1 14 Zero phase signal count BFM 14030 BFM 14230 124 This parameter sets the number of zero phase signal counts in the mechanical zero return operation DOG Stopper 1 The mechanical zero return ends at the specified number of zero phase signal count For details on the mechanical zero return refer to Section 8 1 BFM Number Description BFM 14230 Setting range 0 to 32767 PLS Default BFM 14030 Note e With the value 0 set in mechanical zero return operation DOG the 20SSC H immediately stops when the zero phase signal count starts In this case the operation abruptly stops from the zero return speed creep high speed Observe the following items to protect peripheral devices from damage Set the zero return speed creep as slow as possible for safety Change the trigger of the zero point signal count at the DOG backward end Design the DOG to allow the machine to gently decelerate to the zero return speed creep before the zero phase signal count 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 1 Positioning Parameters 11 1 15 Zero return mode BFM 14031
22. a Servo warning code BEM 68 BEM 168 The warning detected by the servo amplifier is stored 3 O Refer to subsection 13 2 24 S 13 2 2 Howto reset an error After detecting and removing the cause of the error reset the error by performing an error reset How to reset an error 1 Turn the following bit from OFF to ON by the sequence program or by the GX Developer BFM number Item Content When this turns ON at an error an error reset is performed and the following information is cleared Error occurrence BFM No BFM 6 BFM 106 Error reset BFM 518 bO BFM 618 bO Status information Error occurrence BFM 28 b5 BFM 128 b5 Error code BFM 29 BFM 129 Refer to subsection 11 4 10 Control data 2 Perform an error reset with FX Configurator FP Point e Ata servo parameter error Correct the servo parameter save the correct parameter to the 20SSC H flash memory and reboot the 20SSC H and servo amplifier e Alarms and warnings detected on the servo amplifier The servo amplifier requires a reboot depending on the content of the alarm and warning For details on countermeasures refer to subsection 13 2 3 and 13 2 4 175 FX3U 20SSC H Positioning Block User s Manual 13 Diagnostics 13 2 Check Error Code 13 2 3 Error code list BFM 29 X axis BFM 129 Y axis When an error occurs an error code is stored in decimal to BFM 29 X axis and BFM 129 Y axis Error Error categ
23. manual pulse generator operation OFF 4 v4 v Manual pulse generator input IJUUUUUUUEUE LU UU UU k End of positioning LOFE gt S READY O uo ejlesu Ja Note e The manual pulse generator inputs the pulses in two phases A B phase Buum QI e The positioning completion flag does not turn ON e When reaching the forward reverse rotation limit during forward reverse rotation the work piece stops immediately and a forward reverse rotation limit error occurs Perform reverse rotation if the forward rotation limit is ON or perform forward rotation if the reverse rotation limit is ON to cancel a limit switch ON state Immediate stop at the forward Forward rotation rotation limit ON pulse output Koway OF Operation speed eyep pue uolesnByuoo Forward rotation limit OFF ON a Error occurrence D EE Perform reverse rotation manual pulse generator e Forward rotation manual pulse D amp operation or perform JOG operation to cancel a generator operation is invalid 200 limit error a 3 Q e The manual pulse generator inputs two phase pulses A B phase at 1 edge count Only a differential output type manual pulse generator is connectable Operation from the manual pulse generator is always counted The current MPG input value is applicable to monitor the pulses from the MPG when the operation is not in MPG mode J01 Uu09 jenue B phase i l 1 1 1 4 01 U0D Bul
24. subsection 11 1 GEN Zero signal count 0 to 32767 PLS K1 subsection 11 14230 g u as Appendix A 4 Positioning parameters List 1 3 191 vm EH weibod WM Aouait Ioung wh 9jdwex 3 1 D vi Wei O LO J0 3S pue sia oweled LU UOIEWUJOJU UOISIO FX3U 20SSC H Positioning Block User s Manual BFM 14031 BFM 14032 BFM 14035 14034 BFM 14037 14036 BFM 14038 BFM 14040 BFM 14044 BFM 14101 14100 BFM 14102 BFM 14104 BFM 14106 192 Appendix A LIST OF PARAMETERS AND DATA Appendix A 4 Positioning parameters List DOG Data set Stopper 1 Stopper 2 BFM number D ibtion Setti Default Ref escription Setting range eference Zeroreummode Selects zero return mode KO HEES BFM 44231 Zero return mode K5000 subsection 11 1 16 BFM Servo end evaluation Sets upper limit of software limit 2 147 483 648 to 2 147 483 647 user unit A CH Software limit upper subsection 11 1 17 Sets lower limit of software limit 2 147 483 648 to 2 147 483 647 user unit BFM E 14238 Torque limit value 1 to 10000 x0 1 BFM Zero return torque limit bO Use not use FLS RLS signal servo amplifier b1 Use not use DOG signal of servo amplifier PE External input selection orps Uprava anG 14244 b8 FLS RLS signal logic of servo amplifier b9 DOG signal logic of servo amplifier b15 to b10 Not available Ring counter upper li
25. value BFM 1 0 a 100 Current address user 2 147 483 648 to 2 147 483 647 user unit 1 Decimal subsection 11 3 1 BFM 3 2 Se 102 Current address pulse 2 147 483 648 to 2 147 483 647 PLS pen o subsection 11 3 2 BFM Torque limit storing l BFM 5 4 105 104 value 1 to 10000 x0 1 pen subsection 11 3 3 BFM 6 BFM 106 Error BFM number Stores error BFM number Decimal subsection 11 3 4 bO START terminal input ON b1 DOG terminal input ON INTO terminal input ON BFM 7 BFM 107 Terminal information INT1 terminal input ON Bit subsection 11 3 5 oA terminal input ON Ab terminal input ON b15 to b6 Not available bO FLS terminal input ON Servo terminal b1 RLS terminal input ON BFM 8 BFM 108 toen b2 DOG terminal input ON Bit subsection 11 3 6 b15 to b3 Not available BFM 9 BFM 109 Stores m code number which is ON Decimal subsection 11 3 7 BFM BFM Operation speed present EE 11 10 111 110 value 0 to 2 147 483 647 user unit Decimal subsection 11 3 8 BFM BFM Manual pulse generator 13 12 113 112 input current value 2 147 483 648 to 2 147 483 647 PLS pen subsection 11 3 9 BFM BFM Manual pulse generator 15 14 115 114 input frequency 100000 to 100000Hz Gem subsection 11 3 10 BFM 16 BFM 116 pa et amen Stores the number of the table in operation pen subsection 11 3 11 BFM 17 LC Version information Example In Ver 1 00 K100 is stored Decimal subsection 11 3 12 BE
26. 24VDC Pins that have the same name Pins that have the same name S S are shorted inside S S are shorted inside X START START input terminal for X axis Y START START input terminal for Y axis Caution The pin array is seen from the connection side aperture side of the input connectors of the 20SSC H The pin numbers and the position of a vary depending on the connectors for user cables Perform proper wiring while paying attention to the position of notches and the direction of connectors Otherwise the product may be damaged due to wiring mistakes 3 5 2 Power supply connector Sg O 3 Grounding Green Ll 2 O Black Hio O 1 Red 23 a uononpou wasis N Q O Q p O jdwex4 uonosuuoy uo ejlesu Ja Buum QI Kioway OF ejep pue uoneinByuoo Onu07 Buiuonisod Guies esojog N lo uo9 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 4 Installation FX3U 20SSC H Positioning Block User s Manual Installation 4 INSTALLATION PRECAUTIONS ak DANGER 24 e Make sure to cut off all phases of the power supply externally before attempting installation or wiring work Failure to do so may cause electric shock INSTALLATION PRECAUTIONS CAUTION Connect the extension cables peripheral device cables input output cables and battery connecting cable securely to their designated connectors Unsecured connection may cause malfunctions
27. 7 10 1 Overlapped specification Of operation mode 63 7 10 2 When the travel distance is small 63 7 10 3 Cautions for interpolation operaton 66 7 11 Related parameter control data and monitor data 67 8 Manual Control 70 8 1 Mechanical Zero Return Control 2c asia ee OS ee Se ee ee 70 8 1 1 Outline of mechanical Zero return Control 70 6 1 2 DOG type mechanical Zero return ees eebe ee Eege eh ed geen ads 71 8 1 3 Data set type mechanical Zero return ccccscccsssccecesceeceececcseeceuseeeeceececsuececsueessusesseusessegseeesoas 73 8 1 4 Stopper type mechanical Zero retum 74 8 1 5 Related parameters control data and monitor data 76 9 2 SOG OD SRAUOM BEE 78 82 1 Ouuine Of JOG Operation asa ea et ee See eee erate 78 8 2 2 Changing the speed during JOG operation nnnesennnaennnesnneeesntreesrrnssrrrnerrrrrrsrrrrrrrrrresrreesrrrreene 79 8 2 3 Related parameters control data and monitor data 80 FX3U 20SSC H Positioning Block User s Manual Table of Contents 8 3 Manual pulse generator operation ccccccceccccecceeeeceeeeeeeeseeeeseeeeeeeeseeeeseeeseeeeseeseeeeseesaneeseeeeaeeess 81 8 3 1 Outline of manual pulse generator operation cccccccccseccccseeeeceeeeeeseeeceeeeeceeecesseecesseeeesseeessanes 81 8 3 2 Current Manual pulse input value ccc cccecceceeeceeecesseeeeeseeeeeseeeeeseeeeeseaeeseaacessuaeessuaeesaeeaeeesaes 82 8 3 3 Input frequency of Manual pulse generator cece eee ccceeecceaeeec
28. Feedback position 10 V 1 x 108 PLS S Bus voltage 8 V 400 V BFM BFM 15073 15273 Analog monitor 2 ESP output DUO D P oO OO d OD Ob oO MA O A Encoder pulse unit B Outputs 8 V as the maximum torque C Can be used for the absolute position detection system BFM BFM PC11 Analog monitor 1 Set the offset voltage of the analog monitor 1 M01 output 15074 15274 offset Setting range 999 to 999 mV BFM BFM PC12 Analog monitor 2 Set the offset voltage of the analog monitor 2 M02 output 15075 15275 offset Setting range 999 to 999 mV Select the home position setting condition in the absolute position BFM BFM PC17 Function selection 15080 15280 C 4 detection system 0 Need to pass motor Z phase after power on 1 Not need to pass motor Z phase after power on 132 11 2 Servo Parameters Default H0000 H0001 KO KO K1 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 2 Servo Parameters 11 2 4 Servo parameters I O setting BFM Number Servo Amplifier X axis Parameter No Specify a signal assigned output to the CN3 13 connector of the servo amplifier 0 0 Select CN3 13 pin output device Always OFF RDY ready ON RD servo ON ALM error INP In position a MBR electronic brake interlock DB external dynamic brake TLC torque is limited BFM BFM Output signal device a Warning 15102
29. ON Interrupt input INT1 OFF Positioning ON ON completion OFF 1 Set the operation speed 1 operation speed 2 and target address 1 2 Select the Interrupt 2 speed constant quantity feed from the operation patterns and activate the START command to start the Interrupt 2 speed constant quantity feed above figure The positioning completion signal is turned OFF 3 At interrupt input INTO ON the work piece starts accelerating decelerating to the operation speed 2 4 At interrupt input INT1 ON the work piece moves at the operation speed 2 to the target address 1 and the operation ends turning ON the positioning completion signal Note e Interrupt input is detected in the order of INTO and INT1 e The travel distance for target address 1 must be larger than the deceleration distance to stop If the travel distance for target address 1 is smaller the work piece decelerates as much as possible and the operation stops For details refer to Subsection 7 10 2 Operation speed The actual operation speed is decided by the following calculation formulas Operation speed 1 x Override setting Operation speed 2 x Override setting The actual operation speed 1 and operation speed 2 can be changed using the operation speed change function except under the following conditions e During deceleration operation from operation speed 2 e When the speed change disable during operation signal is ON Address specif
30. The positioning completion signal is turned OFF 3 At interrupt input INTO ON before target address 1 the work piece decelerates to stop and the operation ends turning the positioning completion signal ON When the interrupt input INTO does not turn ON before target address 1 the work piece decelerates to stop at target address 1 and the operation ends turning the positioning completion signal ON Noway OF ejep pue uolesnByuoo 2 Operation Speed The actual operation speed is operation speed 1 x override setting D Operation speed 1 can be changed using the operation speed change function except under the following w conditions 2 8 e During deceleration operation EE e When the speed change disable during operation signal is ON a 3 Address Specification 8 The absolute relative address can be specified With the specified absolute address Specifies a target address position using address 0 as the base 3 With the specified relative address Specifies a travel distance from the current address a 3 4 Rotation Direction With the specified absolute address The rotation direction depends on whether the target address 1 is larger or smaller than the current address With the specified relative address The rotation direction is decided by the sign positive negative of target address 1 D OD O CH D DI Les CH 91 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9
31. The unit is ready This bit is set upon completion of 20SSC H boot up after power on It is kept in ON state until the power is turned off All buffer memory values become valid after the bit is set Transferring servo parameters is in progress This bit is ON state while transferring servo parameters with a b10 transfer command It is automatically cleared upon completion of the transfer For details on the servo parameters transfer refer to Subsection 11 4 11 Saving data into flash memory is in progress e This bit is ON while saving buffer memory data into flash b11 memory e When finished storing the data the bit is cleared For details on storing buffer memory into flash memory refer to Subsection 11 4 15 139 jdwex4 ech welbold WM Aowaw yng soysoubeiq GA gt epeq pue sia oweled Jo SI LU UOIEWWJOJU UOISIO 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual BFM Number Bit Description Value Format Default Initialization of buffer memory is in progress e This bit is ON while initializing data in buffer memories b12 e When finished initializing the data the bit is cleared For details on initializing buffer memory refer to Subsection 11 4 15 Changing speed is in progress e This bit is set upon receiving a speed change command b13 e Cleared upon completion of the speed change For details on the operation speed change command
32. Ver 1 10 or later The response is faster as the set value is smaller The set value can be changed even during operation Caution An error may occur when the response is drastically changed from low to high or from high to low while the manual pulse generator is operating e One manual pulse generator can control both the X and Y axes by setting the manual pulse generator input selection Ver 1 10 or later The table below shows set values of the manual pulse generator input selection Set value Contents of operation of each axis 0 Operates the X axis by X axis input and operates the Y axis by Y axis input 1 Operates the X axis by X axis input Y axis input is not used 2 Operates both the X and Y axes by X axis input 8 3 2 Current manual pulse input value The current number of total input pulses from the manual pulse generator is stored 8 3 3 Input frequency of manual pulse generator The frequency of the manual pulse generator inputs is stored The sign of an increasing count is positive while the sign of a decreasing count is negative 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 3 Manual pulse generator operation a 8 3 4 Related parameters control data and monitor data BFM number Item Positioning parameters Operation Ring counter setting OFF Disables the ring operation parameter 2 Ver 1 10 or later PENAOI D EM EED ON Enables the ring operation Maxim
33. X axis and 14202 Y axis After turning the power ON or after executing the system reset command the following events occur Turn ON the power to the amplifier first and then to the 2OSSC H including the PLC 1 The 20SSC H transfers the data stored in the flash memory to the buffer memory Servo amplifier Servo parameters 2 The 20SSC H transfers the data Servo parameters stored in the flash memory to the servo amplifier e How to transfer the servo parameters set in the sequence program to the servo amplifier The 20SSC H Ver 1 10 or later supports this method Procedure Transfer sequence a and b in the above figure Stores in the flash memory the servo series BFM 15000 X axis and 15200 Y axis set to any value other than the connected servo amplifier series and the servo parameter transfer mode b15 set to ON in the operation parameter 2 BFM 14002 X axis and 14202 Y axis After turning the power ON or executing the system reset command the following events occur Turn ON the power to the amplifier first and then to the 2OSSC H including the PLC a The 20SSC H transfers the data stored in the flash memory to the buffer memory Next use the sequence program sets the servo amplifier series connected to the servo series BFM 15000 X axis and 15200 Y axis b The 20SSC H transfers the data servo parameters stored in the buffer memory to the servo amplifier 1 Only supported by
34. opposite movements such as normal vs reverse rotation and an interlock circuit to prevent damage to the equipment at the upper and lower positioning limits Note that when the PLC CPU detects an error such as a watchdog timer error during self diagnosis all outputs are turned off Also when an error that cannot be detected by the PLC CPU occurs in an input output control 20 block output control may be disabled External circuits and mechanisms should be designed to ensure safe 40 machinery operation in such a case Note that when an error occurs in a relay triac or transistor output device the output could be held either on or off For output signals that may lead to serious accidents external circuits and mechanisms should be designed to ensure safe machinery operation in such a case e At Forward Reverse rotation limits make sure to wire the contacts with NC negative logic Wiring contacts with NO positive logic may cause serious accidents e Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise 1 Do not bundle the main circuit line together with or lay it close to the main circuit high voltage line or load line l Se 20 Otherwise noise disturbance and or surge induction are likely to take place As a guideline lay the control line op at least 100mm 3 94 or more away from the main circuit or high
35. pulse 1 At the rising edge OFF ON of the mechanical zero return command the work piece moves in the zero return direction at the zero return speed high speed Koway OF 2 Atthe DOG input the 20SSC H decelerates the work piece to the zero return speed creep E 3 The 20SSC H counts zero point signals after passing the zero point signal count start timing 35 4 After counting the specified number zero point signal numbers the 2OSSC H stops the work piece 5 After the zero point is reached the work piece does not travel with the mechanical zero return 7 command 6 The 20SSC H turns the positioning completion flag ON and sets the zero return complete flag PE Note 2 e The zero return command is not accepted if the zero point pass signal servo status is OFF Before executing zero return be sure to rotate the servomotor at least once to turn the zero point pass signal ON The zero point pass signal turns ON when the motor passes the motor reference position signal Z phase To execute zero return immediately after power on specify 1 Motor Z phase pass unnecessary after power on default setting at servo parameter function selection C 4 With this setting the zero point pass signal turns ON even if the motor does not pass the zero point Z phase J01 Uu09 jenue e With the simultaneous start flag ON the X axis mechanical zero return command simultaneously starts the 9 X and Y axes mechanical zero ret
36. refer to Subsection 7 3 3 BFM Number Description Sets the software limit upper nee os Setting range 2 147 483 648 to 2 147 483 647 user unit 14034 44234 Set the value dae 2 147 483 648 to 2 147 483 647PLS in the converted pulse data Sets the software limit lower cube a Setting range 2 147 483 648 to 2 147 483 647 user unit 14037 14237 See SAARA 147 483 14036 14236 Set the value within 2 147 483 648 to 2 147 483 647PLS in the converted pulse data 1 Refer to the section shown below for details on the user units and converted pulse data Default KO KO Refer to Section 7 9 POINT The relationship between the upper and lower software limits must be as follows e When enabling the software limit Software limit upper is larger than Software limit lower e When disabling the software limit Software limit upper is equal to Software limit lower Software limit upper is smaller than Software limit lower 125 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 1 Positioning Parameters 11 1 18 Torque limit BFM 14038 BFM 14238 This parameter sets the torque limit for the servo motor and magnifies the servo motor torque in the range from 0 1 to 1000 0 For a target move with a torque limit refer to the section shown below For details on the torque limit refer to Subsection 7 8 3 BFM Number Description Set
37. 0 NO contact servo amplifier Sets the DOG signal logic of the servo motor 1 NC contact servo amplifier 0 NO contact servo amplifier b10 to b15 Not available 11 1 21 Ring counter upper limit value BFM 14101 14100 BFM 14301 14300 Sets the ring value to enable ring operation for the current address Ver 1 10 or later Setting range 1 to 2 147 483 646 user unit Set the value within 1 to 2 147 483 646PLS in the converted pulse data 1 BFM Number X axis BFM 14101 14100 Default K359 999 1 For details on the user units refer to the following Refer to Section 7 9 126 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 1 Positioning Parameters 11 1 22 Sudden stop deceleration time BFM 14102 BFM 14302 D T Set the time to reach 0 speed from the maximum speed at sudden stop Ver 1 20 or later 3 For details on the sudden stop deceleration time refer to Section 7 5 E BFM Number a EAN escription etau 1 2 SE POINT 5g e The sudden stop deceleration time becomes 1 ms when set at 0 ms or less and becomes 5000 ms when set at 5001 ms or more 11 1 23 Sudden stop interpolation time constant BFM 14104 BFM 14304 soysoubeiq OO Set the time to reach 0 speed from the operation speed at sudden stop interpolation operation Ver 1 20 or later gt For details on the su
38. 14034 BFM 14235 14234 BFM 14037 14036 BFM 14237 14236 BFM 14038 BFM 14040 BFM 14044 bO BFM 14044 b8 BFM 14102 BFM 14104 BFM 14106 Specify the zero return mode 0 DOG type default setting BFM 14231 1 Data set type 2 Stopper type 1 3 Stopper type 2 BFM 14232 Setting range 1 to 5000ms Specify for the software limit upper lower Setting range 2 147 483 648 to 2 147 483 647 user unit BFM 14238 Setting range 1 to 10000 x0 1 BFM 14240 Setting range 1 to 10000 x0 1 ON Use the FLS RLS signal of the servo amplifier Ger OFF Do not use the FLS RLS signal of the servo amplifier Default setting ON The logic of the FLS RLS signal of the servo amplifier is the NC contact Servo amplifier Default BFM 14244 b8 setting OFF The logic of the FLS RLS signal of the servo amplifier is the NO signal Servo amplifier Set the ring counter upper limit value BFM 14101 14100 BFM 14301 14300 Setting range 1 to 2 147 483 646 user unit BFM 14302 Setting range 1 to 5 000ms BFM 14304 Setting range 1 to 5 000ms BFM 14306 Setting range 0 to 5000ms 67 a uononpou wasis N uoleinBiyuoo LA Uo2euu07 9jdwex 3 uomeIgieu Ja Buin QI Koway OF Di CH J O SE oe r oi O 5 Dune 10j g joujuod yenueyy OO 01 U0D Buuonisog QO uoesedo ap FX3U 20SSC H Positioning Block User s M
39. 20SSC H Ver 1 10 or later For details on system reset refer to the following Refer to Subsection 6 3 4 Note To transfer the following parameters from the buffer memory BFM to the servo amplifier turn the servo parameter transfer command b9 of operation command 2 BFM 519 X axis and 619 Y axis to ON For the operation command refer to Subsection 11 4 11 38 6 Memory Configuration and Data Operation FX3U 20SSC H Positioning Block User s Manual 6 3 Data Transfer Process 1 Transferred servo parameters e Auto tuning mode e Position control gain S e Auto tuning response e Speed control gain e Feed forward gain e Speed integral compensation e Ratio of load inertia moment e Speed differential compensation to servo motor inertia moment e Model control gain wasis INQ uoleinBiyuoo 2 Conditions for executing servo parameter transfer command The servo parameter transfer command is ignored during the positioning operation LA 3 Status information The servo parameter transfer flag in the status information is set during servo parameter transfer For the status information refer to Subsection 11 3 17 UOOBUUOD jdwex4 6 3 4 System reset Ver 1 10 or later The system reset command resets the 20SSC H system This command resets the system with the falling edge of operation command 2 BFM 519 b1 after b1 remains ON for 100 ms or more uo ejesu Aa How to execute the system reset command
40. 2280 Fax 371 0 784 2281 Beijer Electronics UAB Savanoriu Pr 187 LT 02300 Vilnius Phone 370 0 5 232 3101 Fax 370 0 5 232 2980 AUSTRIA BELARUS BELGIUM BULGARIA CROATIA CZECH REPUBLIC CZECH REPUBLIC DENMARK ESTONIA FINLAND GREECE HUNGARY LATVIA LITHUANIA A MITSUBISHI ELECTRIC INTEHSIS srl bld Traian 23 1 MD 2060 Kishinev Phone 373 0 22 66 4242 Fax 373 0 22 66 4280 Koning amp Hartman b v Haarlerbergweg 21 23 NL 1101 CH Amsterdam Phone 31 0 20 587 76 00 Fax 31 0 20 587 76 05 Beijer Electronics AS Postboks 487 NO 3002 Drammen Phone 47 0 32 24 20 00 Fax 47 0 32 84 85 77 MPL Technology Sp z 0 0 Ul Krakowska 50 PL 32 083 Balice Phone 48 0 12 630 47 00 Fax 48 0 12 630 47 01 Sirius Trading amp Services srl Aleea Lacul Morii Nr 3 RO 060841 Bucuresti Sector 6 Phone 40 0 21 430 40 06 Fax 40 0 21 430 40 02 Craft Con amp Engineering d o o Bulevar Svetog Cara Konstantina 80 86 SER 18106 Nis Phone 381 0 18 292 24 4 5 Fax 381 0 18 292 24 4 5 INEA SR d 0 0 Izletnicka 10 SER 113000 Smederevo Phone 381 0 26 617 163 Fax 381 0 26 617 163 AutoCont Control s r o Radlinsk ho 47 SK 02601 Dolny Kubin Phone 421 0 43 5868210 Fax 421 0 43 5868210 CS MTrade Slovensko s r o Vajanskeho 58 SK 92101 Piestany Phone 421 0 33 7742 760 Fax 421 0 33 7735 144
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42. 3999 12999 Table information 5 Note e Positioning and servo parameters are automatically created and set for each of the X and Y axes according to the factory default settings Leave default parameters for unused axes e The table information is created for each of the X Y and XY axes SEES e The positioning parameters servo parameters and table information can be initialized using FE FX Configurator FP or a sequence program RES 6 2 Parameter setting method 7 Use one of the following methods to set parameters to 20SSC H Spg 1 FX Configurator FP Z Positioning parameters servo parameters and table information may be set using FX Configurator FP S For operation details on using FX Configurator FP refer to the following manual Refer to the FX Configurator FP Operation Manual 8 Note Use FX Configurator FP whenever possible to set positioning parameters servo parameters and table 5 information and save the setting data to the flash memory S The use of a sequence program for this purpose requires many steps and devices resulting in a complex S program and increased scan time 9 2 Sequence program a Using a sequence program applied instructions such as the FROM TO instructions may be used to read 28 write parameters from to the buffer memory of 20SSC H and to save the setting data to the flash memory 2 For details on using the FROM TO instructions and direct specification of t
43. 6 1 130 100 New operation speed Change operation speed gt Operation speed k gt lt gt 100ms 100ms E K not Interpolation Interpolation e time constant time constant 4 Actual acceleration deceleration time interpolation time constant after the operation speed change e An error occurs when the relative travel distance converted into pulse between the current address and the target address exceeds the range from 2 147 483 647 to 2 147 483 647 while absolute addresses are specified 42 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 3 Handling the Forward Rotation Limit and Reverse Rotation Limit 7 3 Handling the Forward Rotation Limit and Reverse Rotation Limit The concept of the forward rotation limit and that of the reverse rotation limit are described Suppose that limit switches are located as shown in the figure below Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2 servo amplifier side PLC side PLC side servo amplifier side SE LSR LSF Servomotor No il Reverse rotation lt _ __ Forward rotation Ze Stopping EE Limit Description Reference action Forward Specify the action limit so that no damage is caused to the machine that ion limi Deceleration i Seo PO AON AN d
44. 8 1 3 l uonoauuoy aidwexy OO voteieteu P Stopper type mechanical zero return 2 modes I The stopper position is defined as the zero point For details on the stopper type mechanical zero return refer to Subsection 8 1 4 l l 1 Mechanical zero return operation The mechanical zero return operation varies according to the zero return mode For details refer to the following For details on the DOG type mechanical zero return refer to Subsection 8 1 l For details on the data set type mechanical zero return refer to Subsection 8 1 3 l For details on the stopper type mechanical zero return refer to Subsection 8 1 4 Suum QI l L 1 Turn the mechanical zero return command from OFF to ON to execute mechanical zero return eyep pue uoneunByuoo Kiowan Q 2 After calibrating the zero point the mechanical zero point address from the positioning parameters is written to the current address Shows the reference 3 The zero return complete flag turns ON The mark indicates a reference destination and reference manual mon Buiuon sod Gure s aJojag Ni The zero return command is not accepted if the zero point pass signal servo status is OFF Before executing zero return be sure to rotate the servomotor at least once to turn the zero point pass signal ON The zero point pass signal turns ON when the motor passes the motor reference position signal l Z phase To execute zero return
45. 9 11 Circular Interpolation Operation 100 e Use the center coordinate specification in a perfect circle operation e During continuous pass operation If the circular path is too short and the travel time from the start point to the target point is shorter than the interpolation time constant the operation temporarily stops and shifts to the next interpolation operation e When interpolation operations are consecutively repeated in a table operation the 20SSC H provides continuous pass operation For details on the continuous pass operation refer to Section 10 10 Operation information Set a circular interpolation operation radius CW direction or radius CCW direction and an absolute relative address in the operation information For details refer to Chapter 10 Speed information The actual operation speed vector speed is X axis operation speed 1 x X axis override setting The operation speed 1 for the X axis can be changed using the operation speed change function except under the following conditions e During deceleration operation e When the speed change disable during operation signal is ON Position address information The absolute relative address can be specified in the operation information With the specified absolute address Specifies a target address position using address 0 as the base With the specified relative address Specifies a travel amount from the current address Circle
46. BFM 129 lf an error occurs the error code is stored 1 Buffer memories to store error information If an error occurs the buffer memories store error information as shown in the table below After removing the cause of the error the system can recover from the error by an error reset command Item No of BFM in which an error occurred Status information Error code Servo parameter error number Servo status 2 Error codes Error codes are stored in decimal fo 140 Description Number of buffer memory in which an error occurred is stored Becomes active upon detecting an error The error code is stored The servo amplifier error code is stored Turns ON when a servo amplifier error occurs rmat For details on the error codes refer to Subsection 13 2 3 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 3 Monitor Data 11 3 19 Model code BFM 30 D T The model code of the 20SSC H is stored 3 Description Value Format Default BFM 30 po The model code of the 20SSC H is K5220 1 2 m U 11 3 20 Status information 2 BFM 32 BFM 132 E Status of the 20SSC H can be checked by ON OFF statuses of each bit Ver 1 20 or later BFM Number Bit Description Value Format Default 1 Positioning parameter change completion flag e Turns ON when positioning parameter change is completed l BFM 32 BFM 132 e Automatically turns OFF w
47. BFM 14231 This parameter selects mechanical zero return operations For details on the zero return operation refer to Section 8 1 BFM Number Description 0 DOG 1 Data set type 2 Stopper 1 3 Stopper 2 BFM 14031 BFM 14231 11 1 16 Servo end evaluation time BFM 14032 BFM 14232 This parameter sets the evaluation time for the servo end check For details on the servo end check refer to Subsection 7 8 2 BFM Number Description BFM 14232 Setting range 1 to 5000 ms BFM 14032 Note e To apply this function set bO in the operation parameter 2 to ON For details on the operation parameters 2 refer to Subsection 11 1 2 e Fora servo end evaluation time setting outside of the range see the following Becomes 1 ms when set at 0 ms or less Becomes 5000 ms when set at 5001 ms or more 11 1 17 Software limit upper BFM 14035 14034 BFM 14235 14234 Software limit lower BFM 14037 14036 BFM 14237 14236 This parameter sets each address value for the software limit JJ E T CD 3 O Z Default 1 2 mp SS KO oi EE soysoubeiq GA Default gt epeq pue sia oweled jo sr LU UOIEWWJOJU UOISIO The software limit is an operating limit from the current address after zero return operation completion which becomes enabled upon completion of the zero return operation For details on the software limit
48. Change the battery Always set the home position again Absolute position erase 2025 e Absolute position data in error 25 e Power was switched ON for the first time in the absolute position detection system 178 13 Diagnostics FX3U 20SSC H Positioning Block User s Manual 13 2 Check Error Code Error Error category Code Error Content Action decimal Parentheses in the error code column indicate the LED display on the servo amplifier For details on how to check errors and actions refer to the manual of the servo amplifier to be connected Regenerative alarm e Correct the setting of the regenerative brake e The permissible regenerative power of the built option servo parameter in regenerative brake resistor or regenerative Refer to subsection 11 2 1 brake option is exceeded e Correctly connect the built in regenerative brake e Regenerative transistor fault resistor or regenerative brake option e High duty operation or continuous regenerating operation to exceed the permissible regenerative 2030 30 power of the regenerative brake option Reduce the frequency of positioning Change the regenerative brake option to the one with a larger capacity Reduce the load e Review the power supply e Change the servo amplifier or regenerative brake option Overspeed e When the acceleration deceleration overshoots e The rotation speed has exceeded the check the acceleration deceleration time constant instan
49. Data Operation FX3U 20SSC H Positioning Block User s Manual 6 3 Data Transfer Process 6 3 2 FX Configurator FP and 20SSC H The data transfer between FX Configurator FP and 20SSC H via the PLC is as follows UON ONPOJ U FX Configurator FP Setting monitoring tool wasis N9 8 gt E z A B A 6 F X3U 20SSC H 3 On Buffer memory BFM S EE ep a a ee ea Se E l CD Positioning parameters 20 Servo parameters Table information Monitor data Control data Sequence program C Flash memory ROM FX3u EX3uc PLC Positioning parameters Servo parameters Table information uomeIgieu Ja 5 1 From 20SSC H buffer memory to FX Configurator FP A in the figure above The following data is read from the buffer memory in 20SSC H to FX Configurator FP e Positioning parameters Sg e Servo parameters Be g e Table information S e Monitor data operation status action status input signal status etc 2 From FX Configurator FP to 20SSC H buffer memory B in the figure above B The following data is written from FX Configurator FP to the buffer memory in 20SSC H 2 3 e Positioning parameters Z e Servo parameters 2 e Table information g e Control data new current values speed change operation test command etc 3 From FX Configurator FP buffer memory in 20SSC H to 20SSC H
50. EE 30 93 HEET ee e e e EE 30 53 2 SOURCE INPUT WINN inset cbc tice ae bar Ae 30 54 Connecting Me SSCNE TL Ml Cabling c2c tcc sesclocesecid ces a ceasatddoene tadscauen 31 5 4 1 Cautions for installing the SSCNET IIl cabling cccceecccecseeeeeeeeeeeeeeseeeeeeeeaeeeeeeeeeeeeeseeeeeeeeeas 31 5 4 2 Cautions for SSCNET III Cable wmg 32 FX3U 20SSC H Positioning Block User s Manual Table of Contents 6 Memory Configuration and Data Operation 33 6 1 Memory Configuration And Role ccccccsescecceeececceesececeeseeeceeneeesseseeesseueeessaueeessgeeesseeeeesseneeenas 34 6 12 Memory COMMUN AU OM KEE 34 6 1 2 Data ype ANG OMG sanie BEES 35 6 2 Parameter setting method uk 35 6 3 Data Transier ele EE 36 63A PEG 20556 Hand SERVO EE e EE 36 6 3 2 FX C nigurator FP and ZOS 5 Carl BEE 37 6 3 3 Transfer writing servo parameters to servo amplifier ee eeecccceceeeeeeeseeeeeeeeaeeeeeeeeeeeeeeseeeeeeeas 38 6 3 4 System reset Ver 1 10 or later 2 0 0 eeccccceesecccceseeeceeeeceesceseeeceeeucececeuseeesseeseeesseaseeessueeeesessegeeseees 39 6 3 5 Servo parameter update stop Ver 10orlater ecccceccceseseeeseeeeceeeeeseeeceseeeesseeeesseeeeseaes 39 7 Before Starting Positioning Operation 40 7 1 Note on Setting Parameters ENEE 40 7 2 Outline of Positioning Operation ss2ccs2esecetndass decnetdacgseeegedeegescendeeeg se nasdscaesedoeebacaeieeeeeeacesieseeeeads 41 7 3 Handling the Forward Rotation L
51. FX3U 20SSC H Positioning Block User s Manual 11 3 Monitor Data 11 3 13 Real current address User BFM 21 20 BFM 121 120 The Real current address data is stored in units specified by the user Ver 1 20 or later BFM Number Description Value Format BFM We 121 120 2 147 483 648 to 2 147 483 647 user unit Decimal 1 Refer to the section shown below for details on the user units Default BFM 21 20 Refer to Section 7 9 POINT e The real current address user is Current address user Deviation counter e Units specified by the user are adopted and the position data magnification is included 11 3 14 Real current address Pulse BFM 23 22 BFM 123 122 The Real current address is converted into pulses and stored Ver 1 20 or later BFM Number Description Value Format GE 2 147 483 648 to 2 147 483 647 PLS Decimal 123 122 i i es e The real current address pulse is Current address pulse Deviation counter Default BFM 23 22 POINT 11 3 15 Received target address BFM 25 24 BFM 125 124 The target address for the positioning operation currently being executed is stored in units specified by the user Ver 1 20 or later BFM Number i Description Value Format BFM Wi 125 124 2 147 483 648 to 2 147 483 647 user unit Decimal 1 Refer to the section shown below for details on the user units Defau
52. H0000 BFM BFM Selecting functions A 1 Setting of with without emergency stop input EMI to servo H0000 15004 15204 amplifier d 3 PTM AEM Auto tuning mode Setting of gain adjustment H0001 subsection 11 2 1 15008 15208 g SS A z Q BFM BFM 15009 15209 Auto tuning response Setting of auto tuning response low to high 2 We BFM BFM 15010 15210 In position range 0 to 50000 PLS K100 BFM BFM Rotation direction Setting of rotation direction CCW CW when viewed from the KO 15014 15214 selection servo motor load UL BFM BFM gt a je 15015 15215 Encoder output pulses 1 to 65535 PLS REV K4000 gt el BFM BFM Adaptive tuning mode 8 z 15019 15219 Adaptive filter 2 Seting OF Atapive MEF iuning 3 Vibration suppression B BFM BFM control tuning mode SE e 15020 15220 advanced vibration Setting of vibration suppression control tuning mode KO Ke suppression control S BFM BFM aS 15022 15222 Feed forward Gain 0 to 100 e Ratio of load inertia BFM BFM 15024 15224 moment to servo motor 0 to 3000 x0 1 time K70 inertia moment BFM BFM 15025 15225 Model loop gain 1 to 2000rad s BFM BFM ge 445026 445996 Position loop gain 1 to 1000rad s BFM BFM 15027 15227 Speed loop gain 20 to 50000rad s K823 BFM BFM Speed integral 15028 15228 1 to 10000 x0 1ms K337 EE EEN DEM DEM Speed differential BFM BFM Machine resonance 15031 15231 suppression filter 1 pow aoe ee PR BFM BFM 15032 445939 Notch shape sele
53. INEA don Stegne 11 SI 1000 Ljubljana Phone 386 0 1 513 8100 Fax 386 0 1 513 8170 Beijer Electronics AB Box 426 SE 20124 Malmo Phone 46 0 40 35 86 00 Fax 46 0 40 35 86 02 Econotec AG Hinterdorfstr 12 CH 8309 Niirensdorf Phone 41 0 44 838 48 11 Fax 41 0 44 838 48 12 GTS TURKEY Dar laceze Cad No 43 KAT 2 TR 34384 Okmeydant Istanbul Phone 90 0 212 320 1640 Fax 90 0 212 320 1649 CSC Automation Ltd 4 B M Raskovoyi St UA 02660 Kiev Phone 380 0 44 494 33 55 Fax 380 0 44 494 33 66 MOLDOVA NETHERLANDS NORWAY POLAND ROMANIA SERBIA SERBIA SLOVAKIA SLOVAKIA SLOVENIA SWEDEN SWITZERLAND UKRAINE Kazpromautomatics Ltd KAZAKHSTAN Mustafina Str 7 2 KAZ 470046 Karaganda Phone 7 7212 50 1150 Fax 7 7212 50 1150 CONSYS Promyshlennaya st 42 RU 198099 St Petersburg Phone 7 812 325 36 53 Fax 7 812 325 36 53 ELECTROTECHNICAL SYSTEMS Derbenevskaya st 11A Office 69 RU 115114 Moscow Phone 7 495 744 55 54 Fax 7 495 744 55 54 ELEKTROSTILY Rubzowskaja nab 4 3 No 8 RU 105082 Moscow Phone 7 495 545 3419 Fax 7 495 545 3419 NPP URALELEKTRA Sverdlova 11A RU 620027 Ekaterinburg Phone 7 343 353 2745 Fax 7 343 353 2461 RUSSIA RUSSIA RUSSIA RUSSIA MIDDLE EAST REPRESENTATIVES TEXEL ELECTRONICS Ltd ISRAEL 2 Ha umanut P 0 B 6272 IL 42160 Netanya Phone 972 0 9 863
54. If the servomotor turns due to an external force during servo OFF a follow up process occurs with the follow up function z Se 59 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 8 Other functions 7 8 6 Follow up function With the follow up function the motor rom is monitored when the servo is OFF and the motor rpm is reflected in the current value With this function even if the servomotor rotates while the servo is OFF the servomotor always starts positioning at the next servo ON ignoring the drop pulse The 20SSC H always executes the follow up process during servo OFF For related parameters control data and monitor data refer to Section 7 11 7 8 7 Simultaneous start function Operation in the X and Y axes start simultaneously with this function For related parameters control data and monitor data refer to Section 7 11 1 Applicable positioning operations e Operations applicable to the simultaneous start e Operations inapplicable to the simultaneous function start function JOG operation Manual pulse generator operation Mechanical zero return Variable speed operation 1 speed positioning operation Multi speed operation Interrupt 1 speed constant quantity feed Linear interpolation 2 speed positioning operation Linear interpolation interrupt stop Interrupt 2 speed constant quantity feed Interrupt stop Table operation individual Re
55. Memory Configuration and Data Operation FX3U 20SSC H Positioning Block User s Manual 6 1 Memory Configuration and Role 6 1 Memory Configuration and Role 6 1 1 Memory configuration Store parameters and data necessary for control in the buffer memory BFM and flash memory inside the 20SSC H using the sequence program or FX Configurator FP FX Configrator FP Setting monitoring tool F X3U 20SSC H H Buffer memory BFM Positioning parameters Servo parameters Table information Sequence rogram EE PS lt P Monitor data Control data Sie eh ere aes iS ee AE eh e ey E a ane a iech Stee at Ach Servo amplifier Servo amplifier FX3u FX3uc PLC Flash memory Servo parameters Servo parameters Positioning parameters Servo parameters Table information 1 Buffer memory BFM The PLC can access the buffer memory BFM directly using sequence programs 20SSC H uses parameters and data in this area to execute positioning control 2 Flash memory The flash memory saves parameters and table information necessary for positioning control Store necessary data in advance for the mechanical equipment and applications 34 6 Memory Configuration and Data Operation FX3U 20SSC H Positioning Block User s Manual 6 2 Parameter setting method a 6 1 2 Data type and role BFM number Data type Application Data indicating the co
56. Most importantly have the following an emergency stop circuit a protection circuit an interlock circuit for opposite movements such as normal vs reverse rotation and an interlock circuit to prevent damage to the equipment at the upper and lower positioning limits Note that when the PLC CPU detects an error such as a watchdog timer error during self diagnosis all outputs are turned off Also when an error that cannot be detected by the PLC CPU occurs in an input output control block output control may be disabled External circuits and mechanisms should be designed to ensure safe machinery operation in such a case Note that when an error occurs in a relay triac or transistor output device the output could be held either on or off For output signals that may lead to serious accidents external circuits and mechanisms should be designed to ensure safe machinery operation in such a case e At Forward Reverse rotation limits make sure to wire the contacts with NC negative logic Wiring contacts with NO positive logic may cause serious accidents NO w DESIGN PRECAUTIONS A N CAUTION Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise 1 Do not bundle the main circuit line together with or lay it close to the main circuit high voltage line or load line Otherwise noise disturbance and or
57. Not available STOP mode Operation parameter 1 Servo end check enabled disabled Servo ready check enabled disabled Zero return interlock setting enabled disabled Ring counter setting Ver 1 10 or later Sudden stop selection STOP command sudden stop Normal deceleration stop Ver 1 20 or later Sudden stop selection software limit sudden stop Normal deceleration stop Ver 1 20 or later Operation parameter 2 Sudden stop selection PLC limit sudden stop Normal deceleration stop Ver 1 20 or later Sudden stop selection Servo amplifier limit sudden stop Normal deceleration stop Ver 1 20 or later b13 to b8 Not available b14 b15 Interpolation gear ratio selection Ver 1 20 or later 1 to 200 000 000 PLS REV K262 144 subsection 11 JOG speed 1 to 2 147 483 647 user unit Zero return speed high speed K4 000 000 1 to 2 147 483 647 user unit 1 Zero return speed ogy 4 creep 1 to 2 147 483 647 user unit Mechanical zero point address 2 147 483 648 to 2 147 483 647 user unit K52 428 800 subsection 11 K4 000 000 subsection 11 1 K2 000 000 subsection 11 0 to 5000 ms K300 subsection 11 1 PEM Acceleration time 1 to 5000 ms K200 subsection 11 14218 d g BEMI Deceleration tim 1 to 5000 m K200 bsection 11 14220 eration time O S subsection 11 BFM Interpolation time 14222 1 to 5000 ms K100 subsection 11 1 subsection 11 1 K100 000 subsection 11 1
58. PEMAOS SOIA OFF and 1 is stored to the m code No Stores the m code number in ON state BEME PEMO Stores 1 when the m code is OFF BFM 28 b8 BFM 128 b8 This flag turns ON when an m code turns ON 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 10 Continuous Pass Operation 10 10 Continuous Pass Operation UON ONPOJ U Continuously executing interpolation operation linear interpolation circular interpolation results in a continuous pass operation 1 Operations valid for continuous pass operation 2 e Operations that result in continuous pass e Operations that do not result in continuous pass operation operation oe Linear interpolation Variable speed operation 23 Circular interpolation Manual pulse generator S JOG operation 1 speed positioning operation Interrupt 1 speed constant quantity feed LA 2 speed positioning operation om Interrupt 2 speed constant quantity feed SE Interrupt stop d D Multi speed operation Linear interpolation interrupt stop Mechanical zero return Dwell End uo ejlesu Ja Note e The number of continuous passes is not limited e Continuous pass operation continues if interpolation operations include the following No processing Jump Buum QI e Continuous pass operation is not executed if the program contains the following types of instructed interpolation operation When after mode m code is set When the tra
59. ROM in the cvw 20SSC H S 3 This allows the data to be saved without a battery o a 5 Connectable PLC a e The connected FX3U or FX3uc PLC reads writes the positioning data from to the 20SSC H 8 e For connection to the FX3uc PLC the FX2Nc CNV IF or FX3uc 1PS 5V is needed z S 33 uoesedo ap 1 Introduction FX3U 20SSC H Positioning Block User s Manual 1 2 External Dimensions and Part Names 1 2 External Dimensions and Part Names 2 64 5 Mounting 1 f 2 3 hole 90 3 55 FX3u 20SSC H 80 3 15 Mounting hole pitch 9 Unit mm inches MASS Weight 0 3kg 0 66 Ibs Accessory Special Unit Block No label FX2NC 100MPCB Power supply cable 1m 3 3 Dust proof protection sheet 1 Direct mounting hole 2 holes of 4 5 0 18 mounting screw M4 screw 2 Status LEDs Refer to Section 1 3 3 POWER LED green 4 Extension cable 5 Input connector 6 Power supply connector 7 DIN rail mounting groove DIN rail DIN46277 8 Name plate 9 DIN rail mounting hook 10 SSCNET III connector 16 1 Introduction FX3U 20SSC H Positioning Block User s Manual 1 3 Power and Status LED 1 3 Power and Status LED uononpou LED display Color Status Description OFF Power is not being supplied from the external power supply
60. SES BFM 23 22 BFM 123 122 Unit PLS Ver 1 20 or later i 3 Received target address BFM 25 24 BFM 125 124 Uesrunt a Ver 1 20 or later Received target speed d Ver 1 20 or later BFM 27 26 BFM 127 126 User unit READY BUSY BFM 28 b BFM 128 b0 SR OFF BUSY Zero return completed current value established Zero return complete BFM 28 b3 BFM 128 b3 OFF Zeroteturi not completed curteni value indefinite Status ON in standby for the remaining distance information Waiting for travel of BFM 28 b7 BFM 128 b7 by a STOP command OFF with another remaining distance at stop start command or remaining distance 2 cancel command Speed change in progress Speed change in progress BFM 28 b13 BFM 128 b13 SC Speed change finished Target address change in Address change in progress BENNAG DA GEAR GC Address change finished E Positioning parameter change Status Positioning parameter Set l change completion flag BEM 32 bO BFM 132 bO p ete information 2 Positioning parameter change Ver 1 20 or later not completed Servo status In position BFM 64 b12 BFM 164 b12 EERSTEN the in position range Servo parameters Specify the absolute position detection Absolute position detection BEM 15003 BEM 15203 system system 1 Valid Basic setting O Invalid Default setting uongIgieu Ja Buin QI Kioway OF Di CH J O SE oe r D oi O 5 Dune 10j g Si Specify the in position rang
61. Subsection 6 3 3 System Reset added Subsection 6 3 4 The servo parameter update stop command function is added Subsection 6 3 3 User s Manual error corrected Supported in Ver 1 20 Sudden stop selection added Section 7 5 Cautions for interpolation operation Subsection 7 10 3 The following functionalities added to positioning parameters Section 11 1 Operation parameter 2 b4 Sudden stop selection STOP command b5 Sudden stop selection software limit b6 Sudden stop selection PLC limit b7 Sudden stop selection Servo amplifier limit b14 Interpolation gear ratio selection Sudden stop deceleration time Sudden stop interpolation time constant Positioning completion signal output waiting time The following functionalities added to monitor data Section 11 3 Real current address User Real current address Pulse Received target address Received target speed Status information 2 bO Positioning parameter change completion flag Version Information added Appendix B FX3U 20SSC H USER S MANUAL A MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN HIMEJI WORKS 840 CHIYODA CHO HIMEJI JAPAN FX3U 20SSC U E JY997D21301E Effective July 2007 MEE Specifications are subject to change without notice MITSUBISHI ELECTRIC EUROPE B V German Branch Gothaer Stra e 8 D 40880 Ratingen Phone 49 0 2102 486 0
62. Target position change command i Target address EE i OFF ON speed in positioning operation a ON Changing target address E o 2 When the direction of operation changes Speed Target address E gt Time Target position change command ON speed in positioning operation OFF an Changing target address DI ON 52 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 6 Changing During Operation Operation Speed Target Address 4 Cautions e The operation speed can not change in the following statuses During deceleration by STOP command During automatic deceleration in position control UONONPOs U sch e Ifthe target position change value address converted in units of pulses is out of the setting range an error occurs wasis N9 e Ifthe target position change value speed is out of the setting range the operation speed is handled as 1 lower limit or maximum speed upper limit uoleinBiyjuoo e If the specified target address requires change of the operation direction after the interrupt input changes from OFF to ON during the following operation the work piece moves to the address where the interrupt input turned ON and stops there LA Interrupt 1 speed Constant Quantity Feed Interrupt 2 speed Constant Quantity Feed UONBUUOD jdwex4 1 However the operation is different in the constant position stop mode Refer to subsection 9 3 2 e The following target add
63. The RLS RLS signal of the servo amplifier is not l Rove ies agna BFM 14044 bp BFM 14244 b used Se signal ON The FLS RLS signal of the servo amplifier is used selection DOG signal OFF The DOG signal of the servo amplifier is not used GA GEES ON The DOG signal of the servo amplifier is used 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 1 Mechanical Zero Return Control a BFM number uononpou Item Description X axis Y axis Positioning parameters OFF The NO contact for the FLS RLS signal logic of the servo amplifier ON The NC contact for the FLS RLS signal logic of the servo amplifier OFF The NO contact for the DOG input logic of the servo amplifier ON The NC contact for the DOG input logic of the servo amplifier FLS RLS signal BFM 14044 b8 BFM 14244 b8 logic External signal selection wasis N DOG signal logic BFM 14044 b9 BFM 14244 b9 uoleinBiyuoo Ring counter upper limit value Ver 1 10 or later Sudden stop deceleration time BFM 14101 14100 BFM 14301 14300 Setting range 1 to 2 147 483 646 user unit LA Ver 1 20 or later BFM 14102 BFM 14302 Setting range 1 to 5000ms Si Sudden stop interpolation time D 5 p BFM 14104 BFM 14304 Setting range 1 to 5000ms St constant Ver 1 20 or later O Positioning completion signal output waiting time Ver 1 20 or later GENEE BFM 14306 Setting range 0 to 5 000ms 0701
64. X axis table operation start No only Setting range 0 to 299 Table operation start No BFM 521 BFM 621 Writing table operation data Write table operation data to buffer memory beforehand following the procedure below e Transfer the table information from the 20OSSC H flash memory to buffer memories only while power ON Refer to Chapter 6 e Write transfer table data to buffer memories with FX Configurator FP For details on operation refer to the FX Configurator FP Operation Manual e Write table information by a sequence program For an explanation of applied instructions refer to the Programming Manual e Change write table information by the test function in GX Developer s BFM monitor For details on operation refer to the GX Developer Operating Manual Reboot the START command to begin the table operation When operating with XY axis table information turn the START command of the X axis from OFF to ON The 20SSC H executes table operation in numerical order from the table operation start No The 20SSC H executes table operation patterns in numerical order until the table No with END command is reached in the operation information The table operation finishes when the table No with the END command is executed 108 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 2 How to Set Table Information 10 2 How to Set Table Information UONONPO U The 20SSC H has 2 pro
65. after turning the control circuit power e SSCNET IlI communication error supply of the servo amplifier OFF 2034 D 34 continuous communication error for about Wipe off any dirt from the end surface e Adopt noise suppression measures on the controller side Receive error 2 e Connect after turning the control circuit power e SSCNET Hl communication error supply of the servo amplifier OFF 2036 ess 36 intermittent Communication error for about Wipe off any dirt from the end surface 70ms e Change the cable e Adopt noise suppression measures Parameter error e Change the servo amplifier 2037 a Gas 37 e Parameter setting is wrong e Set the parameter value within the setting range e Change the servo amplifier 179 vm EH welbold WM Aioweyseyng wh m gt lt D 3 D sonsoubeiq gt epeq pue sia oweled jo sr LU UOIEWWJOJU UOISIO FX3U 20SSC H Positioning Block User s Manual Error Error category Code Error Content decimal 13 Diagnostics 13 2 Check Error Code Action Parentheses in the error code column indicate the LED display on the servo amplifier For details on how to check errors and actions refer to the manual of the servo amplifier to be connected Main circuit device overheat 2045 e Main circuit device overheat i 45 Servo motor overheat e e A servo motor temperature rise actuated the 2046 thermal sensor e 46 Cooli
66. based on the motor system or similar composite units are used 2 Data magnification You can select the position data magnification x1 x10 x100 or x1000 3 Setting value in user units According to the user unit setting specify the value as follows Position data Unit setting position unit 1000 x 0 1 inch deg Converted pulse data Enter data within the setting range of converted pulse data when setting ranges overlap The equation for conversion is as follows 1 Travel distance Travel distance in converted pulse data PLS Travel distance um 10 inch mdeg x position data magnification x pulse rate feed rate 2 Operation speed Operation speed in converted pulse data Hz Operation speed cm min inch min 10deg min x 10 x pulse rate feed rate 60 Servomotor rotation speed and operation speed converted pulse data Do not exceed the maximum rotation speed of the servomotor when specifying the operation speed including the maximum speed jog speed and zero return speed The servomotor rotation speed is calculated from the speed converted pulse data as follows Servomotor rpm r min The converted pulse data of operation speed Hz x 60 the resolution per revolution of servomotor Servo amplifier Resolution per revolution or servomotor PLS REV MR J3B 262144 Error Supposing that the pulse rate be A feed rate be B and relative travel distance be C C x A B is the number of pulses output fr
67. 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 after 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 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 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 th
68. code itself turns OFF and the 20SSC H stores 1 in the m code No of monitor data 3 Atm code OFF the 20SSC H executes the next table No Note e With after mode m codes in multi speed operations and continuous pass operations the operation does not continue the table since the 20SSC H suspends the operation until m code OFF e With 0 in m code information the 2OSSC H turns to standby mode With start command or m code OFF command the m code turns OFF e To turn only the m code ON without performing positioning operation set m code to the operation information of the table information and set the m code information 2 Available m code Nos To use m code in the after mode set the m code in the range from 0 to 9999 for the m code information 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 9 m code 10 9 2 With mode The specified m code turns ON when the operation starts For details on related setting items refer to Subsection 10 9 3 1 Operation Speed Time m code No a aigle 0071 A ON ON mcodeON OFF OFF OFF ON ON m code OFF command OFF e OFF T Table No m code information 10010 _ with mode 1 10011 with mode 2 1 The 20SSC H stores 10010 in the m code No of monitor data while also starting table No O with 10010 and turning ON the m code ON flag in the status information 2 At m code OFF the m code ON flag and m
69. code itself turns OFF and the 20SSC H stores 1 in the m code No of monitor data 3 The next table No cannot be executed unless the m code OFF command has been activated Note e With a 0 in the m code information the 20SSC H turns to standby mode With the start command or m code OFF command the m code turns OFF e The 20SSC H continues operating during multi speed operation and continuous pass operation without m code OFF commands The specified m codes also turn ON in consecutive order Speed Time m code No lt lt 10010 gt lt 1 e 1001 X 10012 x 1 ON i ON m code ON OFF OFF PA OFF ON ON m code OFF command OFF OFF lt s OFF The next operation is executed even if the m code OFF command is not ON 2 Available m code Nos To use the m code in the with mode set the m code in the range from 10000 to 32767 115 UORONpoJu wasis IND uoieJnsiuoo LA Uo2euu07 9jdwex 3 uomeIgieu Ja Buin QI Kiowa OD ejep pue uolesnByuoo Onu07 Buiuonisod Guies esojog N lo uo9 yenueyy OO 01 U0D Buuonisog QO D ler D O O D o O 5 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 9 m code 10 9 3 Related buffer memory 116 Control data Operation command 1 Monitor data m code No Status information BFM number Item Content m code OFF When this command is ON the m code is turned BEES
70. device Setting of output signal to the connector CN3 9 pin of servo 15103 15303 Selection 2 CN3 9 amplifier el RE BFM BFM Output signal device Setting of output signal to the connector CN3 15 pin of servo 40003 15104 15304 Selection 3 CN3 15 amplifier 194 Appendix B Version Information FX3U 20SSC H Positioning Block User s Manual Appendix B 1 Version Information GA a a a Appendix B Version Information S 3 Appendix B 1 Version Information S ek ES Appendix B 1 1 Version check method The version of 2OSSC H can be checked by the following method 1 3 1 In the 20SSC H users can obtain the 20SSC H version information by monitoring buffer memory 17 g decimal number 2 The Version of the product can be seen from the manufacturer s serial number SERIAL indicated on the label adhered to the right side of the product AMITSUBISHI FM MODEL FX3u 20SSC H gt S POWER SUPPLY 24VDC a ai 3 ee D LO FX3u 20SSC H SERIAL No 6Z0001 V1 20 D CH MADE IN JAPAN 1112110 E e eae a eee Q P ES zS Version Appendix B 1 2 Version Upgrade History The 20SSC H has undergone the following upgrades Version Contents of version upgrade Ver 1 00 First product Ver 1 10 e Reciprocal movement instruction added to Positioning Operation Patterns e Ring counter setting added
71. does not enter the ventilation slits Failure to do so may cause fire equipment failures or malfunctions e Make sure to properly wire the FX Series terminal blocks in accordance with the precautions below in order to prevent electric shock a short circuit wire breakage 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 and 0 8 Nem e Do not wire or bundle the SSCNET Ill cables together with or lay them near a main circuit cable high voltage line or load lines separate from the PLC As a guideline lay the SSCNET III cables at least 100mm 3 94 or more away from power lines Failure to do so may cause surge induction and or noise disturbance e Optical fiber end face defects that are caused from contaminants may deteriorate the signal transmission rate and cause malfunction When removing the SSCNET III cabling from the 20SSC H port make sure to attach the protective caps to the cable connectors and ports e Do not remove the SSCNET III cable from its port while the power is ON for the 20SSC H or Servo Amp Do not look directly into the optical fiber cable ends or SSCNET III ports as doing so may cause eye damage The laser for SSCNET III communication complies with Class 1 as defined in JISC6802 and IEC60825 1 e When handling the SSCNET Ill cables do not expose them to strong impact lateral pressure excessive pulling tension abrup
72. flash memory 2 C in the figure above S The following data is saved from the buffer memory in 20SSC H to the flash memory according to the save a command sent from FX Configurator FP e Positioning parameters 9 OD e Servo parameters SS e Table information 3 uoesedo ap 37 6 Memory Configuration and Data Operation FX3U 20SSC H Positioning Block User s Manual 6 3 Data Transfer Process 6 3 3 Transfer writing servo parameters to servo amplifier When the power is turned ON or when the system is reset 1 the 20SSC H transfers servo parameters stored in the flash memory to the buffer memory When the servo series BFM 15000 15200 is set to the connected servo amplifier the 2OSSC H transfers servo parameters to the servo amplifier The figure below shows how to transfer servo parameters to the servo amplifier FX3U FX3UC PLC F X3U 20SSC H Buffer memory BFM b Servo parameters Sequence 2 program e Saa e E mm mm mm mm 1 a i Power ON or d y system reset Flash memory ROM Servo amplifier Servo parameters Servo parameters e How to transfer the servo parameters stored in the flash memory to the servo amplifier Procedure Transfer sequence 1 and 2 in the above figure Store in the flash memory the servo series BFM 15000 X axis and 15200 Y axis set to the connected servo amplifier series and the servo parameter transfer mode b15 set to OFF in the operation parameter 2 BFM 14002
73. from the special function unit block closest to the PLC main unit s Inthe FX3u series Unit No 0 Unit No 1 Unit No 2 d sojsoubeiq La E sau Input output Special Special Input output Special Main unit extension block function block function block extension block function unit gt e Inthe FX3UC series Gbale Di ei Unit No 0 e sc built in CC Link LT Unit No 1 Unit No 2 Unit No 3 g LU Ges Input output Special functionSpecial function ZE extension block block block extension block 5g Fal SE o 5 12 1 2 How to read write from to buffer memory To read write from to buffer memory in the 20SSC H use the FROM TO instructions or applied instructions that directly specify the buffer memory To directly specify the buffer memory FX3U FX3uc PLC applicable software GX Developer is required Note Buffer memory that is assigned in 32 bits must use 32 bit instructions to read write Data cannot be correctly read written from to buffer memory assigned in 32 bits if 16 bit read write instructions are used 1 Direct specification of buffer memory The following setting device is specified for the source or destination of an applied instruction U G is substituted with a T number 1 Example 1 In the following program example data is read from the buffer memory BFM 1 0 in unit No 1 to data registers D11 D10 Read command FNC 12 DMOV U1 G0 D10 Unit No l L a Buf
74. if you select 1 Enable use in absolute position detection system when using the increment synchronous encoder Select whether to use or not use the servo forced stop function EM1 BFM Function selection 15004 15204 FER A 1 i i 10009 0 Enable use the forced stop EM1 1 Disable not use the forced stop EM1 Select the gain adjustment mode BFM BFM PAOB EE p Gain adjustment mode setting 40001 15008 15208 0 Interpolation mode 1 Auto tuning mode 1 2 Auto tuning mode 2 3 Manual mode 128 U TI 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 2 Servo Parameters BFM Number Servo ag Amplifier Description Default T X axis Parameter No z Set this if you want to improve the servo amplifier response 3 BFM BFM Low responsivity High responsivity 15009 15209 PAO9 Auto tuning response 1 10 0Hz 32 400 0Hz K12 4 2 OOD Set th t tput itioni leti ignal i its of ee BEM BEM B et the range to output a positioning completion signal in units o SS 15010 15210 PA10 In position range command pulse K100 ee Setting range 0 to 50000 PLS 2 Select the servo motor rotation direction when viewed from the servo BFM BFM PA14 Rotation direction amplifiers load side KO 15014 15214 selection 0 Forward rotation CCW when the current value is increased 1 1 Reverse rotation CW when the current value is increased
75. immediately after power on specify 1 Motor Z phase pass unnecessary after l power on default setting at the servo parameter function selection C 4 With this setting the zero point pass signal turns ON even if the motor does not pass the zero point Z phase l l Note l l l joujuco enuei e e With the simultaneous start flag ON the X axis mechanical zero return command simultaneously starts the X and Y axes mechanical zero return operation The 20SSC H ignores the Y axis mechanical zero return command joxuog Buluoyisog QO Zero return complete flag The zero return complete flag turns ON sets when the mechanical zero return operation finishes It turns OFF resets when reactivating the mechanical zero return command or when turning the power OFF uoneiado age The above is different from the actual page as it is provided for explanation only 14 1 Introduction FX3U 20SSC H Positioning Block User s Manual 1 1 Outline uononpou 1 introduction 1 1 Outline wasis N The FX3u 20SSC H type positioning block hereinafter referred to as 20SSC H is a special function block applicable to SSCNET III 20SSC H can perform positioning control by servo motor via an SSCNET III applied servo amplifier uoieJnsiuoo LA 1 2 axis control is possible One 20SSC H controls 2 axes 20SSC H applies the 1 speed positioning and interrupt 1 speed constant quantity feed operations for constant quanti
76. in operation D29 D53 D52 Servo status D64 D68 D71 D70 Error code Motor rotation speed Servo warning code Motor feedback position Explanation of Operation 12 Program Example 12 3 Explanation of Operation Remark 162 This section describes operation of the example program Positioning control parameters are used with their default settings For details on device assignments refer to section 12 2 For details on sequence programs refer to section 12 4 Note e Set the servo series in the servo parameters according to the servo amplifier to be used Refer to Section 7 1 and 11 2 e Set the following parameters if necessary For details refer to Section 7 1 and Chapter 11 Function selection C 4 for servo parameters Zero return interlock setting in positioning parameters 12 Program Example FX3U 20SSC H Positioning Block User s Manual 12 3 Explanation of Operation 12 3 1 Mechanical zero return w y CD Acceleration time Deceleration time 2 200ms 200ms 3 Speed lt gt Maximum speed lt gt 4 000 000Hz OPR speed High speed OPR speed 4 000 000Hz EEN 100 000Hz Time D a gt Wei O LO Zero phase signal IPL X axis 1 When turning X006 X axis mechanical zero return command to ON at the PLC main unit DOG type gt mechanical zero return operation starts in the current value decrementing directio
77. integral 1 to 50000 x0 1ms K337 compensation Gain changing BFM BFM Vibration suppression 15051 control Vibration frequency setting 1 to 1000 x0 1Hz K1000 KA ech Wu NO Wu Gain changing BFM BFM Vibration suppression 1 to 1000 x0 1Hz K1000 15052 KA Ol NO Ol N control Resonance frequency setting BFM BFM Error excessive alarm BFM BFM Electromagnetic brake 15065 sequence output GE BFM BFM Encoder output pulses 15066 Selects the direction setting for encoder pulse output H0000 SC Gel Function selection C 1 Selection of serial encoder cable 2 wire or 4 wire type H0000 SE Giel Function selection C 2 Selects validity for operations without motor BFM BFM SE G Analog monitor output 1 Setting of output signal to analog monitor 1 H0000 ech Ql N O E KA ech Wu NO O Wu H ech Wu N O O esch Wu NO O N esch Wu NO O CO subsection 11 2 3 KA Ol NO N O 15272 BFM BFM 15073 445973 Analog monitor output 2 Setting of output signal to analog monitor 2 H0000 BFM BFM Analog monitor 1 BFM BFM Analog monitor 2 15075 15275 Offset ARY BFM BFM Function selection C 4 Select the home position setting condition in the absolute 15080 15280 position detection system BFM BFM Output signal device Setting of output signal to the connector CN3 13 pin of servo H0005 15102 15302 Selection 1 CN3 13 amplifier BFM BFM Output signal
78. interface O 015 03 05 1 3 Cable length in meters Outside panel standard cable MR J3BUS O M A O 5 10 20 Cable length in meters O 30 40 50 Cable length in meters LI 150 300 500 Cable length 150 1 5m 300 3m 500 5m 2 System Configuration FX3U 20SSC H Positioning Block User s Manual 2 2 Connection with PLC 2 2 Connection with PLC UO ONPOJ U 20SSC H connects with PLC via extension cable The 20SSC H is handled as a special extension block of the PLC The unit number of the 20SSC H is automatically assigned No 0 to No 7 starting from the special function unit block closest to the PLC main unit This unit number is used for the designation of a FROM TO instruction For details on assignment of the I O number and unit number of the PLC refer to the following manual corresponding to the connected PLC FX3u Hardware Edition FX3uc Hardware Edition Japanese document only FX3U Series PLC FX3U 20SSC H FX3U 20SSC H 3 9jdwex 3 OZ x Xi Xz eogeogoegg wH lt gt RUN gt UOI N9UUOD BT 5 f Even owe abedb6b556Gb544 10 14 12 13 44 15 1B 1 60664066 aa TE FXau 20SSC H S FXau 20SSC H uomeIgieu Ja 7 FXsu 20SSC H a FXau 20SSC H Buum QI e A maximum of 8 units blocks can be connected with the FX3u PLC With the FX3uc PLC a maximum of 7 6 units blocks can be connected Be e An FX2NC CNV IF or FX3UC 1PS 5V is neces
79. into the flash memory status information ON 58 Do not turn the power OFF while saving data into the flash memory es Do not write any data to buffer memories until saving data into flash memory is completed e A memory error occurs when data fails to be saved into the flash memory e The maximum number of times data can be written to the flash memory is 100 000 times 1 3 The number of times data has been written to the flash memory can be checked by the number of writes z For details on the flash memory maximum number of writes refer to Subsection 11 3 33 E Notes on initializing buffer memories S While initialization is in progress the initializing status of the status information is ON and READY BUSY is OFF BUSY A e aos e GE 11 4 16 Manual pulse generator input magnification numerator Bao BFM 525 524 BFM 625 624 S This data item sets the magnification to be applied to the numerator of a pulse train input by the manual pulse a generator B For details on the manual pulse generator refer to Section 8 3 Be BFM Number Deem SR SS X axis escription etau 5 BFM 525 524 BFM l 625 624 Setting range 1 to 1 000 000 times 11 4 17 Manual pulse generator input magnification denominator BFM 527 526 BFM 627 626 This data item sets the magnification to the denominator of a pulse train input by the manual pulse generator For details on the manual pulse generator refer to S
80. manual 6 For mounting hole pitches refer to Section 1 2 o SE Refer to the FX3U Hardware Edition aga Refer to the FX3UC Hardware Edition Japanese document only a 1 Make mounting holes in the mounting surface according to the external dimensions T diagram SEI 2 Fit 20SSC H A in the figure to the right to J holes and tighten M4 screws B in the figure to the right 8 For the screw position and quantity refer to the dimen S sioned drawing specified below S For dimensions refer to Section 1 2 S 3 Connect the extension cable 9 Connect the extension cable to the main unit I O exten OF sion unit block or special function unit block on the left side S of the product E Refer to Step 3 in Section 4 1 For extension cable connection procedure refer to the fol lowing respective PLC manual 1 0 Refer to the FX3U Hardware Edition a Refer to the FX3uc Hardware Edition 2 Japanese document only g 25 5 Wiring FX3U 20SSC H Positioning Block User s Manual SEU 5 Wiring 26 DESIGN PRECAUTIONS A N CAUTION e Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise 1 Do not bundle the main circuit line together with or lay it close to the main circuit high voltage line or load line Otherwise noise disturbance and or surge induction are likely to take place As a guideline lay
81. of the positioning operation is shown below For futher details on the positioning operations supported by 20SSC H and a note on positioning cautions refer to the following wasis N For a note on positioning cautions refer to the next page g For manual operation refer to Chapter 8 E For positioning operations other than table operation refer to Chapter 9 a For table operation refer to Chapter 10 S In individual axis operation In simultaneous two axis operation interpolation operation 3 Speed Interpolation time Interpolation time 5 D Speed SSES deed constant constant S S i l l I Sch ZF Ma speed Max speed Trapezoidal a ira Trapezoidal SC A EE EEN Ki acceleration deceleration acceleration deceleration Operation speed uomeIgieu Ja Time S shaped time Time completion flag acceleration deceleration fixed at 64ms Positioning ON OFF O completion flag OFF Parameters and control data used for positioning operation Buum QI BFM number Item Description Y axis BFM 14209 14208 BFM 603 602 Actual operation speed in each operation mode X axis BFM 14009 14008 Operation speed 1 BFM 503 502 Operation Operation speed 2 BFM 507 506 speed BFM SSES 14013 14012 Acceleration time BFM 14018 Maximum speed Upper limit of speed in each operation mode Actual operation speed for two speed position
82. operate at the specified vector speed X axis operation speed 1 The positioning completion signal is turned OFF The START command of the Y axis is ignored 3 The work piece stops at the XY coordinate in target address 1 and the operation ends turning the positioning completion signal ON POINT Kowar O ejep pue uolesnByuoo e The positioning completion signal turns ON if the travel distance is 0 If the travel distance is 0 or the travel time is too short however it is impossible for the sequence program to detect the positioning completion signal turning OFF D 1 Turning OFF of the positioning completion signal can be detected when the positioning completion og signal output waiting time is set if the version is Ver 1 20 or later a For details on the Positioning completion signal output waiting time refer to Subection 7 8 10 5g e When interpolation operations are consecutively repeated in a table operation the 20SSC H provides a continuous pass operation For details on the continuous pass operation refer to Section 10 10 8 2 Operation speed The actual operation speed vector speed is X axis operation speed 1 x X axis override setting e The operation speed 1 for the X axis can be changed using the operation speed change function except under the following conditions e During deceleration operation e When the speed change disable during operation signal is ON 3 Address specificati
83. or disrupting the program in operation or running the PLC carefully read through this manual and 33 the associated manuals and ensure the safety of the operation An operation error may damage the machinery or 158 cause accidents 173 When verifying the Zero return JOG operation and positioning data thoroughly read this manual to ensure safe system operation Failure to do so may cause an operation failure that leads to a serious accident or that causes damage to the machinery CAUTION Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric distributor Turn off the power to the PLC before connecting or disconnecting any extension cable Failure to do so may cause 33 equipment failures or malfunctions 158 Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause 173 equipment failures or malfunctions Display module peripheral devices expansion boards and special adapters Terminal blocks and I O extension units blocks 5 DISPOSAL PRECAUTIONS CAUTION e Please contact a certified electronic waste disposal company for the environmentally safe recycling and disposal of your device 6 TRANSPORTATION PRECAUTIONS CAUTION PLC The PLC is a precision instrument During transportation avoid impacts larger than those specified in the manual of the PLC main unit Fai
84. or the PLC POWER Green ON Power is being supplied from the external power supply or the PLC wasis N9 X READY OFF Error is occurring or positioning is being executed on the X Y axis Q Green S Y READY Various operation commands are acceptable on the X Y axis E X Y axis is operating normally S X ERROR S Y ERROR Error is occurring on the X Y axis ON CPU error is occurring on the X Y axis X START Start input OFF Y START ON Start input ON LA WS S O xX w DOG DOG input OFF z S Y DOG DOG input ON So X INTO OFF Interrupt input OFF Y INTO SINT ON Interrupt input ON Y INT1 X dA OFF Manual pulse generator A phase input OFF Y oA Manual pulse generator A phase input ON X B OFF Manual pulse generator B phase input OFF Y 6B Manual pulse generator B phase input ON uomeIgieu Ja Bui QI Howay OF eyep pue uolesnByuoo Onu07 Buiuonisod Guies esojog N lo uo9 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 17 FX3U 20SSC H Positioning Block User s Manual System Configuration 2 2 System Configuration 2 1 General Configuration 2 1 General Configuration GX Developer FX Configurator FP PC FX3u FX3uUC PLC USB cable Ladd RS 232C cable SE LS for forward rotation limit X axis Y axis LS for reverse rotation limit X axis Y axis STOP switch X axis Y axis Component list Part name Positioning block PLC PC software
85. positioning completion signal turns ON if the travel distance is 0 If the travel distance is O or the travel time is too short however it is impossible for the sequence program to detect the positioning completion signal turning OFF 1 Turning OFF of the positioning completion signal can be detected when the positioning completion D signal output waiting time is set if the version is Ver 1 20 or later SE For details on the Positioning completion signal output waiting time refer to Subsection 7 8 10 SE 2 Operation Speed S The actual operation speed is operation speed 1 x override setting Operation speed 1 can be changed using the operation speed change function except under the following 8 conditions S e During deceleration operation S e When the speed change disable during operation signal is ON S 3 Address Specification The absolute relative address can be specified With the specified absolute address Specifies a target address position using address 0 as the base With the specified relative address Specifies a travel distance from the current address 4 Rotation Direction With the specified absolute address The rotation direction depends on whether the target address 1 is larger or smaller than the current address With the specified relative address The rotation direction is decided by the sign positive negative of 1 target address 1 uojesedo ap 85 9 Positioning Control FX3U 20SSC H Positi
86. product on a flat surface If the mounting surface is rough undue force will be applied to the PC board thereby causing nonconformities When drilling screw holes or wiring make sure cutting or wiring debris does not enter the ventilation slits Failure to do so may cause fire equipment failures or malfunctions Be sure to remove the dust proof sheet from the PLC s ventilation port when installation work is completed Failure to do so may cause fire equipment failures or malfunctions Make sure to attach the terminal cover offered as an accessory before turning on the power or initiating operation after installation or wiring work Failure to do so may cause electric shock 3 WIRING PRECAUTIONS lt SDANGER e Make sure to cut off all phases of the power supply externally before attempting installation or wiring work Failure to do so may cause electric shock CAUTION Use class D grounding grounding resistance of 100 or less with wire as thick as possible on the grounding terminal of the 2OSSC H However do not connect the ground terminal at the same point as a heavy electrical system Make sure to attach the terminal cover offered as an accessory before turning on the power or initiating operation after installation or wiring work Failure to do so may cause electric shock Make sure to connect cables and wires to the power signal inputs of the 20SSC H as described in this manual Connecting AC power cables with DC power s
87. radius CCW direction vhf ei ara lt S lt S SI sS S KN NE SIS lt S wl el ON SI Zo uomeIgieu Ja Buin QI lt S lt S lt S Mechanical zero return Kowar O Current address change Absolute address specification lt zl SI Si Sl Sl SI Si Sl Sl SI Si xl ll Si Sl Sl SI Si SS SJ ejep pue uolesnByuoo Relative address specification 7 Dwel d SS of OO of OO ine we EE RE NEIE Ss WEE RENE NEE 2 2 For details on the user units refer to the following Refer to section 7 9 8 A The m code is an auxiliary command to support positioning data in execution For details on m code refer to the following Refer to section 10 9 St S QU O OH SE So 72 a D D O Ki D o gt 107 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 1 Outline of Table Operation 10 1 4 Table operation execution procedure The following shows the procedure for executing a table operation Set the operation pattern and table start No in the control data BFM BEN number Item Content b9 Table operation individual Table operation is executed by X axis table data and Y axis table data b10 Table operation simultaneous Table operation is executed by XY axis table data Operation pattern selection BFM 520 BFM 620 Specify the table No of the table operation to be executed When setting the table operation simultaneous in the operation patterns set the
88. selection TOF O nent OFF Relative positioning by the specified travel distance 1 speed constant i Ge e Level ON Absolute positioning by the specified address quantity feed Ver 1 10 or later d BFM 519 H0000 Set this to turn the servo OFF Servo OFF For details on the servo ON OFF state refer to command Subsection 7 8 5 Level 0 servo ON 1 servo OFF Servo Set this to transfer servo parameters in the buffer memories to parameters the servo amplifier transfer command Edge Changes the gain of the amplifier from the 20SSC H Gain changing For details on changing gain refer to the manual shown command below Level MR J3 01B Servo Amplifier Instruction Manual Set this to disable update of servo parameters even when the servo amplifier gives servo parameter update request For details on the servo parameter update stop command refer to Subsection 6 3 5 1 Timing of detection 1 Level detection activated when the bit is set or cleared 2 Edge detection activated at OFF to ON transition b1 ON to OFF transition 2 BFM 619 b1 is not available POINT Servo parameter update stop Ver 1 10 or later Level 1 Changing positioning parameters When the 20SSC H is powered ON operation starts with the positioning parameters in the flash memory When the buffer memory positioning parameters are changed via FX Configurator FP or a sequence program it is necessary to activa
89. shown above 8 4 When the interrupt input INTO turns ON the 20SSC H positions the motor to the target address 1 position at the operation speed 1 where the operation ends and the positioning completion signal turns S ON S Note S e The 20SSC H also positions the motor to an absolute value when the value set to the target address 1 is minus e When the time until the motor reaches the target position target address after the interrupt input INTO turns ON is shorter than the time required for deceleration the motor misses the address and continues to move to a position enabling deceleration and stop at the address because the current address is performing the ring operation e After the interrupt input INTO turns ON if the target address change function is executed to change the 1 target address to an address in the opposite direction from the one already specified the target address change function is ignored uo eJado ap 87 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 4 2 speed Positioning Operation 9 4 2 Operation speed The actual operation speed is operation speed 1 x override setting Operation speed 1 can be changed using the operation speed change function except under the following conditions e During deceleration operation e When the speed change disable during operation signal is ON 3 Address specification Specified address are handled as absolute addr
90. simultaneous START flag is b10 in the X axis operation command 1 BFM 518 Do not use b10 in the Y axis operation command 1 BFM 618 Note e Priority of start flag and stop flag The STOP command has higher priority over the forward reverse rotation JOGs and the START command e Handling of each flag ON OFF state The 20SSC H retains stop and start flag ON OFF states until power OFF The commands with level detection executes stops at writing ON OFF For commands with edge detection create a program so that the bits are always turned OFF upon completion of ON operations The second and subsequent cycles cannot be performed without turning the bits OFF 149 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 4 Control Data 11 4 11 Operation command 2 BFM 519 BFM 619 BFM Number Bit z a ia escription Detection efau X axis Number p Edge Edge Patenter Seet Set this to cancel the standby status for the remaining travel D s eg after the STOP command For details on the stop command refer to Section 7 4 D Gees Turns ON for 100ms or more and resets the 20SSC H b1 com ane Y GT system when detecting this bit s falling edge 1 10 or later y g TE Positioning Set this to enable positioning parameters in the buffer b4 parameters Ue nas Edge bl d Whenever you make a change to positioning parameters this enadle command bit must be set before starting operation Mode
91. space height should be 70 mm 2 76 minimum So N sl E E N 2 Bundling gt Optical cord Loose slack IN Bundling material Recommended NK Clamp SP Type NIX INC f 22 32 6 Memory Configuration and Data Operation FX3U 20SSC H Positioning Block User s Manual 6 Memory Configuration and Data Operation DESIGN PRECAUTIONS A N CAUTION Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise 1 Do not bundle the main circuit line together with or lay it close to the main circuit high voltage line or load line Otherwise noise disturbance and or surge induction are likely to take place As a guideline lay the control line at least 100mm 3 94 or more away from the main circuit or high voltage lines 2 Ground the shield wire or shield of the shielded cable at one point on the PLC However do not ground them at the same point as the high voltage lines Install module so that excessive force will not be applied to the built in programming connectors power connectors or I O connectors Failure to do so may result in wire damage breakage or PLC failure STARTUP AND MAINTENANCE PRECAUTIONS lt gt DANGER Do not touch any terminal while the PLC s power is on Doing so may cause electric shock or malfunctions Before cleaning or retightening terminals ex
92. starts the opening operation when the open signal is OFF gum e Opening operation SCH The motor stops the opening operation when the open signal turns ON SE when the 20SSC H detects the rising edge S After stopping the motor either Starts the closing operation when the close signal is OFF 8 Remains stopped when the close signal is ON and the open signal is ON Starts the opening operation when the close signal is ON and the open signal is OFF S e Closing operation S The motor stops the closing operation when the close signal turns ON when the 20SSC H detects the rising edge After stopping the motor either Starts the opening operation when the open signal is OFF Remains stopped when the open signal is ON and the close signal is ON Starts the closing operation when the open signal is ON and the close signal is OFF D Or D O O D o O S 101 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 12 Reciprocal movement insutruction Ver1 10 or later Note 102 e When the 20SSC H completes positioning in the open or close position the positioning completion signal turns ON e The READY status remains OFF while the 20SSC H is operating and turns ON when the 20SSC H finishes operation e The motor decelerates and stops when the operation pattern selection reciprocal movement instruction is set to OFF e When changing the address to a newly specified one during control usi
93. statuses are shown below 1 Sudden stop or deceleration stop can be selected with Ver 1 20 or later Refer to Section 7 5 For the related parameters control data and monitor data refer to Section 7 11 Status State Positioning completion OFF READY ON STOP command during JOG operation manual pulse generator operation or variable speed operation When a STOP command is turned ON during the JOG operation manual pulse generator operation or variable speed operation the servomotor decelerates to stop without regard to the stop mode setting type Operation is restarted when the STOP command is turned off and the forward or reverse rotation JOG command is ON or the manual pulse generator is being operated Operation stop for JOG operation manual pulse generator operation or variable speed operation To stop the JOG operation manual pulse generator operation or variable speed operation turn the operation command to off or stop the manual pulse generator input without using the STOP command STOP command during positioning operation without the JOG operation manual pulse generator operation or variable speed operation When the STOP command is turned ON during positioning control operation the operation is as follows according to the stop mode setting There are two types of stop mode the positioning control end mode and remaining travel distance operation mode 1 Positioning control end mode When the STOP command
94. target address for the target address change function For details on the target address change function refer to Subsection 7 6 3 BFM Number Description BFM Setting range 2 147 483 648 to 2 147 483 647 User unit 615 614 Set the value within 2 147 483 648 to 2 147 483 647 PLS in the converted pulse data 1 Refer to the section shown below for details on the user units Default BFM 915 514 Refer to Section 7 9 11 4 9 Target position change value Speed BFM 517 516 BFM 617 616 This data item sets the operation speed for the target address change function For details on the target address change function refer to Subsection 7 6 3 BFM Number BFM Setting range 2 147 483 648 to 2 147 483 647 User unit 617 616 Set the value within 1 to 50 000 000 Hz in converted pulse data 1 Refer to the section shown below for details on the user units Description Default BFM 517 516 Refer to Section 7 9 11 4 10 Operation command 1 BFM 518 BFM 618 BFM Number Bit D n an escription Detection etau Set this to recover from errors and clear the following information Error BFM numbers BFM 6 BFM 106 Error reset l Edge Status information Occurrence of an error BFM 28 b5 BFM 128 b5 Error code BFM 29 BFM 129 STOP When this bit is turned ON during positioning operation operation b1 deceleration decelerates to stop Level
95. to Section 7 11 1 How to select sudden stop when the STOP command or limit switch turns ON Specify the following settings Setting item Description Setting of the sudden stop deceleration stop Setting of the sudden stop Setting of sudden stop deceleration time Setting Setting of the sudden stop interpolation time constant Setting interpolation operation only 2 Sudden stop operation 1 The work piece suddenly stops after the sudden stop deceleration time interpolation time constant when the STOP command or limit switch turns ON during operation However the work piece stops after the normal deceleration time when the sudden stop deceleration time interpolation time constant is longer than the normal deceleration time interpolation time constant In individual axis operation Speed A Maximum speed Operation speed gt Time Real sudden stop deceleration time gt lt x Real deceleration time Sudden stop deceleration time l lt lt gt Deceleration time ON OFF H Stop command In simultaneous two axis operation interpolation operation Speed PEREA Maximum speed Operation speed gt Time Sudden stop interpolation St 2 Interpolation time constant time constant ON OFF T Stop command 48 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 5 Sudden stop selection Ver 1 20 or later zs
96. transfer between PLC and buffer memory BFM of 20SSC H B in the figure above Applied instructions such as the MOV instruction or the FROM TO instruction are used to read write parameters and data between the PLC and buffer memory Note Use FX Configurator FP whenever possible to set positioning parameters servo parameters and table information and save the setting data in the flash memory The use of a sequence program for this purpose requires many steps and devices resulting in a complex program and increased scan time 3 Writing data to the flash memory in 20SSC H C in the figure above To change data in the flash memory use a sequence program or FX Configurator FP to modify the buffer memory data then activate a save command BFM 523 b0 to b6 to save positioning parameters servo parameters and table information from the buffer memory to the flash memory For the operation of FX Configurator FP refer to the FX Configurator FP Operation Manual For the flash memory save command refer to Subsection 11 4 15 4 Data transfer process between 20SSC H and servo amplifier D in the figure above When servo parameters or monitor data on the servo amplifier side are modified the buffer memory of the 20SSC H is by default automatically updated For the initial servo parameter transfer method refer to the following For the initial servo parameter transfer method refer to Subsection 6 3 3 36 6 Memory Configuration and
97. wiring method refer to the following respective PLC manual Refer to the FX3u Hardware Manual Refer to the FX3uc Hardware Manual Specifying forward rotation limit 1 LSF and reverse rotation limit 1 LSR Operate the forward rotation limit 1 LSF and reverse rotation limit 1 LSR connected with the PLC with the forward rotation limit flag and reverse rotation limit flag of 20SSC H respectively Refer to Chapter 13 Restarting method Refer to the following Refer to Section 7 3 on the previous page 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 3 Handling the Forward Rotation Limit and Reverse Rotation Limit 7 3 3 Software limit This operation limit is based on the 0 address that becomes valid after mechanical zero return Specify at addresses so that activation is before forward rotation limit 1 and reverse rotation limit 1 connected with the PLC UONONPO U For the related parameters control data and monitor data refer to Section 7 11 1 Conditions for validating the software limit wasis INQ e Specify the software limit so that the following condition is satisfied Large software limit gt small software limit uoleinBiyuoo e State with active zero return complete flag After execution of mechanical zero return and completion of positioning at the zero point or in an absolute position detection system where the current value is established
98. 0 90 000 Current address 180 000 90 000 180 000 Example of rotation in the direction where the current value increases BFM 530 630 1 1 speed positioning operation Ring value Ring value 359 999 359 999 0 Target address 1 0 300 000 Target address 1 Current address Current address 240 000 90 000 90 000 180 000 180 000 55 UORONpoJu wasis N uoleinBiyuoo LA Uo2euu07 9jdwex 3 uomeIgieu Ja Bui QI Howay OF Di CH 5 a3 oe r D o O 5 Dune 10j g Oomu03 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 8 Other functions Example of rotation in the direction where the current value decreases BFM 530 630 2 1 speed positioning operation Ring value Ring value 359 999 359 999 0 Target address 1 Target address 1 300 000 240 000 Current address Current address 90 000 90 000 180 000 180 000 e When the current value is equivalent to the target address positioning is completed and the positioning completion signal turns ON e The 20SSC H cannot position the motor to a value larger than the preset ring value When the address is specified in relative value e The 20SSC H positions the motor while regarding the preset target address as a relative movement quantity Example of rotation when the address is specified as a relative value 1 speed positioning operation Ring
99. 01 1KO Ko ELE Specify the ratio percent of the actual operation speed une fe Override setting BFM 508 BFM 608 to the operation speed Setting range 1 to 30000 x0 1 Forward rotation BFM 518 b2 BFM 618 b2 The 20SSC H decelerates to stop at this parameter ON limit LSF during forward rotation output Reverse rotation BFM 518 b3 BFM 618 b3 The 20SSC H decelerates to stop at this parameter ON 5 limit LSR during reverse rotation output l Mechanical zero BFM 518 b6 BFM 618 b6 The 20SSC H starts the mechanical zero return when Operation return command activating this bit E command 1 The 20SSC H simultaneously starts the X and Y axes operation at the X axis start command ON Simultaneous start flag BFM 518 b10 BFM 618 b10 OFF The speed and target position change commands In process speed during positioning control operation are valid change prohibition BPM PONA DLE PEMO LB OLA ON The speed and target position change commands 6 during positioning control operation are invalid 3 8 Monitor data SE Setting range 2 147 483 648 to a Current address user BFM 1 0 BFM 101 100 a e 2 147 483 647 user unit Current address pulse BFM 3 2 BEM 103 102 SE GE Ee 7 Real current address user av eo w Ver 1 20 or later BFM 21 20 BFM 121 120 2 147 483 648 to 2 147 483 647 user unit SS e SE neal cule nt ANUTESS PUSS BFM 23 22 BEM 123 122 2 147 483 648 to 2 147 483 647PLS E
100. 010 7023 7022 Position information y K 1 BFM BFM 1013 1012 a 7025 7024 Speed Speed information x G SCT SE informa tion j j S 1 4013 4012 7027 7026 SEENEN Same as the table 0 a BFM Center coordinate K 1 7029 7028 Circular Radius r SENI informa tion j j 7 BFM 1014 BFM 4014 BFM 7032 Operation information K 1 BFM 1015 BFM 4015 BFM 7033 K 1 GN mes iti Position information x K 1 3991 3990 12981 12980 Position SCH SE informa tion ition i j gt 6991 6990 12983 12982 E deg DEM DEM 3993 3992 12985 12984 Speed Speed information x a SE SE informa tion j j z 299 G 6993 6992 12987 12986 SEENEN Same as the table 0 BFM Center coordinate i K 1 12989 12988 Circular Radius r N informa tion j j S BFM 3994 BFM 6994 BFM 12992 Operation information K 1 BFM 3995 BFM 6995 BFM 12993 K 1 155 FX3U 20SSC H Positioning Block User s Manual Position information 11 Buffer Memory Parameters amp Monitored Data 11 5 Table Information Set the following items according to the table operations set in the operation information Table Operation Action Setting range Set the value pulse data Positioning operation Set the target address Setting range Changes the current Set the value Specify the current address Description 2 147 483 648 to 2 147 483 647 User unit within 2 147 483 648 to 2 147 483 647PLS in the converted 2 1
101. 013 SST p l The direction above does not apply to products 13 manufactured after June 2006 Clock error e Faulty board e Clock error transmitted from 20SSC H 14 e Servo amplifier hardware error Memory error 2 EEPROM The servo amplifier must be repaired Consult a 2015 e EEPROM error in servo amplifier Mitsubishi Electric distributor Servo amplifier 15 e The EEPROM write count exceeds 100 000 operations The servo amplifier or 20SSC H must be repaired Consult a Mitsubishi Electric distributor e Connect correctly Sensor fault 1 after power on e Change the servo motor 2016 SC 16 e Communication error occurred between sensor Repair or change the cable and servo amplifier e Correct the setting of the 4th digit of parameter No PC04 2017 Board error 17 e CPU part fault The servo amplifier must be repaired Consult a 2019 Memory error 3 Flash ROM Mitsubishi Electric distributor 19 e ROM memory fault Sensor fault 2 e Connect correctly 2020 ae e Communication error occurred between sensor Change the servo motor 20 d and servo amplifier e Repair or change the cable 2024 Main circuit error e Correct the wiring 24 e Ground fault occurred at the servo motor power Change the cable U V and W phases of the servo amplifier e Change the servo amplifier e After leaving the alarm occurring for a few minutes switch power OFF then ON again Always create the home position setting again e
102. 1 PB43 A 011 PA11 028 PBIO 045 PB27 062 PB44 095 PC32 012 PA12 029 PB11 046 PB28 063 PB45 096 Po ovc 013 PA 030 PBi2 047 PB29 064 PCoi 097 PDO2 ao 014 PAi4 031 PBi3 048 PB30 065 PCo2 098 PDO3 2 015 GA 032 PBi4 049 PB31 o66 Soo o99 PDO4 T 016 PAi6 033 PBi5 050 PB32 067 Pco4 100 ppo 0o17 Paiz 034 PB16 051 PB33 068 PCOS 101 PDos a 11 3 26 Servo status BFM 64 63 BFM 164 163 D So O Di BFM Number Bit Value Description Default Zero phase is passed The bit is set when the zero phase of the encoder is passed b1 b2 Not available BFM 63 BFM 163 Operating at zero speed b3 This bit is set while the motor is driven at speeds lower than zero speed b4 tob15 Not available Ready ON This bit is set while the servo ready is ON Servo ON This bit is set while the servo is ON Cleared when the servo turns OFF b2 to b6 Not available An alarm has been raised Bit This bit is set while an alarm is raised b8 tob11 Not available BFM 64 BFM 164 In position b12 This bit is set while droop pulses are within a range of In position b13 Torque is limited This bit is set while the servo amplifier is limiting torque Losing an absolute position b14 This bit is set while the servo amplifier is losing an absolute position A warning is oc
103. 102 a e The stored address data is always handled as an absolute address converted pulse data For details on the converted pulse data refer to Section 7 9 Default BFM 3 2 POINT e It is possible to change the current address of a stopped axis to any address Overwrite the current address user with a new address The current address will be changed and its pulse data will be updated Set a value within the range from 0 to the ring value during the ring operation For details on the current address change function refer to Subsection 7 8 8 135 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 3 Monitor Data 11 3 3 Torque limit storing value BFM 5 4 BFM 105 104 Torque limit value used for the torque limit function is stored The torque limit value is a torque limit setting value torque output setting value or zero return torque limit value For details on the torque limit function refer to Subsection 7 8 3 BFM Number Description Value Format BFM F 105 104 1 to 10 000 x 0 1 Decimal Default X axis BFM 5 4 11 3 4 Error BFM numbers BFM 6 BFM 106 If an error arises the BFM numbers in which the error occurred are stored BFM Number Description Value Format 1 No error EME Oe Others BFM number in which an error occurred ES Default X axis 11 3 5 Terminal Inf
104. 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 2 Servo Parameters BFM Number Servo Amplifier Description Default X axis Y axis parameter No Specify a signal assigned output to the CN3 15 connector of the servo amplifier 0 0 rr Select CN3 15 pin output device Always OFF RDY ready ON RD servo ON ALM error INP In position MBR electronic brake interlock DB external dynamic brake TLC torque is limited WNG warning BWNG battery warning H0003 Always OFF P For manufacturer setting ZSP zero speed ES BFM BFM PpD09 Output signal device 15104 15304 selection 3 CN3 15 For manufacturer setting For manufacturer setting CDPS selecting a variable gain For manufacturer setting ABSV losing the absolute position 12 to 3F For manufacturer setting he A Always OFF in speed control mode B Becomes SA speed achieved in speed control mode C Never specify the values for the manufacturer setting 134 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 3 Monitor Data 11 3 Monitor Data D Operating conditions for the positioning system are stored as monitor data The following buffer memories for S monitor data are read only memories except for the current address user BFM 1 0 X axis BFM 101 2 100 Y ax
105. 14306 127 te SERVO EE EE 128 11 2 1 Servo parameters Basic settings ccccccesceeccesseeeceeeeeeccesseecceuaececsseaeeeessaageeeeseeesesseneeesneas 128 11 2 2 Servo parameters Gain Filter settngs 129 11 2 3 Servo parameters Advanced Setting ccccccccsssececcceeceeccesseecceueececseeeeeessuseeeeeseeeeessnseesanes 131 11 2 4 Servo parameters I O Setting cccccsseecceccesceecceseecceeeceecceuseeesseaesecsseueeeesseseeeeeseesessenseeessaes 133 TAs SAIMIONINO DAN EE 135 11 3 1 Current address User BFM 1 0 BFM 101 SOU 135 11 3 2 Current address Pulse BFM 8 2 BFM 103 SI02 135 11 3 3 Torque limit storing value BFM 5 4 BFM 105 1041 136 11 3 4 Error BFM numbers BFM 6 BFM ZIOpl cc cccccscscceceeeceseeeeeeseeeeeeeeeeeseeeeeseeeseaeeeseees 136 11 3 5 Terminal Information BFM 7 BFM SO 136 11 3 6 Servo terminal information BFM 8 BFM IO 136 113 7 Code BEIM 79 BEM VO EE 136 11 3 8 Current value of operation speed BFM 11 10 BFM 111 S110 eee cece eee 137 11 3 9 Current pulses input by manual pulse generator BFM 13 12 BFM 113 112 137 11 3 10 Frequency of pulses input by manual pulse generator BFM 15 14 BFM 115 114 137 11 3 11 Table numbers in execution BFM 16 BFM Sie 137 TAS AZ WEFSIONUIMIOrMatiOn ENG NEE 137 11 3 13 Real current address User BFM 21 20 BFM 121 S120 ceccceceseeeceeeeeeees 138 11 3 14
106. 146 11 4 2 Operation speed 1 BFM 503 502 BFM 603 SGU7l 146 11 4 3 Target address 2 BFM 505 504 BFM 605 ZoU4l oo cccccceecceceeeeeseeeeeseeeeeseeeeeenes 147 11 4 4 Operation speed 2 BFM 507 506 BFM 607 Gol 147 11 4 5 Override setting BFM 508 BFM 608 e s ae ea aaea RNE 147 11 4 6 Torque output setting value BFM 510 BFM 610 cece eccccceeceeseeeeeeeeeeeeeeeeeeeeeenaees 147 11 4 7 Speed change value BFM 513 512 BFM 613 Spil 148 11 4 8 Target position change value Address BFM 515 514 BFM 615 614 eee 148 11 4 9 Target position change value Speed BFM 517 516 BFM 617 Spiel 148 11 4 10 Operation command 1 BFM 518 BFM GI 148 11 4 11 Operation command 2 BFM 519 BFM pGiIOl 0c ccccceeeeeceeeeeeeeeeeeeeeeeseeeeeseeeeeseeeeeees 150 11 4 12 Operation pattern selection BFM 520 BEMSGZ0l 151 11 4 13 Table operation start number BFM 521 BFM SGZil 152 11 4 14 Control command enable disable BFM Sb 7 152 11 4 15 Control command BFM SbhZ3 152 11 4 16 Manual pulse generator input magnification numerator BFM 525 524 BFM 625 624 ccc ccecccccccsecceeceeeeceeeeeecesaueeseeecaeeecesseeeeceesaueeeeesaaes 153 11 4 17 Manual pulse generator input magnification denominator BEM 7592 70260 BFM EE 153 11 4 18 Manual pulse generator response BFM 528 BFM p2pl 153 11 4 19 Manual pulse generator input selection BFM SbZ0OI 154 11 4 20 Ring operation rotation direction
107. 20 15 voltage Group 3 Consumption 64mA or less current 3 4 2 Internal input circuit For the internal input circuit diagram refer to the following For the internal input circuit diagram refer to section 5 3 FX3U 20SSC H Positioning Block User s Manual 3 Specifications 3 5 Pin Configuration 3 5 Pin Configuration 3 5 1 Input connector X INTO Interrupt input for X axis Y INTO Interrupt input for Y axis X INTO Oj YINTO X INT1 Interrupt input for X axis Y INT1 Interrupt input for Y axis NC O O NC X A Input terminal for A phase el Y At Input terminal for A phase input X INT1 O Cl Y INT of 2 phase pulse for X axis of 2 phase pulse for Y axis Common terminal for Common terminal for Y A OR ND Q i X p A A phase input of 2 phase pulse Y A A phase degt of 2 phase pulse X A O Of Y A for X axis for Y axis X 6B O Of Y dB X Be Input terminal for B phase de Input terminal for B phase input X 9B O Olly B of 2 phase pulse for X axis of 2 phase pulse for Y axis O Oll vn Common terminal for Common terminal for X DOG DOG X p B B phase dat of 2 phase pulse Y o B B phase degt of 2 phase pulse sis IO Oll ss for X axis for Y axis X START ce Y START X DOG Near Ge DOG input terminal Y DOG Near Fa DOG input terminal for X axis for Y axis Power input terminal START Power input terminal START S S DOG INTO and INT1 24VDC S S DOG INTO and INT1
108. 3 30 BFM BFM Se z f 71 70 171 170 Motor feedback position Motor feedback position PLS j Decimal subsection 11 3 31 bO Flag indicating parameter update is completed BFM 72 BFM 172 Servo status 2 b1 Parameter updating flag Bit subsection 11 3 32 b2 Parameter update request flag b15 to b3 Not available BFM Flash memory write Number of writing to flash memory 186 1 For details on the user units refer to the section given below Refer to Section 7 9 2 Variable speed operation is not supported Appendix A LIST OF PARAMETERS AND DATA FX3U 20SSC H Positioning Block User s Manual Appendix A 2 Control Data Table vm Appendix A 2 Control Data Table BFM number GE i Default Description Setting range Reference X axis Y axis value BFM WW 1 4501 500 Lana sem Target address1 2 147 483 648 to 2 147 483 647 user unit KO subsection 11 4 1 BFM Operation speed1 OW K1 subsection 11 4 2 503 502 603 602 p p 1 to 2 147 483 647 user unit g BFM Target address2 it 1 KO subsection 11 4 3 505504 605 604 g 2 147 483 648 to 2 147 483 647 user unit u ak BFM Operation speed2 it 1 2 K1 subsection 11 4 4 507 506 607 606 p p 1 to 2 147 483 647 user unit SR BFM 508 BFM 608 Override setting 1 to 30000 x0 1 K1000 subsection 11 4 5 BFM 510 BEM 610 a output setting 9 to 10000 x0 1 KO subsection 11 4 6 BFM ua SI SO z 513 512 613 612 Speed change value 1 to 2 147 483 6
109. 3 414012 BFM 14213 14212 Setting range 1 to 2 147 483 647 user unit JOG determination time BFM 14014 BFM 14214 Setting range 0 to 5000ms Acceleration time BFM 14018 BFM 14218 Setting range 1 to 5000ms Deceleration time BFM 14020 BFM 14220 Setting range 1 to 5000ms Positioning parameters BFM 14002 b3 BFM 14202 b3 OFF The FLS RLS signal of the servo amplifier FLS RLS signal is not used selection SE GE ON The FLS RLS signal of the servo amplifier External signal is used selection OFF The NO contact for the FLS RLS signal logic of the servo amplifier ON The NC contact for the FLS RLS signal logic of the servo amplifier FLS RLS signal BFM 14244 b8 logic BFM 14044 b8 Current address ring value Ver 1 10 or later Control data BFM 14101 14100 BFM 14301 14300 Setting range 1 to 2 147 483 646 user uni Specify the ratio percent of the actual Override setting BFM 508 BFM 608 operation speed to the operation speed Setting range 1 to 30000 x0 1 Forward rotation The 20SSC H decelerates to stop at this limit LSF SE SES parameter ON during forward rotation output Reverse rotation The 20SSC H decelerates to stop at this limit LSR Bene 93 Sno re parameter ON during reverse rotation output Forward pulses are output while this parameter GEN remains ON Forward rotation den rotation BEM 518 b5 Operation command 1 Reverse pulses are output while this parameter
110. 3uc Series PLC programming for basic applied instructions and devices 09R517 Describes FX3U 20SSC H positioning block specification for I O power supply extracted from Manual e Guidelines board 11 FX3U 20SSC H Positioning Block User s Manual Compliance with EC directive CE Marking Generic Names and Abbreviations Used in the Manual Generic name or abbreviation Description PLC FX3u series Generic name for FX3u Series PLC Generic name for FX3u Series PLC main unit FX3uc series Generic name for FX3uc Series PLC Generic name for FX3uc Series PLC main unit FX3uc PLC or main unit Only manuals in Japanese are available for these products 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 the main unit to be used for your system Expansion board Special adapter Generic name for high speed input output special adapter communication special adapter and analog special adapter 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 the main unit to be used for your system Special function unit block Generic name for special function unit and special function block Special function unit block or The nu
111. 4209 14208 Setting range 1 to 2 147 483 647 user unit Acceleration time BFM 14018 BFM 14218 Setting range 1 to 5 000ms Deceleration time BFM 14020 BFM 14220 Setting range 1 to 5 000ms Setting range 2 147 483 648 to ua Mechanical zero point address BFM 14029 14028 BFM 14229 14228 2 147 483 647 user unit Set the value within 2 147 483 648 to 2 147 483 647PLS in the converted pulse data 0 DOG type 1 Data set type 2 Stopper type 1 3 Stopper type 2 Zero return mode BFM 14031 BFM 14231 Setting range 1 to 2 147 483 647 user unit Set the value within 1 to 50 000 000Hz in converted pulse data to satisfy the following conditions Zero return speed high speed BFM 14025 14024 BFM 14225 14224 Zero return speed high speed lt maximum speed e The 20SSC H operates at the maximum speed when the zero return speed high speed gt maximum speed Setting range 1 to 2 147 483 647 user unit Set the value within 1 to 50 000 000Hz in converted pulse data to satisfy the following conditions Zero return speed creep BFM 1402714026 BFM 14227 14226 sare toluin speed creep Zero TEUN speed nian speed lt maximum speed e The 20SSC H operates at the maximum speed when the zero return speed high speed gt maximum speed Zero point signal count BFM 14030 BFM 14230 Setting range 0 to 32767PLS Zero return torque limit BFM 14040 BFM 14240 Setting range 1 to 10000 0 1 OFF
112. 47 user unit K1 subsection 11 4 7 BFM Target position z 4 515 514 615 614 change value 2 147 483 648 to 2 147 483 647 user unit address EH LU LU TI TI weibod WM Aow y yng wh 9jdwex 3 LU Ee z 1 D vi Wei O LO LU LU LU TI TI TI KO subsection 11 4 8 Target position change value 2 147 483 648 to 2 147 483 647 user unit speed JO js BFM 517 516 617 616 LU Ee z KO subsection 11 4 9 pue sia oweled Error reset STOP Deceleration stop Forward rotation limit LSF Reverse rotation limit LSR Forward rotation JOG Reverse rotation JOG Mechanical zero return command Not available Relative absolute address specification START command Simultaneous START flag m code OFF Change command in operation disabled Speed change command in positioning operation Target position change command in positioning operation Not available BFM 518 BFM 618 Operation command 1 H0000 subsection 11 4 10 Remaining distance operation cancel command System reset command Ver 1 10 or later Not available Positioning parameter enable command Not available Mode selection for the Interrupt 1 speed constant Operation command 2 quantity feed Ver 1 10 or later Not available Servo OFF command Servo parameter transfer command Gain change command Servo parameter update stop Ver 1 10 or later Not available BFM 519 BFM 619 HOOOO sub
113. 47 483 648 to 2 147 483 647 User unit within 2 147 483 648 to 2 147 483 647PLS in the converted O to 32767 x 10 ms address after changed pulse data Dwell Set wait time to be spent for Setting range shifting operations Jump Sets the table number of the Setting range 0 to 299 jump address 1 Refer to the section shown below for details on the user units 2 Speed data fx f fy Refer to Section 7 9 Sets the operation speed of the positioning operation to be used for table operation Setting range 1 to 2 147 483 647 User unit Set the value within 1 to 50 000 000 Hz in converted pulse data ri Refer to the section shown below for details on the user units Refer to Section 7 9 Refer to Section 7 9 3 Circular information i r j Sets center coordinate and radius for a circular line to be used in circular interpolation operation Setting range 2 147 483 648 to 2 147 483 647 User unit Set the value within 2 147 483 648 to 2 147 483 64 7PLS in the converted pulse data 1 Refer to the section shown below for details on the user units 4 Operation information Sets the positioning operation for table operation and changes the current address Designate instruction words such as DRV DRVZ in numerical values for operation information Abbrevi Settin Ge See SC M code Type i g information information informa ation value tion ae Se Bs d NOP 1 Does not cause any ope
114. 7 Variable Speed Operation 9 7 Variable Speed Operation 92 Select operation pattern variable speed operation oF A OFF A y For details on the operation speed change refer to Section 7 6 For details on the torque limit refer to Subsection 7 8 3 For details on the STOP command refer to Section 7 4 For details on the related parameters control data and monitor data refer to Section 9 13 1 Operation Acceleration Time Deceleration time lt gt Maximum speed lt gt X 3 Operation Speed 1 ON Ho ON Time Operation speed 1 1200 X 800 0 X 400 1200 eas ON Positioning completion ER E OFF 1 Set the operation speed 1 to a value other than 0 2 Select the variable speed operation from the patterns to start the variable speed operation above figure The positioning completion signal is turned OFF 3 When selecting an operation pattern other than the variable speed operation the work piece decelerates to stop and the operation ends Positioning completion signal remains OFF Note e When setting the operation speed to 0 the work piece decelerates to stop but the variable speed operation does not end The operation pattern should be changed to another pattern when terminating the variable speed operation e At STOP command ON the work piece decelerates to stop Note that the operation restarts at STOP command OFF Operation s
115. A MITSUBISHI ELECTRIC MELSEC FX series Programmable Controller User s Manual FX3U 20SSC H Art no 193414 0107 2007 at MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION jy 1 Version E GHEE Sien Precautions uD Read these precautions before using Before installation operation maintenance or inspection of this product thoroughly read through and understand this manual and the associated manuals Also take care to handle the module properly and safely This manual classifies the safety precautions into two categories gt DANGER and A CAUTION ak DAN G E R 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 CAU TI O N personal injury or physical damage Depending on the circumstances procedures indicated by A CAUTION may also cause severe injury In any case it is important to follow all usage directions Store this manual in a safe place so that it can be taken out and read whenever necessary Always forward it to the end user 1 DESIGN PRECAUTIONS e Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure Otherwise malfunctions may cause serious accidents 1 Most importantly have the following an emergency stop circuit a protection circuit an interlock circuit for
116. BEM BEM Set the number of pulses per revolution or output division ratio for encoder 15015 15215 PA15 Encoder output pulse pulses A phase B phase output by the servo amplifier K4000 Setting range 1 to 65535 PLS REV 11 2 2 Servo parameters Gain Filter settings soysoubeiq GO gt BFM Number Servo Dar i Amplifier Description Default Ta X axis Parameter No Z Weer Select the adaptive filter tuning mode 3 BFM BFM SE ee j 0 Filter OFF ge 15019 15219 oe 1 Filter tuning mode adaptive filter Adaptive filter 2 2 Manual mode B ee conia Select the vibration suppression control tuning mode 55 BFM BFM G nz e mode 0 Vibration suppression control OFF KO 3 2 15020 15220 g 1 Vibration suppression control tuning mode a advanced vibration O 2 Manual mode gt suppression control BFM BFM Set the feed forward gain coefficient to be used for positioning control 15022 15022 PER Feed forward gaii setting range 0 to 100 mY erm arm e IN 15024 15224 wae motor inertia moment BFM BFM Set the response gain up to the target position 15025 15225 PBO MORENO Ga Setting range 1 to 2000 rad s PS DEM DEM ge Set the gain of the position loop 15026 15226 rete Position loop gain setting range 1 to 1000 rad s FS BFM BFM Set the gain of the speed loop 15027 15227 Ae SES 100p gall Setting range 20 to 50000 rad s pees BFM PB10 Speed integral Set the integral time constant of
117. BFM 28 BFM 128 refer to Subsection 7 6 2 Bit E Changing a target address is in progress This bit is set upon receiving a target address change b14 command during positioning operation Cleared upon completion of the change of target address For details on the target address change command refer to Subsection 7 6 3 15 Table operation is in progress b This bit is kept in ON status while performing table operation It is set by a START command and cleared when the operation is finished 1 Completion of positioning 1 Operations turning the positioning completion bit ON during positioning operation 11 3 Monitor Data e Operations turning the positioning completion e Operations turning the positioning completion bit OFF bit ON Mechanical zero return operation DOG stopper type 1 speed positioning operation Interrupt 1 speed constant quantity feed 2 speed positioning o peration Interrupt 2 speed constant quantity feed Interrupt stop Multi speed operation Linear interpolation Linear interpolation interrupt stop Circular interpolation Reciprocal movement instruction Ver 1 10 or later 2 When stopped at a STOP command Mechanical zero return operation data set type JOG operation Manual pulse generator operation Variable speed operation The Positioning completion bit does not turn ON at the target address 11 3 18 Error code BFM 29
118. F or FX3UC 1PS 5V is necessary For the installation environment refer to the following respective manual Refer to the FX3U Hardware Edition Refer to the FX3uc Hardware Edition Japanese document only 20SSC H may be installed in a control cabinet with a 35 mm wide DIN46277 DIN rail mounting or M4 screw direct mounting 4 Installation FX3U 20SSC H Positioning Block User s Manual 4 1 DIN rail Mounting 4 1 DIN rail Mounting The product may be mounted on a 35mm wide DIN46277 DIN rail S 1 Fit the upper edge A in the figure to the right of the DIN 2 rail mounting groove onto the DIN rail SCH 2 Push the product onto the DIN rail 37 e An interval space between each unit of 1 to 2 mm 0 04 to 0 08 is S necessary 3 3 Connect the extension cable SS S Connect the extension cable B in the figure to the right to ae the main unit I O extension unit block or special function unit block on the left side of the product For the extension cable connection procedure refer to the following respective PLC manual Refer to the FX3U Hardware Edition Refer to the FX3uc Hardware Edition Japanese document only UOI e e SU WWW F amp V he D SA 0 De A4 are A N D Ve Q lt S 4 2 Direct Mounting a The product can be installed directly with screws An interval space between each unit of 1 to 2 mm 0 04 to 0 08 is necessary For installation refer to the following respective PLC
119. Fax 49 0 2102 486 1120 MITSUBISHI ELECTRIC EUROPE B V CZECH REPUBLIC Czech Branch Radlick 714 113a CZ 158 00 Praha 5 Phone 420 0 251 551 470 Fax 420 0 251 551 471 MITSUBISHI ELECTRIC EUROPE B V French Branch 25 Boulevard des Bouvets F 92741 Nanterre Cedex Phone 33 0 1 55 68 55 68 Fax 33 0 1 55 68 5757 MITSUBISHI ELECTRIC EUROPE B V lrish Branch Westgate Business Park Ballymount IRL Dublin 24 Phone 353 0 1 4198800 Fax 353 0 1 4198890 MITSUBISHI ELECTRIC EUROPE B V Italian Branch Viale Colleoni 7 I 20041 Agrate Brianza Ml Phone 39 039 60 53 1 Fax 39 039 60 53 312 MITSUBISHI ELECTRIC EUROPE B V Spanish Branch Carretera de Rubi 76 80 E 08190 Sant Cugat del Vall s Barcelona Phone 902 131121 34 935653131 Fax 34 935891579 MITSUBISHI ELECTRIC EUROPE B V UK UK Branch Travellers Lane UK Hatfield Herts AL10 8XB Phone 44 0 1707 27 61 00 Fax 44 0 1707 27 86 95 MITSUBISHI ELECTRIC CORPORATION Office Tower Z 14 F 8 12 1 chome Harumi Chuo Ku Tokyo 104 6212 Phone 81 3 622 160 60 Fax 81 3 622 16075 MITSUBISHI ELECTRIC AUTOMATION Inc 500 Corporate Woods Parkway Vernon Hills IL 60061 Phone 1 847 478 21 00 Fax 1 847 478 22 53 EUROPE FRANCE IRELAND ITALY SPAIN JAPAN USA A MITSUBISHI AVM ELECTRIC GEVA Wiener Stra e 89 AT 2500 Baden Phone 43 0 2252 85 55 20 Fax 43 0 2252 488 60 TEHNIKO
120. Gd ejep pue uolesnByuoo 01 U09 Buiuonisod Guies esojog N lo uo9 yenueyy OO 01 U0D Buuonisog QO D ler D O O D o O 5 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 9 m code 10 9 m code The m code is an auxiliary command to support positioning data in execution When an m code turns ON in table operation the 20SSC H stores the table No in monitor data as an m code number while also turning ON the m code ON flag in status information There are two modes for m code after mode and with mode and each mode has a different ON timing after mode The m code turns ON when the operation of table information is completed 0 to 9999 with mode The m code turns ON when the operation information begins 10000 to 32767 10 9 1 After mode The specified m code turns ON after the operation For details on related setting items refer to Subsection 10 9 3 1 Operation Speed Time m code No 1 C NOS DR al a KE ON ON m code ON OFF OFF OFF ON ON m code OFF command OFF OFF 28 Table No Operation information m code information 0 1 1 speed positioning 10 after mode 1 1 no processing 11 after mode 7 2 o END Si 1 When the table No 0 operation with m code 10 ends the m code ON flag in the status information turns ON and the 20SSC H stores 10 in the m code No of monitor data 2 Atm code OFF the m code ON flag and m
121. I code as shown below Example When the number is B35W200_ A0 BFM Number Monitor Value ASCII Code Servo amplifier software number Bemas me Ti TI 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 3 Monitor Data 11 3 25 Servo parameter error numbers BFM 62 BFM 162 D p OD Parameter numbers that cause servo parameter errors are stored 3 Description Value Format Default Y axis BEM 62 12 TT 0 Monitor Values and Servo Parameter Numbers SS Oo DI o 3 Stored Parameter value No 001 Paot 018 DA 035 PBI7 052 PB34_ 069 Pcoe 102 PDO7 Stored Parameter value No Stored Parameter value No Stored Parameter value No Stored Parameter value No Stored Parameter value No 002 DAG 019 Pur 036 PBI8 053 PB35 070 PCo7 103 H 13 003 PAO3 020 PBO2 037 PBI9 054 PB36_ 071 Bug 104 PDO 004 PAO4 021 Po 038 PB20 055 PB37_ 072 PCOO e 005 PAOS 022 PBO4 039 PB2i 056 PB38 073 PCio 127 PD 3 006 PAO 023 PBOS 040 PB22 057 PB39 o74 PCI 2 007 PAO 024 PBOG 041 PB23 058 PB40 075 PC12 B 008 PAO 025 PBO7 042 PB24 059 Di 009 PAOO 026 PBOS 043 PB25 060 PB42 oso PCi7 010 PAiO 027 D 044 PB26 o6
122. INT1 Used for interrupt operation Y axis interrupt input Y INTO Y INT1 Used for interrupt operation X axis near point DOG input X DOG Used for zero return Y axis near point DOG input Y DOG Used for zero return Group 1 START command for X axis positioning operation X START Input signal name START command for Y axis positioning operation Y START Manual pulse generator input for X axis X gt A X p A X p B X p B 1 edge count at 2 phase 2 count Group 2 Manual pulse generator input for Y axis Y b A Y A Y B Y B 1 edge count at 2 phase 2 count External power supply for signals S S Connected to power supply for INTO INT1 DOG and START Operation display LED ON at input ON Group 3 Signal voltage 24V DC 20 15 Power is supplied from S S terminal Input current 7 0mA 1mA 24V DC ON current 4 5mA or more Group 1 OFF current 1 5mA or less No voltage contact input Signal form Sink input NPN open collector transistor Source input PNP open collector transistor Response time Hardware filter 1ms or less Circuit insulation Photo coupler insulation Operation display LED ON at input ON Signal voltage 3 to 5 25V DC Input current 3 0 to 8 5mA ON current 3 0mA or more Group 2 OFF current 0 5mA or less Sianal form Differential line driver g corresponding to AM26LS31 ere 2 phases pulse 100KHz or less Duty 50 frequency Circuit insulation Photo coupler insulation ower SURRY 24V DC
123. Information LST 2sesseoiacda ieee nd eege ed een 189 Appendix A 4 Positioning parameters et 191 Appendix A 5 Servo Parameters LIS EE 193 Appendix B Version Information 195 Appendix B 1 Version Information ccccccccceecceeeeceeeseeeeeeeese essa eeaeeeseeeeseeeaeeesaeesseeeseeseeeaes 195 Appendix B 1 1 Version Check metbod A 195 Appendix B 1 2 Version Upgrade History 195 WV ART AINCY 6 EE EE EEE E EEeEg 197 FROVISGEC TIS CORY EE 198 FX3U 20SSC H Positioning Block User s Manual Certification of UL cUL standards Standards Certification of UL cUL standards The following product has UL and cUL certification UL cUL File number E95239 Models MELSEC FX3u series manufactured from June 1st 2006 FX3uU 20SSC H Compliance with EC directive CE Marking This document does not guarantee that a mechanical system including this product will comply with the following standards Compliance to EMC directive and LVD directive for the entire mechanical module should be checked by the user manufacturer For more details please contact the local Mitsubishi Electric sales site Requirement for Compliance with EMC directive The following products have shown compliance through direct testing of the identified standards below and design analysis through the creation of a technical construction file to the European Directive for Electromagnetic Compatibility 89 336 EEC when used as directed by the appropriate documen
124. M BEM Real current address User 2 147 483 648 to 2 147 483 647 user unit Decimal subsection 11 3 13 21 20 121 120 Ver 1 20 or later BEM BEM Real current address Pulse 2 147 483 648 to 2 147 483 647 PLS Decimal subsection 11 3 14 23 22 123 122 Ver 1 20 or later ee GEN ee 2 147 483 648 to 2 147 483 647 it 1 Decimal subsection 11 3 15 25 24 125 4 124 Ver 1 20 or laterj2 7147 483 648 to 2 147 483 647 user unit e ef Received target speed 5 447 483 648 to 2 147 483 647 user unit Decimal subsection 11 3 16 27 26 127 126 Ver 1 20 or later GE e bO READY BUSY b1 During forward rotation pulse output During reverse rotation pulse output Zero return completed Current value overflow Error occurrence Positioning control completion Standby for remaining travel distance BFM 28 BFM 128 Status information at stop Bit subsection 11 3 17 During table operation execution 185 mmh welbolgd NOD Aow awyng wh 9jdwex 3 1 D vi Wei O LO J0 3S pue sia oweled LU UOIEWWJOJU UOISIO FX3U 20SSC H Positioning Block User s Manual Appendix A LIST OF PARAMETERS AND DATA Appendix A 1 Monitor Data List BFM Number ee Value of Default Description Reference X axis monitor value BFM 29 BFM 129 Stores the error code Decimal subsection 11 3 18 BFM 30 faa Model code Stores the model code of 20SSC H K5220 subsection 11 3 19 bO Pos
125. Manual Analog Control Edition Positioning control Edition FX3u FX3uc Series User s Manual Positioning Control Edition 13 FX3U 20SSC H Positioning Block User s Manual Compliance with EC directive CE Marking ee Reading the Manual Shows the manual title Shows the title of the chapter and the title Indexes the chapter number meara howie of the section The right side of each page manual title for the current This area shows the title of the chapter and the indexes the chapter number page title of the section for the current page for the page currently opened 8 Manual Control l 8 1 Mechanical Zero Return Control sm uononpou 8 Manual Control N 8 1 Mechanical Zero Return Control uoneunBiyuoo wajsks 8 1 1 Outline of mechanical zero return control The mechanical zero return method for the 20SSC H includes the following three variations four modes For related parameters control data and monitor data refer to Subsection 8 1 5 s DOG type mechanical zero return 1 mode The position after stopping from the DOG signal with the zero signal of the servomotor becomes the zero point For details on the DOG type mechanical zero return refer to Subsection 8 1 2 e Data set type mechanical zero return 1 mode The position after moving with the JOG operation or manual pulse generator is defined as the zero point l For details on the data set type mechanical zero return refer to Subsection
126. N Oktyabrskaya 16 5 Off 703 711 BY 220030 Minsk Phone 375 0 17 210 46 26 Fax 375 0 17 210 46 26 Koning amp Hartman b v Woluwelaan 31 BE 1800 Vilvoorde Phone 32 0 2 257 02 40 Fax 32 0 2 257 02 49 INEA BH don BOSNIA AND HERZEGOVINA Aleja Lipa 56 BA 71000 Sarajevo Phone 387 0 33 921 164 Fax 387 0 33 524 539 AKHNATON 4 Andrej Ljapchev Blvd Pb 21 BG 1756 Sofia Phone 359 0 2 817 6004 Fax 359 0 2 97 4406 1 INEA CR don Losinjska 4a HR 10000 Zagreb Phone 385 0 1 36 940 01 02 03 Fax 385 0 1 36 940 03 AutoCont C S s r o Technologick 374 6 CZ 708 00 Ostrava Pustkovec Phone 420 595 691 150 Fax 420 595 691 199 B TECH A S U Borov 69 CZ 58001 Havl k v Brod Phone 420 0 569 777 777 Fax 420 0 569 777 778 Beijer Electronics A S Lykkeg rdsvej 17 1 DK 4000 Roskilde Phone 45 0 46 75 76 66 Fax 45 0 46 75 56 26 Beijer Electronics Eesti OU P rnu mnt 160i EE 11317 Tallinn Phone 372 0 6 51 81 40 Fax 372 0 6 5181 49 Beijer Electronics OY Jaakonkatu 2 FIN 01620 Vantaa Phone 358 0 207 463 500 Fax 358 0 207 463 501 UTECO A B E E 5 Mavrogenous Str GR 18542 Piraeus Phone 30 211 1206 900 Fax 30 211 1206 999 MELTRADE Ltd Fert utca 14 HU 1107 Budapest Phone 36 0 1 431 9726 Fax 36 0 1 431 9727 Beijer Electronics SIA Vestienas iela 2 LV 1035 Riga Phone 371 0 784
127. NET II communication complies with Class 1 as defined in JISC6802 and IEC60825 1 When handling the SSCNET III cables do not expose them to strong impact lateral pressure excessive pulling tension abrupt bending or twisting Failure to do so may crack the glass fiber and cause signal transmission loss Note that a short SSCNET III cable is highly susceptible to twisting Make sure to use the SSCNET III cable within the allowable temperature range as shown in subsection 5 1 1 Do not expose the SSCNET III cabling to fire or excessive heat Avoid contact with high temperature components such as the servo amplifier radiator regenerative brake and servo motor GHEE zeien Precautions uD Read these precautions before using CAUTION Do not force the SSCNET III cable into a bend radius smaller than the minimum allowable bend radius Refer to subsection 5 4 1 Precautions for the SSCNET III cable wiring When connecting the SSCNET Ill cable to the cable port place the cabling inside a cable duct or bundle it as close to the 20SSC H as possible to avoid the cable from applying its own weight on the SSCNET III connector Do not bundle or bring the SSCNET III cable in contact with other cables or with vinyl tape that contains plasticizing agents i e Soft Polyvinyl Chloride PVC Polyethylene resin PE Teflon Fluoro resin Nylon Plasticizing agents may infiltrate the SSCNET III cable and deteriorate the optical fiber thereby causi
128. PCS WIN or FX PCS WIN E programming software package Handy programming panel HPP Generic name for FX 20P E and FX 10P E Configuration software Configuration software or FX Configurator FP Abbreviated name for FX Configurator FP Configuration software 12 FX3U 20SSC H Positioning Block User s Manual Compliance with EC directive CE Marking Generic name or abbreviation Description Indicator GOT1000 series Generic name for GT15 GT11 and GT10 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 Generic name for ET 940 series SE Only manuals in Japanese are available for these products Servo motor servo amplifier Senao Generic name for servo motor or stepping motor Including servo amplifier corresponding to SSCNET III Servo amplifier Generic name for servo amplifier corresponding to SSCNET III MELSERVO series Generic name for MELSERVO J3 series Other unit Manual pulse generator Generic name for manual pulse generator prepared by user Manual FX3u hardware Edition FX3u Series User s Manual Hardware Edition FX3uc hardware Edition This manual is only available in Japanese Programming manual FX3u FX3uc Series Programming Manual Basic and Applied Instructions Edition Communication control Edition FX Series User s Manual Data Communication Edition Analog control Edition FX3u FX3uc Series User s
129. PLC carefully read through this manual and the associated manuals and ensure the safety of the operation An operation error may damage the machinery or cause accidents When verifying the Zero return JOG operation and positioning data thoroughly read this manual to ensure safe system operation Failure to do so may cause an operation failure that leads to a serious accident or that causes damage to the machinery sonsoubeiq gt STARTUP AND MAINTENANCE 5 Di PRECAUTIONS CAUTION Ss D T Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric distributor Turn off the power to the PLC before connecting or disconnecting any extension cable Failure to do so may cause equipment failures B or malfunctions Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause equipment failures or 35 malfunctions 3 2 Display module peripheral devices expansion boards and special adapters a O Terminal blocks and I O extension units blocks 173 FX3U 20SSC H Positioning Block User s Manual 13 1 13 Diagnostics 13 1 Check LEDs Check LEDs 13 1 1 Check LEDs 13 1 2 PED Color Content of Error Action Indication Indication e Correctly connect the extension cable and power cable No power supply from the external e Correctly connect the wiring to the external powe
130. Real current address Pulse BFM 23 22 BFM 123 122 138 11 3 15 Received target address BFM 25 24 BFM 125 2124 138 11 3 16 Received target speed BFM 27 26 BFM 127 126 138 11 317 Status information BFM 28 BEM 128 cc8 cick Eege ee ege ieee 139 11 3216 Error code BFM 29 BEM 4129 EE 140 11 3 19 Model code BEM 30 RE 141 11 3 20 Status information 2 BFM 32 BEMSI3A7 141 11 3 21 Deviation counter value BFM 51 50 BFM 151 150 cece cceceeeeceeeeeeeeeneeenees 141 11 3 22 Motor speed BFM 53 52 BFM 153 17 141 11 3 23 Motor current value BFM 54 BFM 154 0 00 0 cece cccccceeceeceeeeeseeseseaeeeseaeeeseseeseeeesaees 141 11 3 24 Servo amplifier software number BFM 61 to 56 BFM 161 toile 142 11 3 25 Servo parameter error numbers BFM 62 BFM SZIG 143 11 3 26 Servo status BFM 64 63 BFM 164 ZIG3l 143 11 3 27 Regenerative load ratio BFM 65 BFM SIGN 144 11 3 28 Effective load torque BFM 66 BFM Ziel 144 11 3 29 Peak torque ratio BFM 67 BFM SIGI 144 FX3U 20SSC H Positioning Block User s Manual 11 3 30 Servo warning code BFM 68 BFM SIGN 144 11 3 31 Motor feedback position BFM 71 70 BFM 171 170 cc cecccceseeeseeeeeeeeeeeeees 144 11 3 32 Servo status 2 BFM 72 BFM SIT 145 11 3 33 Flash memory write count BFM 91 001 145 tiA COMMON Al EE 146 11 4 1 Target address 1 BFM 501 500 BFM 601 Zo00l ce cccccecceeeeeeeseeeeeseeeeeseeeeeanes
131. Refer to Section 7 9 Note 1 3 e The positioning operation differs as follows depending on the procedure to specify the absolute address or ZS relative address 3 With absolute address travels from the current position to the target position B The rotation direction depends on whether target address 2 is larger or smaller than the current address With relative address moves by the specified travel distance from the current position The rotation direction depends on the target address sign gt O Ul e The units of the value are user specified and include the position data magnification wale 30 CD T 11 4 4 Operation speed 2 BFM 507 506 BFM 607 606 z Q This data item sets the operation speed 2 for positioning operations B BFM Number ma i Description Default ely E BFM BFM Setting range 1 to 2 147 483 647 User uni S 507 506 607 606 Set the value within 1 to 50 000 000 Hz in converted pulse data 1 Refer to the section shown below for details on the user units Refer to Section 7 9 2 2 147 483 648 to 2 147 483 647 with Variable Speed operation Note e Set the operation speed 2 lower than the maximum speed If the operation speed 2 exceeds the maximum speed the 20SSC H operates at the maximum speed e You can change the operation speed during positioning operation if changing speed is enabled when not setting the flag for speed change disable during operation For detail
132. Ring operation rotation direction for absolute address e Mode Selection added to the Interrupt 1 speed Constant Quantity Feed e The following functionalities added to MPG Input Operation MPG Response Torque Limit MPG Input Selection e Servo Parameter Transfer Mode added e System Reset added e The servo parameter update stop command function is added Ver 1 20 e Sudden stop selection added e Interpolation gear ratio selection e Real current value monitor added e Positioning completion signal output waiting time added e Received target address added e Received target speed added e Positioning completion signal output waiting time added 195 Appendix B Version Information FX3U 20SSC H Positioning Block User s Manual Appendix B 1 Version Information MEMO 196 FX3U 20SSC H Positioning Block User s Manual Warranty o Warranty Please confirm the following product warranty details before using this product 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 warranty 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 mainte
133. Servo end check BFM 14002 b0 BFM 14202 bp EAA OFF Invalid ON Valid Servo ready check BFM 14002 b1 BFM 14202 b1 OFF Invalid Zero return interlock setting BFM 14002 b2 BFM 14202 b2 gt hn OFF Invalid Ring counter setting ON Enables the ring operation Ver 1 10 or later PEMA AOSA Da Pre OFF Disables the ring operation Sudden stop selection STOP command BFM 14002 b4 BFM 14202 b4 S o UCPel OFF Normal deceleration stop Operation Ver 1 20 or later parameter 2 Sudden stop selection software limit BFM 14002 b5 BFM 14202 b5 EE OFF Normal deceleration stop Ver 1 20 or later Sudden stop selection PLC limit BFM 14002 b6 BFM 14202 b6 EE OFF Normal deceleration stop Ver 1 20 or later Sudden stop selection Servo amplifier limit BFM 14002 b7 BFM 14202 b7 GE OFF Normal deceleration stop Ver 1 20 or later Interpolation gear ratio selection BFM 14002 b14 ee ae OFF X axis Ver 1 20 or later Zero return mode Servo end judgment time Soft limit large Soft limit small Torque limit setting Zero return torque limit FLS RLS signal selection External signal selection FLS RLS signal logic Ring counter upper limit value Ver 1 10 or later Sudden stop deceleration time Ver 1 20 or later Sudden stop interpolation time constant Ver 1 20 or later Positioning completion signal output waiting time Ver 1 20 or later BFM 14031 BFM 14032 BFM 14035
134. Stores the table operation information to the 20SSC H buffer memory There are 2 BFM types one for operation by individual axis X Y axis and the other for XY axis simultaneous operation BFM No Table No X axis table Y axis table XY axis table information information information Position data x BFM 1001 1000 i oOo BFM 7001 7000 Position information Position data y a care BFM 4001 4000 BFM 7003 7002 Speed data f fx BFM 1003 1002 a a BFM 7005 7004 Speed information Speed data fy C a BFM 4003 4002 BFM 7007 7006 0 Center coordinate i BFM 7009 7008 Circle information radius r Center coordinate j ee en ee See BFM 7011 7010 Operation information BFM 1004 BFM 4004 BFM 7012 Position data x BFM 3991 3990 i aa BFM 12981 12980 Position information Position data y Ee BFM 6991 6990 BFM 12983 12982 Speed data f fx BFM 3993 3992 Pe BFM 12985 12984 Speed information Speed data fy a a BFM 6993 6992 BFM 12987 12986 299 nate Center coordinate i BFM 12989 12988 Circle information radius r Center coordinate j OOA EEGENEN BFM 12991 12990 Operation information BFM 3994 BFM 6994 BFM 12992 Note e The save command BFM 523 b2 to b4 writes and stores the BFM table information in the 20SSC H flash memory e The default value for table information is 1 e The 20SSC H stores the table number in execution in the executing table number BFM 16 116 Caution for set
135. U 20SSC H Positioning Block User s Manual 9 10 Linear Interpolation Operation Interrupt Stop 3 Address specification The absolute relative address can be specified With the specified absolute address Specifies a target address position using address 0 as the base With the specified relative address Specifies a travel amount from the current address UO ONPOJ U sch 4 Rotation Direction With the specified absolute address The rotation direction depends on whether the target address 1 is larger or smaller than the current address With the specified relative address The rotation direction is decided by the sign positive negative of target address 1 wasis N uoleinBiyuoo LA Uo2euu07 9jdwex 3 uomeIgieu Ja Bui QI Howay OF eyep pue uolesnByuoo Onu07 Buiuonisod Guies sojog N lo uo9 yenueyy OO e OD O CH D DI Les O 97 9 11 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 11 Circular Interpolation Operation Circular Interpolation Operation The circular interpolation operation is a positioning procedure available only in the table operation The circular interpolation operation has the center coordinate specification radius specification formats Fo r details on controlling by table operation and changing the operation speed refer to the following sections For details on the table operation refer to Chapter 10 For details on the oper
136. Write the model code K5220 to the control command enable disable BFM 522 before executing the system reset command Operation 5 100ms or more O N Operation command 2 oo T yo o o OFF BFM 519 b1 M Executes system reset Note ejep pue uolesnByuoo Aua e When the 20SSC H version is Ver 1 10 or later After changing the servo parameters stored in the flash memory it is not necessary to turn OFF and ON the power for transferring the servo parameters stored in the flash memory to the servo amplifier if the system reset command is executed D The system reset command is also convenient when using the function to transfer the servo parameters SE set in the sequence program to the servo amplifier SFS For the method to transfer the servo parameters set in the sequence program to the servo E amplifier refer to Subsection 6 3 3 S e When the 20SSC H version is earlier than Ver 1 10 After changing the servo parameters stored in the flash memory it is necessary to turn OFF and ON the 8 power for transferring the servo parameters stored in the flash memory to the servo amplifier z 6 3 5 Servo parameter update stop Ver 1 10 or later 8 S The servo parameter update stop command disables the update of the servo parameters stored in the 20SSC H buffer memory even when the servo parameters are updated in the servo amplifier 9 The 20SSC H does not update the servo parameters stored in the buffer memory while
137. X B Manual Guide EE SCC E manual pulse generator check the input wiring op poe Y B input OFF 13 Diagnostics FX3U 20SSC H Positioning Block User s Manual 13 2 Check Error Code 13 2 Check Error Code 4 S 3 13 2 1 Checking errors When an error or warning servo amplifier occurs error or warning information is stored to the following 12 buffer memories my FX Configurator FP and GX Developer check the error by monitoring and so does a sequence program Se E BEN number Y axis Item Content X axis Monitor data When an error occurs the BFM No with error is stored 1 No error occurrence Other BFM No with error Error occurrence BFM No BFM 6 BFM 106 Refer to subsection 11 3 4 sonsoubeig This is set when a 20SSC H and servo amplifier error occurs BFM 128 b5 This can be reset by an error reset Refer to subsection 11 3 17 Error Status information BFM 28 b5 occurrence gt When an error occurs an error code is stored Error code BFM 29 BFM 129 Refer to subsection 13 2 3 Hat When a servo parameter error occurs the parameter No of the S Ss Servo parameter error No BFM 62 BFM 162 servo parameter that is in error is stored Refer to subsection 11 3 25 a i Q In alarm BFM 64 b5 N a ne a a Refer to subsection 11 3 26 Servo status ee STEET S B is turns at the servo amplifier warning Seon ee LOA DA Refer to subsection 11 3 26 I S a Wn
138. X axis START command to ON with X024 X axis selection of table operation simultaneous turned ON operation starts in the order of the XY table information 1 Linear interpolation operation 2 Dwell 3 Circular interpolation operation 4 End e When turnig X001 X axis stop to ON during positioning operation decelerates to stop 2 Setting table information Set the XY axis table information as follows on FX Configurator FP RK ExProgram FX3U 20SSC H XY axis Table information module 0 Address PLS PLS Speed fe Hz fy Hz Are center i PLS j PLS Time 10ms Arc radius r PLS Jump No Command code Incremental address specification 2000000 Linear interpolation 23000000 Dwell lx 2000000 Circular interpolation CNT Cyy D 1000000 jk 1000000 j 1000000 0 End 12 4 Sequence Program This program example describes the sequence program as unit No 0 Rewrite the unit No with the actual system configuration to be used For details on the unit No refer to subsection 12 1 1 For details on device assignments refer to section 12 2 For an explanation of operation refer to section 12 3 166 FX3U 20SSC H Positioning Block User s Manual RUN monitor M8000 FNC 12 unit ready Y axis unit ready M49 M149 ready M200 T p l Select X axis operation pattern Selection of X axis 1 speed positioning operat
139. a servo motor with larger output e Increase the value of model control gain servo parameter and adjust to ensure proper operation Refer to subsection 11 2 2 e The servo motor shaft was rotated by an external force When the torque is limited increase the limit value Reduce the load Use a servo motor with larger output e Machine collision occurred Review the operation pattern Install limit switches e Replace the servo motor e Connect the servo motor correctly e Replace the SSCNET III cable 2052 52 Servo amplifier Motor combination error e Wrong combination of servo amplifier and servo Select the correct combination motor 2088 Watchdog The servo amplifier must be repaired Consult a 888 e CPU part fault Mitsubishi Electric distributor 13 2 4 Servo warning list BFM 68 X axis BFM 168 Y axis 2060 1A The warning detected by the servo amplifier is stored Remove the cause of the warning For details on warnings refer to the manual of the servo amplifier to be connected 1 State when a warning code occurs Warning Servo amplifier State when a warning occurs 2116 Battery warning Po continued 2140 Excessive regenerative warning 2141 Overload warning 1 Servo ON is continued Operation is 2143 E3 Absolute position counter warning ER warning zero return completed OFF warning 2146 Servo forced stop warning Servo OFF Servo OFF An error has 2147 Controller forced st
140. an X axis JOG command The Y axis JOG command is ignored At the X axis JOG command OFF the 20SSC H stops the X and Y axes JOG operation 78 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 2 JOG Operation 8 2 2 Changing the speed during JOG operation 1 Changing the JOG speed If the in operation speed change disable parameter turns ON the JOG speed change is rejected Speed 7000Hz gt Time ON 2 Changing the override setting Use the override setting to change the ratio of the actual operation speed to the JOG speed 7000Hz ON yoGinut oF foi EES 10000Hz Override setting 100 70 Speed 10000Hz Time 79 UON ONPOJ U wasis N9 uoieJnsiuoo LA Uo2euu07 9jdwex 3 uomeIgieu Ja Bui QI Howay OF eyep pue uolesnByuoo Q O a S O SE er E O OD 52 o Sa LOCH IOIDUO3 jenue 01 U0D Buluonisog QO uoesedo ap 8 2 3 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 2 JOG Operation Related parameters control data and monitor data 80 BFM number Item Description X axis Y axis Positioning parameters OFF Disables the ring operation ON Enables the ring operation Operation Ring counter setting parameter 2 Ver 1 10 or later Maximum speed BFM 14009 14008 BFM 14209 14208 Setting range 1 to 2 147 483 647 user unit JOG speed BFM 1401
141. and determination time Forward reverse rotation JOG OFF End of positioning Current address pulse Current address user Kg KE E ON READY OFF e The work piece stops when a JOG operation with an opposite direction is activated during a FWD RVS JOG operation and begins again when a FWD or RVS direction is turned OFF e Ifthe FWD RVS JOG is reactivated while decelerating during the FWD RVS JOG operation the 20SSC H will re accelerate to continue the operation e If the forward reverse rotation limit 1 2 turns ON a limit error occurs after decelerating to stop In this case a JOG operation in the opposite direction saves the work piece from the limit switch ON state Note e Inching operation JOG determination time To perform inching operation specify the JOG determination time Ifthe forward reverse JOG activation time is within the JOG command determination time a pulse string equivalent to 1 user unit is output at the current address to operate the inching If the forward reverse rotation JOG activation time is equal to or larger than the JOG command determination time pulse strings are output continuously Ifthe JOG command determination time is Oms the travel equivalent to 1 at the current address user is not executed Continuous operation is executed from the first point e lf the simultaneous START flag turns ON the simultaneous JOG operation in the X and Y axes starts at
142. anual 68 7 Before Starting Positioning Operation BFM number Hem X axis Y axis Control data 7 11 Related parameter control data and monitor data Description Specify the actual operation speed ratio to Override setting BFM 508 BFM 608 the operation speed Setting range 1 to 30000 x0 1 Control data Torque output setting Speed change value New target position address New target position speed STOP command BFM 510 BFM 610 Setting range O to 10000 x0 1 Setting range 1 to 2 147 483 647 BFM 513 512 BFM 613 612 TE user unit Setting range 2 147 483 648 to BFM 515 514 BFM 615 614 2 147 483 647 user unit Setting range 2 147 483 648 to BFM 517 516 BFM 617 616 ai 2 147 483 647 user unit When BFM 518 b1 BFM 618 b1 operation decelerates to stop With this bit ON the stop state continues this bit turns ON the positioning this bit turns ON while forward When Forward rotation limit LSF BFM 518 b2 BFM 618 b32 rotation pulses are being output the When Reverse rotation limit LSR BFM 518 b3 BFM 618 b3 Forward rotation jog BFM 518 b4 Reverse rotation jog BFM 518 b5 BFM 618 b4 when BEM 618 b5 wien Mechanical zero return BFM 618 b6 command BFM 518 b6 mode OFF Relative absolute Mode selection for the OFF Interrupt 1 speed constant BEM 519 b6 BEM 619 b6 e quantity feed Ver 1 10 or later BFM 619 b8 a
143. as pzy operation DRVZ_XY 7 Gd ewe Y axis SET_Y a specified address user units b v current address ref fo ee y cca Eee SET XY Is comman Wi When this command is issued the position information x y of the table operation becomes an absolute address which specifies positions v from the 0 0 point absolute address is specified by default When this command is issued the position information x y of the table operation becomes a relative v address based on the current address The 20SSC H waits for the specified ees ease vi v Absolute address 93 Relative address 3 time period Use this to specify waiting time for shifting operations Dwell Jumps to the specified table number Ee za Jumping from an X axis table to a Y axis table is not allowed Jump 5 m code information m code is output each time at positioning operation For instructions on how to use the m code refer to the following Refer to Section 10 9 NO code essssesses m code after mode 0 to 9999 m code with mode 10000 to 32767 157 12 Program Example FX3U 20SSC H Positioning Block User s Manual 12 Program Example STARTUP AND MAINTENANCE PRECAUTIONS DANGER e Do not touch any terminal while the PLC s power is on Doing so may cause electric shock or malfunctions e Before cleaning or retightening terminals externally cut off all phases of the power supply Failure to do so may cau
144. ation center CCW direction CCW_1 Circular interpolation radius CW direction CN Circular interpolation radius CCW directio CCW_ r Mechanical zero return operation DRVZ_X Mechanical zero return operation DRVZ_Y Mechanical zero return operation DRVZ_XY Current address change GET A Current address change SET_Y Current address change SET_XY Absolute address specification ABS Relative address specification INC Dwell TIM Jump JMP FX3U 20SSC H Positioning Block User s Manual Appendix A LIST OF PARAMETERS AND DATA Appendix A 4 Positioning parameters List BFM number BFM 14000 BFM 14002 BFM 14005 14004 BFM 14007 14006 BFM 14009 14008 BFM 14013 14012 BFM 14014 BFM 14018 BFM 14020 BFM 14022 BFM 14025 14024 BFM 14027 14026 BFM 14029 14028 BFM 14030 BFM 14200 BFM 14202 BFM JOG command 14214 determination time tem Description Setting range perau Reference value H0000 subsection 11 1 1 H0007 subsection 11 1 2 BFM servo parameter transfer mode Ver 1 10 or later System of units user unit motor mechanical composite system Unit of measurement for the user units um Ccm min 10 inch inch min mdeg 10deg min Position data magnification 1 to 1000 times Not available Zero return direction Acceleration deceleration mode DOG input logic Zero phase signal count start timing
145. ation refer to Section 8 1 Buum QI 3 Absolute position lost If the absolute position in the encoder becomes indefinite in the absolute position detection system the absolute position loss signal ABSV turns ON At ABSV signal ON make sure to operate zero return immediately to establish the zero point again The absolute position becomes indefinite in the three cases below e When the absolute position detection system is set by the parameter setting of the servo amplifier and the servo amplifier turns ON Kiowa OD e An absolute position loss alarm AL 25 is caused D CH 3 0 a 3 oe zb Y oi O e An absolute position counter warning AL E3 is issued Note While the absolute position loss signal ABSV is ON do not start automatic operation The zero point must be established to prevent unpredictable behavior Dune aiojag 7 8 5 Servo ON OFF The servo of the servo amplifier connected with 2OSSC H turns ON OFF 8 The servo ON enables the servomotor operations S For related parameters control data and monitor data refer to Section 7 11 D 8 1 Servo ON OFF e Turn OFF 0 the servo OFF command to turn the servo on 9 e Turn ON 1 the servo OFF command to turn the servo off QU Note 2 2 e Perform servo ON OFF while the servomotor is stopped e The servo can be turned OFF with Ready ON in the status information The servo OFF command during positioning operation is invalid d 0 e
146. ation information UO ONPOJ U sch 3 Speed information The actual operation speed vector speed is X axis operation speed 1 x X axis override setting The operation speed 1 for the X axis can be changed using the operation speed change function except under the following conditions wasis N e During deceleration operation uoleinBiyuoo e When the speed change disable during operation signal is ON 4 Position address information The absolute relative address can be specified in the operation information With the specified absolute address Specifies a target address position using address 0 as the base With the specified relative address Specifies a travel amount from the current address LA Uo2euu07 9jdwex 3 5 Circle information center coordinate Set the center coordinate i j by a relative address from the start point 9 11 2 Circular interpolation radius specification uomeIgieu Ja The work piece moves in a circular arc with a specified radius from the start point to the target address 1 Operation Interpolation Interpolation 5 M time constant time constant lt Big Speed Pe S A a Target address Zb S circle b Maximum speed X Y axis Target address Mie axis Clockwise i Small d 6 circle a Vector speed 4 operation speed 1 e Wee gt Radius ages START point r of X axis i Sa D ai S gt Time START
147. ation limit 2 FLS and reverse rotation limit 2 RLS Connect forward rotation limit 2 FLS and reverse rotation limit 2 RLS to the upper limit FLS and lower limit RLS external signal terminals of the servo amplifier respectively For the wiring method refer to the servo amplifier manual Servo amplifier external signal setting Specify the following for the external signal of the servo amplifier Description of setting External signal Selection of FLS RLS signal Use the forward reverse rotation limit of the servo amplifier and PLC selection Logic of FLS RLS signal NC contact servo amplifier Restarting method Refer to the following Refer to Section 7 3 on the previous page Forward rotation limit 1 LSF and reverse rotation limit 1 LSR PLC side 44 For retraction with the PLC during use of the DOG search function in zero return or upon activation of a forward or reverse rotation limit switch in modes other than the zero return operation these limit switches are necessary Provide at a position so that activation is caused before forward rotation limit 2 or reverse rotation limit 2 connected to the servo amplifier For the related parameters control data and monitor data refer to Section 7 11 Wiring the forward rotation limit 1 LSF and reverse rotation limit 1 LSR Connect forward rotation limit 1 LSF and reverse rotation limit 1 LSR at the input terminals of the PLC For details on the PLC
148. ation speed change refer to Section 7 6 For details on the torque limit refer to Subsection 7 8 3 For details on the STOP command refer to Section 7 4 For details on the related parameters control data and monitor data refer to Subsection 9 13 For details on the radius specification refer to Subsection 9 11 2 9 11 1 Circular interpolation center coordinate specification 98 The work piece moves from the start point to the target address following the circular arc locus around the specified center coordinate 1 Operation Interpolation Interpolation time constant time constant Target address 1 X Y axis le s S Speed Bie Maximum speed CW CCW Clockwise Counterclockwise Vector speed operation speed 1 of X axis STAR polo Target address i XY axis gt D ON Time START command caa 3 GER ON ON Positioning completion S j OFF Set table information X axis speed X Y axis position address information and center coordinate in the XY table information When turning the X axis START command ON at the table operation start number with the specified circular interpolation center CW direction center CCW direction the work piece moves to the target position at the specified speed following the circle s center coordinate The work piece stops at the XY coodinate in target address 1 and the operation ends turning the positioning compl
149. cccccecceeceeceeseeeeeseeseeseeeeseeeesseeeensaes 122 11 1 9 Deceleration time BFM 14020 BFM 14220 123 11 1 10 Interpolation time constant BFM 14022 BEMSTAZZ2T 123 11 1 11 Zero return speed High Speed BFM 14025 14024 BFM 14225 14224 123 11 1 12 Zero return speed Creep BFM 14027 14026 BFM 14227 14726 124 11 1 13 Mechanical zero point address BFM 14029 14028 BFM 14229 14228 124 11 1 14 Zero phase signal count BFM 14030 BFM 14230 cc ccccccseseeeseeeeseeeeseeeeeseeeeeaees 124 11 1 15 Zero return mode BFM 14031 BFM SA 125 11 1 16 Servo end evaluation time BFM 14032 BEMSTAZ3A2 125 11 1 17 Software limit upper BFM 14035 14034 BFM 14235 14234 Software limit lower BFM 14037 14036 BFM 14237 14236 eeeccceeeeee eee 125 11 1 18 Torque limit BFM 14038 BFM 14238 occ ccccccceeceeceeeeeseeeeeseeseeseeeeeseeeeeseaeeeseeeeseas 126 11 1 19 Zero return torque limit BFM 14040 BFM Z71A2A01 cc ceccccceeececeeeeeseeeeseeseeseeeeenaees 126 11 1 20 External input selection BFM 14044 BFM 14244 ooo cccccceecceceeeeeseeeesseeeseeeeeaaes 126 11 1 21 Ring counter upper limit value BFM 14101 14100 BFM 14301 S1432001 126 11 1 22 Sudden stop deceleration time BFM 14102 BFM S 1A202 127 11 1 23 Sudden stop interpolation time constant BFM 14104 BFM 14304 eee eee e ee 127 11 1 24 Positioning completion signal output waiting time BFM 14106 BFM
150. cceleration deceleration b11 Trapezoidal ACC DEC in interpolations 0 Operates in trapezoidal acceleration deceleration For details on the acceleration deceleration mode refer to Section 7 2 DOG switch input logic Sets DOG switch input logic for 2OSSC H b12 1 NC contact operates at input OFF 0 NO contact operates at input ON For details on the DOG mechanical zero return operation refer to Subsection 8 1 2 Count start timing for zero phase signal 1 DOG forward end at OFF to ON transition of DOG input The front end of DOG triggers the zero phase signal count b13 0 DOG backward end at ON to OFF transition of DOG input The back end of DOG triggers the zero point signal count For details on the DOG mechanical zero return operation refer to Subsection 8 1 2 118 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 1 Positioning Parameters BFM Number Bit aan w Description Default a Not available ZS STOP mode BEM BEM 1 Suspends the operation and the START command starts the operation for the 14000 14200 b15 remaining travel distance H0000 1 2 0 Ends the operation canceling the remaining distance In table operations operation is terminated e F For details on the stop command refer to Section 7 4 3 o gt User unit setting Positioning and speed units are customizable as user units The combination of the system of units b1 b0 and unit s
151. cceleration deceleration g 11 1 10 Interpolation time constant BFM 14022 BFM 14222 S This parameter sets the time to reach the operation speed from zero acceleration or to reach zero from the operation speed deceleration gt For details on the interpolation time constant refer to Section 7 2 O UL BFM Number aa Description Default o Note B The acceleration time becomes 1 ms when set at 0 ms or less and becomes 5000 ms when set at 5001 ms a or more Ed SS 11 1 11 Zero return speed High Speed BFM 14025 14024 BFM 14225 14224 S This parameter sets the mechanical zero return operation speed high speed DOG Stopper 1 For details on the mechanical zero return refer to Section 8 1 Setting range 1 to 2 147 483 647 user unit Set the value within 1 to 50 000 000HZz in converted pulse data 1 BFM Number Y axis BFM 14225 14224 Default BFM 14025 14024 K4 000 000 1 Refer to the section shown below for details on the user units and converted pulse data Refer to Section 7 9 Note e Set the zero return speed high speed at or below the maximum speed When the zero return speed high speed exceeds the maximum speed the 20SSC H operates at the maximum speed e Speed change commands in positioning operation change the zero return speed high speed into a preset value 123 11 Buffer Memory Parameters amp Monitored Data
152. ccording to the remaining pulses 58 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 8 Other functions 7 8 4 Absolute position detection system An absolute position detection system is available with the 20SSC H For related parameters control data and monitor data refer to Section 7 11 UONONPO U What is the absolute position detection system In the absolute position detection system the current position is stored in the servo amplifiers battery backed memory and even if the work piece moves at power failure the moving distance is added to the current position with the absolute encoder and servo amplifier absolute position system After power ON the absolute position detection system does not require the zero return procedure wasis N uoleinBiyuoo LA 1 Conditions to use the absolute position detection system e Use servomotors with absolute position encoders jdwex4 e Use a backup battery with the servo amplifier uonosuuoy e Enable the absolute position detection system in the servo parameters 2 Initial zero point determination Even with the absolute position detection system the zero point must be determined at least once after the equipment is manufactured To determine the zero point for the first time perform zero return according to one of the following types data set type DOG type or stopper type uo ejlesu Ja For zero return oper
153. cedures to set table information via FX Configurator FP or by a sequence program Setting table information by sequence program To set table information by a sequence program write each setting to the 20SSC H buffer memory with TO or move instructions MOV etc for direct specification For details on buffer memory assignments refer to the following wasis INQ uoleinBiyuoo Refer to Sections 10 3 and 11 5 Note LA It is strongly recommended to set and store table information in the flash memory via FX Configurator FP When table information is set by sequence program a considerable amount of the sequence program and devices are used which makes the program complicated and increases the scan time UOOBUUOD jdwex4 Setting table information on FX Configurator FP Set value with the X axis Y axis XY axis table information edit windows in FX Configurator FP For details on operation with FX Configurator FP refer to the following manual FX Configurator FP Operation Manual uo ejlesu Ja e Operation method 1 Double click File name Edit X axis table information Y axis table information or XY axis table information in the file data list 2 The selected X axis table information Y axis table information or XY axis table information edit window is displayed Buum QI Kowar eyep pue uolesnByuoo Onu07 Buiuonisod Guies esojog N lo uo9 yenueyy OO 01 U0D Buuonisog QO D
154. ciprocal movement instruction Ver 1 10 or later 2 Operation 1 Enter the X axis and Y axis operation patterns 2 Turn ON the X axis simultaneous start flag 3 Turn ON the X axis start command In JOG operation turn ON the X axis forward reverse rotation jog command 4 X axis and Y axis operation begins simultaneously POINT e The Y axis start command and forward reverse jog command are ignored 7 8 8 Current address change function 60 With this function the current address of a stopped axis changes arbitrarily Write the desired value to the current address user to change followed by the current address pulse update For parameters control data and monitor data refer to Section 7 11 The current address does not change in the following states e READY BUSY in the status information is OFF 0 e Interruption due to a STOP command occurs and the operation is waiting for the remaining distance 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 8 Other functions 7 8 9 Zero return interlock function This function disables the start command before mechanical return For related parameters control data and monitor data refer to Section 7 11 UON ONPOJ U 1 Applicable positioning operations 2 e Operations applicable to the zero return e Operations inapplicable to the zero return 20 interlock setting interlock setting ER 1 speed positioning operation JOG op
155. command ae So D E ON ON Seg Posit let D ositioning completion _ OFF 333 1 Set the table information X axis speed X Y axis position address and radius in the XY table information 3 2 When turning the X axis START command ON at the table operation start number with the specified circular interpolation radius CW direction radius CCW direction the work piece moves to the target 8 position at the specified speed following the circle s center coordinate calculated from the start point Z target position and radius z 3 The work piece stops at the XY coodinate in the target address 1 and the operation ends turning the e positioning completion signal ON Note e The radius is specified as r When r is a positive value the small circle a path is selected and when it is negative the big circle b path is selected e Pulse rate and feed rate During the circular interpolation operation the radius value is kept constant and pulses are allocated to the X and Y axes If the ratio of the pulse rate to the feed rate differs between the X axis and Y axis the circle becomes deformed Set the interpolation gear ratio selection function in the X axis Y axis when the ratio 1 differs between the X axis and the Y axis if the version is Ver 1 20 or later For details on the interpolation gear ratio selection refer to Subection 7 10 3 uojesedo ap 99 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual
156. ction 1 Setting of notch form depth width H0000 BFM BFM Machine resonance 15033 15233 suppression filter 2 1091049007 ae BFM BFM Settings of validity for machine resonance suppression filter 2 15034 15234 Noten SNAPE Selene and notch shape depth width of notch ES BFM BFM i 15036 415936 Low pass filter 100 to 18000rad s K3141 Vibration suppression BFM BFM ee 415037 415937 Vibration frequency 1 to 1000 x0 1Hz K1000 setting Vibration suppression BFM BFM 415038 445938 Resonance frequency 1 to 1000 x0 1Hz K1000 setting 193 Appendix A LIST OF PARAMETERS AND DATA FX3U 20SSC H Positioning Block User s Manual Appendix A 5 Servo Parameters List BFM number Default Reference IIN a Low pass filter selection Selects setting method auto manual of low pass filter H0000 15041 15241 R g 2 BFM BFM re Selects slight vibration suppression control validity of the 40000 15042 15242 PP function PI PID switching method selection fue PEN Gain changing selection Setting of the selection condition for gain changin H0000 15044 15244 ging g g ging BFM BFM 15045 15245 Gain changing condition 0 to 9999 kpps PLS r min Ea BFM BFM Gain changing time Gain changing BFM BFM Ratio of load inertia 15047 15247 moment to servo motor H PS a subsection 11 2 2 BFM BFM Gain changing 15048 15248 Position loop gain EE BFM BFM Gain changing 15049 15249 Speed loop gain Peas Rez Gain changing BFM BFM 15050 445950 Speed
157. ction 7 8 2 1 Enable At an in position signal is determined the positioning operation completion 0 Disable Enables or disables the servo ready check function For details on the servo ready check refer to Subsection 7 8 1 1 Enable Checks the ready signal ON OFF at operation start while operation 0 Disable Enables or disables the OPR interlock function For details on the OPR interlock refer to Subsection 7 8 9 1 Enable Disables the START command without zero return completion Enables the START command with zero return completion zero return completed ON 0 Disable Enables or disables the ring counter setting Ver 1 10 or later For details on the ring couter setting refer to Section 7 7 1 Enables the ring operation 0 Disables the ring operation Set the stop method when the Stop command turns ON Ver 1 20 or later For details on sudden stop Normal deceleration stop b4 S refer to Section 7 5 1 Sudden stop BFM 14002 BFM 14202 p Normal deoe eratoni stop H0007 Set the stop method when the software limit turns ON Ver 1 20 or later For details on sudden stop Normal deceleration stop refer to Section 7 5 1 Sudden stop 0 Normal deceleration stop Set the stop method when the PLC limit turns ON Ver 1 20 or later For details on sudden stop Normal deceleration stop refer to Section 7 5 1 Sudden stop 0 Normal deceleration stop Set the stop method when the Serv
158. cular interpolation m code center CW direction End Circular interpolation 1 speed positioning center CCW direction Interrupt 1 speed constant quantity feed Circular interpolation 2 speed positioning radius CW direction Interrupt 2 speed constant quantity feed Circular interpolation 4 v v Interrupt stop radius CCW direction Multi speed operation Mechanical zero return requires multiple tables Current address change Linear interpolation Absolute address specification Linear interpolation interrupt stop Relative address specification Dwell Jump Sets the following items depending on the settings in the operation information e In positioning operations Set the target address Setting range 2 147 483 648 to 2 147 483 647 user unit 2 Set the value within 2 147 483 648 to 2 147 483 647PLS in converted pulse data In current address changes Set the new current address Setting range 2 147 483 648 to 2 147 483 647 user unit 2 F Ji z Set the value within 2 147 483 648 to 2 147 483 647PLS in converted pulse data In Dwell Set a dwell time Setting range 0 to 32767 x10ms In Jump Set the jump No table Setting range 0 to 299 Set the operation speed Setting range 1 to 50 000 000 user unit Z vd Ivv Set the value within 1 to 50 000 000HZz in converted pulse data Set the center coordinate and radius of the circle during circular interpolation operation Setting range 2 147 483 648 to 2 147 483 647 user unit 2 v Set the
159. curring b15 This bit is set while a warning is occurring at the servo amplifier 143 oO A oO 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 3 Monitor Data 11 3 27 Regenerative load ratio BFM 65 BFM 165 The regenerative load ratio power to the maximum regenerative power is stored in percentage With regenerative brake option the regenerative power ratio to the allowable capacity is stored BFM Number Description Value Format BFM 165 Regenerative load ratio Default BFM 65 11 3 28 Effective load torque BFM 66 BFM 166 The continuous effective load torque is stored This parameter stores the average value of the load ratio to the rated torque 100 from the past 15 seconds BFM Number Description Value Format BFM 166 Effective load torque Default BFM 66 11 3 29 Peak torque ratio BFM 67 BFM 167 The maximum torque during operations is stored This parameter stores the peak value to the rated torque 100 from the past 15 seconds BFM Number Description Value Format BFM 167 Peak torque ratio Default BFM 67 11 3 30 Servo warning code BFM 68 BFM 168 Warnings detected by the servo amplifier are stored Clear the cause of the warning For details on the warnings refer to the manual of the connected servo amplifier For deta
160. d BFM 518 b9 BFM 618 b9 ON SE Sch BFM 518 b10 BFM 618 b10 ag operation OFF h process Speed Gnange Leewen BFM 618 b12 prohibition ON Speed change during positioning control BFM 518 b13 BFM 618 b13 operation Target position change during positioning control BFM 518 b14 BFM 618 b14 operation Remaining distance BFM 519 bO BFM 619 bO operation cancel command Syelemresel commana PERTHE TIDA BFM 619 b1 Ver 1 10 or later HEN positioning parameter valid BFM 519 b4 BFM 619 b4 command 2 Servo OFF command BFM 519 b8 ON Turns the servo off 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 11 Related parameter control data and monitor data a BFM number Item Description Sets the rotation direction during the ring operation when the address is specified in absolute value Ring operation rotation direction for absolute BFM 530 BFM 630 Ab Direction for shorter rotation address 1 Direction where the current value increases clockwise 2 Direction where the current value decreases counterclockwise uononpou Control data wasis N uoleinBiyuoo Monitor data Current address user unit BFM 1 0 BFM 101 100 User unt Current address pulse BFM 3 2 BFM 103 102 Unit PLS LA om Ee Stored torque limit BFM 5 4 BFM 105 104 Unit x0 1 DC Real current address user Wi O Ver 1 20 or later BFM 21 20 BFM 121 120 User unit S
161. data refer to Section 7 11 1 To use the override function Set the following setting Setting item Description Override setting Specify in the range from 1 to 30000 x 0 1 0 1 to 3000 0 2 Applicable positioning operations Operations applicable to the override function e Operations inapplicable to the override function Mechanical zero return at high speed Mechanical zero return at creep JOG operation Manual pulse generator operation 1 speed positioning operation Interrupt 1 speed constant quantity feed 2 speed positioning operation Interrupt 2 speed constant quantity feed Interrupt stop Variable speed operation Multi speed operation Linear interpolation Linear interpolation interrupt stop Circular interpolation Reciprocal movement instruction Ver 1 10 or later 3 Operation Speed A Actual operation speed Time gt Operation speed 100 Override setting 100 200 150 4 Caution for speed change 50 If the overridden actual operation speed is smaller than 1 the operation speed is handled as 1 in the current speed unit If 100 is specified as an override the speed does not change The operation speed can be changed during positioning operation The override function is invalid during deceleration after a STOP command or in positioning operation When the operation speed is changed by the override function during interpolation operatio
162. dden stop interpolation time constant refer to Section 7 5 BFM Number ovr Description Default Dem 7 Di POINT 2 e The sudden stop interpolation time constant becomes 1 ms when set at 0 ms or less and becomes 5000 B ms when set at 5001 ms or more S 11 1 24 Positioning completion signal output waiting time S BFM 14106 BFM 14306 Set the time after positioning is completed until the positioning completion flag turns ON Ver 1 20 or later For details on the positioning completion signal output waiting time refer to Section 7 5 BFM Number Description BFM 14306 Setting range 0 to 5000 ms Default BFM 14106 POINT e When the positioning operation time is shorter than a PLC scan the sequence program can only detect the positioning completion signal if the positioning completion signal output waiting time is set to a time longer than the scan time e Becomes 5000 ms when set at 5001 ms or more e If positioning is completed and an error occurs during the positioning completion signal output waiting time the positioning completion signal remains OFF e The setting of the positioning completion signal output waiting time is invalid during table operation 127 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 2 Servo Parameters 11 2 Servo Parameters Various parameters for the servo amplifier can be set The following buffer memories
163. ddress 1 is smaller than the deceleration time the output pulses stop at the deceleration target address 1 target address 1 If the travel distance is zero the operation immediately stops at the interrupt input INTO ON 6 Interpolation operation during continuous pass operation If the travel distance is small and the travel time from the starting point to the end point is shorter than the interpolation time constant the operation temporarily stops and then shifts to the next interpolation operation 65 UO ONPOJ U sch wasis N uoleinBiyuoo LA Uo2euu07 9jdwex 3 uomeIgieu Ja Buin QI Howay OF Di CH J O a3 oe r D o O 5 Dune 10j g Oomu03 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 10 Cautions for Positioning Operation 7 10 3 Cautions for interpolation operation 66 1 Linear Interpolation Operation including the Interrupt Stop When setting a different pulse rate feed rate X axis and pulse rate feed rate Y axis during interpolation operation If the 2OSSC H version is earlier than Ver 1 20 Set ratios that are the same for the pulse rate to the feed rate for the X axis and the Y axis When the ratios are different the actual speed does not match the set speed If the 20SSC H version is Ver 1 20 or later Set the interpolation gear ratio selection function in the X axis Y axis
164. e Positioning X axis Resets X axis positioning parameters BFM 14000 to parameters BFM 14199 to their factory default initialization Resets Y axis positioning parameters BFM 14200 to command BFM 14399 to their factory default Resets X axis table information BFM 1000 to BFM 3999 to their factory default Table information initialization command Resets Y axis table information BFM 4000 to BFM 6999 to their factory default Resets XY axes table information BFM 7000 to BFM axes 12999 to their factory default Resets X axis servo parameters BFM 15000 to BFM Servo parameters X axis 15199 to their factory default initialization command e Resets Y axis servo parameters BFM 15200 to BFM 15399 to their factory default 1 Timing of the detection 1 Level detection activated when the bit is set or cleared 2 Edge detection activated at OFF to ON transition Edge 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 4 Control Data Before executing control commands oo Write the model code K5220 to the control command enable disable before executing control commands j After control commands are executed 0 is automatically stored in the control command enable disable Notes on saving data into flash memory S e The save command is ignored during a positioning operation 1 2 e Be sure to note the following points while saving data
165. e operation decelerates to stop this bit turns ON while reverse rotation pulses are being output the operation decelerates to stop this bit turns ON forward rotation pulses are output this bit turns ON reverse rotation pulses are output Execute zero return in the zero return specified with a positioning parameter Operate in the absolute address mode Operate in the relative address mode This parameter is disabled in table operations Positioning operation does not start The selected positioning operation pattern begins Turn on the X axis start command to simultaneously start X axis and Y axis The speed and target position change commands are valid during positioning operation The speed and target position change commands during positioning operation are invalid Changes the current operation speed to the specified speed Changes the current target address to the specified target position Cancels the remaining distance and finishes the positioning when this bit is turned from OFF to ON Turns ON for 100ms or more and resets the 20SSC H system when detecting this bit s falling edge Enables the positioning parameter when this bit is turned from OFF to ON Relative positioning by the specified travel distance Absolute positioning by the specified address Turns the servo on BFM 518 b8 BFM 618 b8 ON Operation addressing command 1 OFF Start comman
166. e D In position range BFM 15010 BFM 15210 Setting range 0 to 50000PLS 5 To assign the absolute position lost signal 8 Output signal device selection 3 CN3 15 BFM 15104 BFM 15304 hee cer csc pe for the output signal device selection 3 9 1 For user units refer to the following SE Refer to Section 7 9 Ze 2 2 147 483 648 to 2 147 483 647 with Variable Speed operation E 3 Variable speed operation is not supported ei es OD O O D a 69 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 1 Mechanical Zero Return Control 8 Manual Control 8 1 Mechanical Zero Return Control 8 1 1 Outline of mechanical zero return control The mechanical zero return method for the 20SSC H includes the following three variations four modes For related parameters control data and monitor data refer to Subsection 8 1 5 e DOG type mechanical zero return 1 mode The position after stopping from the DOG signal with the zero signal of the servomotor becomes the zero point For details on the DOG type mechanical zero return refer to Subsection 8 1 2 e Data set type mechanical zero return 1 mode The position after moving with the JOG operation or manual pulse generator is defined as the zero point For details on the data set type mechanical zero return refer to Subsection 8 1 3 e Stopper type mechanical zero return 2 modes The stopper position is defined as the ze
167. e PLC main unit the JOG operation starts in the current value incrementing direction e When turning X015 Y axis reverse rotation JOG to ON at the PLC main unit the JOG operation starts in the current value decrementing direction 163 12 Program Example FX3U 20SSC H Positioning Block User s Manual 12 3 Explanation of Operation 12 3 3 1 speed positioning operation The 1 speed positioning operation operates by the drive for incrementing The positioning operates at constant quantity feed Acceleration time Deceleration time 200ms Maximum speed 200ms Speed lt P 4 000 000Hz lt gt Operation speed 1 2 000 000Hz Target address 1 5 000 000PLS X axis e When turning X007 X axis START command to ON with X020 X axis selection of 1 speed positioning operation turned ON at the PLC main unit the 1 speed positioning operation starts After 5 000 000 pulses of travel in the current value incrementing direction the operation decelerates to stop e When X007 is turned ON again positioning starts with the same travel distance again The state of X020 X axis selection of 1 speed positioning operation on the PLC main unit changes from OFF to ON e When turning X001 X axis stop to ON during positioning the operation decelerates to stop Y axis e When turning X017 Y axis START command to ON with X021 Y axis selection of 1 speed positioning operation turned ON at the PLC main unit the 1 speed pos
168. e information After 10 000 000 pulses of travel in the current value incrementing direction operation decelerates to stop e When turning X007 X axis START command to ON after the table operation ends the positioning operates by the same travel distance again e When turning X001 X axis stop to ON during positioning the positioning decelerates to stop e m codes are output in the with mode At the start of each operation the m code ON flag becomes 1 and the m code number is stored When the m code number of 10003 the m code OFF command turns ON and the m code turns OFF Y axis e When turning X017 Y axis START command to ON with X023 Y axis selection of table operation individual turned ON multi speed operation starts with the preset Y axis table information After 10 000 000 pulses of travel in the current value incrementing direction operation decelerates to stop e When turning X017 Y axis START command to ON after the table operation ends the positioning operates by the same travel distance again e When turning X011 Y axis stop to ON during positioning the positioning decelerates to stop e m codes are output in the with mode At the start of each operation the m code ON flag becomes 1 and the m code number is stored When the m code number of 11003 the m code OFF command turns ON and the m code turns OFF 2 Setting table information Set the X axis Y axis table information as follows in FX Configu
169. e operation speed is less than the pulses to accelerate decelerate or if the SC 3 travel time is too short at 50 ms or less the current operation does not continue and temporarily stops e When using m code in multi speed operation use the With mode 8 With the m code in After mode operation does not continue from the table since the 20SSC H suspends the operation shift to the next table until the m code turns OFF S e Multi speed operation ends if another operation information is performed during the multi speed operation 2 Operation information Set multi speed operation absolute address specification relative address specification and the End command in the operation information For details refer to Chapter 10 3 Speed information The actual operation speed is operation speed 1 x override setting Operation speed 1 can be changed using the operation speed change function except under the following conditions 1 e During deceleration operation e When the speed change disable during operation signal is ON uoesedo ap 93 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 8 Multi Speed Operation 4 Position address information The absolute relative address can be specified in the operation information With the specified absolute address Specifies a target address position using address 0 as the base With the specified relative address Specifies a travel amount from the current address
170. ece stops when the servomotor torque reaches the zero return torque limit value 3 After the stop the 20SSC H writes the mechanical zero point address specified in positioning parameters to the current address 4 The 20SSC H turns the positioning completion flag ON and sets turns ON the zero return complete flag uomeIgieu Ja Buin QI 3 Setting item In the stopper type mechanical zero return specify the following settings 6 For details on the setting items refer to Subsection 8 1 5 E age Setting item Description S S Zero return mode Specify the stopper type 1 2 zero return mode ai 2 Zero return speed high speed Specify the zero return speed high speed Zero return speed creep Specify the post DOG input zero return speed creep Zero return direction Specify the zero return direction current value increase decrease direction D Selection of DOG input Select the DOG input servo amplifier 20SSC H to be used SE DOG input logic Specify the logic NO NC contact of the DOG input to be used S So Mechanical zero point address Specify the current address user unit written after the mechanical zero return completion d Zero return torque limit Specify the torque limit value for zero return speed creep 4 Changing the zero return speed Use the override function or operation speed change function to change the zero return speed high speed However the speed does not change when the ope
171. ecelerates to stop after activation of the limit switch ER amplifier reverse 7 3 1 are Always connect for safety rotation limit 2 This limit switch is necessary for retraction with the PLC if a DOG search function is used in zero return operation or if the limit switch is activated at ona the forward or reverse rotation limit modes in modes other than zero return rotation limit 1 Deceleration Subsection PLC DA 4 operation 732 ae ised to stop Provide at positions so that the limit switch is activated before forward a rotation limit 1 G Sg rotation limit 2 or reverse rotation limit 2 connected with the servo amplifier Operation limit based on the current address that is effective after Software forward rotation limit Deceleration mechanical zero return Subsection Software reverse rotation limit to stop Specify at addresses where activation is caused before the forward 17 3 3 rotation limit 1 or reverse rotation limit 1 connected with the PLC 1 Sudden stop or deceleration stop can be selected with Ver 1 20 or later Refer to Section 7 5 Note The 20SSC H does not have a terminal for connecting the forward or reverse rotation limit switch Connect the forward and reverse rotation limit switches to the PLC and or servo amplifier How to restart after the limit switch is activated When the limit switch is activated the work piece decelerates to stop and a limit error occurs The work piece cannot move to the activat
172. ection BEM Slight vibration PI PID switch over selection 15042 15242 PB24 suppression control Slight vibration suppression control selection H0000 selection 0 Disable 1 Enable e PI PID switch over selection 0 Enables PI control 3 Enables PID control all the time Select the gain changing selections conditions 0 0 Gain changing selection Gain changing condition Ge E e Gain changing selection 15044 15244 dee Code ee m0009 SS ESER 1 Settings designated by a gain change command take effect 2 Set command frequency as a trigger to change gain 3 Set droop pulses as a trigger to change gain 4 Set servo motor speed as a trigger to change gain e Gain changing condition 0 Valid when a value is bigger than the set value 1 Valid when a value is smaller than the set value BFM PB27 Gain changing Set the value for gain changing condition ap 15045 15245 condition Setting range 0 to 9999 kpps PLS r min K LU TI z U LU LU LU TI TI TI TI BFM PB28 Gain changing time Set the time constant for changing gain 4 15046 15246 constant Setting range 0 to 100 ms aa GE l Set the ratio of load inertia moment to servo motor inertia moment when BFM Ratio of load inertia s PB29 gain changing is valid K70 15047 15247 moment to servo GE Setting range O to 3000 x0 1 times motor inertia moment 130 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Bloc
173. ection 8 3 BFM Number BFM l 627 626 Setting range 1 to 1 000 000 times 11 4 18 Manual pulse generator response BFM 528 BFM 628 Default X axis BFM 527 526 Sets the MPG response Ver 1 10 or later For details on the manual pulse generator refer to Section 8 3 BFM Number Description Default BFM 628 Setting range 1 to 32767 The response is faster as the set value is smaller and slower as the set value is larger The set value can be changed even during operation Note 153 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 4 Control Data 11 4 19 Manual pulse generator input selection BFM 529 Sets the MPG input selection Ver 1 10 or later For details on the manual pulse generator refer to Section 8 3 0 X input X opr Y input Y opr 1 X input Y opr BFM Number X axis Default 2 X input X and Y opr 11 4 20 Ring operation rotation direction for absolute address Sets the rotation direction when absolute address is specified in the ring operation Ver 1 10 or later For details on the ring counter setting refer to Section 7 7 0 Direction for shorter rotation 1 Direction where the current value increases clockwise BFM Number X axis Default 2 Direction where the current value decreases counterclockwise 154 11 Buffer Memory Parameters a
174. ed limit switch side Use the JOG operation in opposite direction or the manual pulse generator in the opposite direction to avoid the limit error Deceleration to stop However immediate stop is caused during operation with the manual pulse generator Operation speed Forward rotation limit input ON OFF lt O gt Reverse rotation JOG operation or reverse rotation Forward rotation JOG operation or forward manual pulse generator operation is valid rotation pulse generator operation is invalid 43 a uononpou wasis N uoleinBiyuoo LA Uo2euu07 9jdwex 3 uomeIgieu Ja Bui QI Howay OF Di CH 5 De r D o O 5 Dune 10j g Oomu03 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 7 3 1 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 3 Handling the Forward Rotation Limit and Reverse Rotation Limit Forward rotation limit 2 FLS and reverse rotation limit 2 RLS servo amplifier side 7 3 2 1 Connect forward rotation limit 2 FLS and reverse rotation limit 2 RLS to the upper limit FLS and lower limit RLS external signal terminals of the servo amplifier respectively This limit switch should be provided in a position to avoid causing damage to the machine after activation Connect for safety For the related parameters control data and monitor data refer to Section 7 11 Wiring the forward rot
175. eeeeeeceeeeeceeeeeseeeessueeessueessaeeesseees 82 8 3 4 Related parameters control data and monitor data 83 9 Positioning Control 84 9 1 Functions Available with Each Positioning Operation 84 9 2 1 speed Positioning COperaton 85 9 3 Interrupt 1 speed Constant Quantity Feed 86 9 3 1 Interrupt 1 speed Constant Quantity Feed 86 9 3 2 Interrupt 1 speed Constant Quantity Feed Constant position stop model 87 9 4 2 speed Positioning Operation eege E Eech 88 9 5 Interrupt 2 speed Constant Quantity Feed 90 90 IMIS FHUIDL SIO DCL te EE 91 9 7 Variable Speed Operation EE 92 9 8 Multi Speed Ope rato nas geccasecdieas olhienssieereccodenotensice etd nc orsedutheni E a e 93 9 9 Linear Interpolation Cperaton 95 9 10 Linear Interpolation Operation Interrupt Stop ccc ecccceecceeeeeeceeeeeseecesaeeeseeeeeseeeeseeeesseeeeeans 96 9 11 Circular Interpolation Operation EE 98 9 11 1 Circular interpolation center coordinate specifcaton 98 9 11 2 Circular interpolation radius specification ccc ceccceecccceeeeeeaeeeeeseeeeseeeeeseeecesseeeesseeeesseeeensaes 99 9 12 Reciprocal movement insutruction Ver1 10 orlater ecceceeeeecseeeeeeeeeeeesseeeeeeseeeeeeneeeeeeas 101 9 13 Parameter Control Data Monitor Data and Table Intormaton 103 10 Table Operation 105 10 1 Outline of Table Operation 105 10 1 1 Applicable positioning operations for table operation cccccccccceeceeceeeeeceeeeec
176. eeeseeseeeeeeeeesees 105 10 1 2 Types of table information and number of registered tables ccccceeeceecseeeeeeeeeeeeeeeeeeeeeeas 105 10 1 3 Table information setting RL EE 106 10 1 4 Table operation execution procedure cccccccccsececeececeeeeeeeeeeeeeeaeeeeaeeeeseeeeaeeeeaeeeseeessaeessaeessney 108 10 2 How to Set Table Iniormmaton 109 10 3 Tables and BFM No lee EEN 112 10 4 Gurrent Postion Chang EE 113 10 5 Absolute Address Gpecifcaton 113 10 6 Relative address spechficaton 113 ll Sy GET e EE 113 RRE EE 113 MOO MAC EE 114 TOOT E e 114 O I2 A ELS EE 115 10 9 3 Related buffer memory enee dee Eege EE Eed 116 10 10 Continuous Pass e E rn EE 117 FX3U 20SSC H Positioning Block User s Manual Table of Contents 11 Buffer Memory Parameters amp Monitored Data 118 fe WE Lie ie Re 118 11 1 1 Operation parameters 1 BFM 14000 BFM 14200 0 eccccceecceeeceeeeeeesseeeeseeeeesaees 118 11 1 2 Operation parameters 2 BFM 14002 BFM ST A20OZ 120 11 1 3 Pulse rate BFM 14005 14004 BFM 14205 14204 00 0 cece eccceceeeeeseeeeeeeeeseeeeseaes 121 11 1 4 Feed rate BFM 14007 14006 BFM 14207 14206 121 11 1 5 Maximum speed BFM 14009 14008 BFM 14209 14208 121 11 1 6 JOG speed BFM 14013 14012 BFM 14213 STIA712 122 11 1 7 JOG Instruction evaluation time BFM 14014 BFM 14214 0 0 cccccseeceseeeeeseeeeenaees 122 11 1 8 Acceleration time BFM 14018 BFM SiA719 c
177. eep speed Replace the servo amplifier battery Reduce the frequency of positioning Change the regenerative brake option to the one with a larger capacity Reduce the load Refer to the manual of the servo amplifier To reduce the noise follow the servo amplifier manual Replace the servo motor r Set the servo parameters correct Parameters are outside the setting range H y Servo forced stop warning Servo amplifier input signal ENIT IS OEF Ensure safety and deactivate the forced stop A watchdog error occurred on the 20SSC H Cooling fan speed reduction warning The rotation speed of the servo amplifier s cooling fan fell below the warning level S Main circuit OFF warning The servo ON signal turned ON with the main circuit power OFF Overload warning 2 Operation in which a current exceeding the rating flow intensity in any of the U V or W phases of the servo motor is repeated Output watt excess warning The status in which the output wattage speed x torque of the servo motor exceeds the rated output If this error occurs after rebooting and initializing the 20SSC H the module needs repair Consult a Mitsubishi Electric distributor Replace the cooling fan of the servo amplifier Replace the servo amplifier Turn the main circuit power ON Reduce the positioning frequency at the specific positioning address Reduce the load Exchange the servo amplifier servo motor with one of a
178. eleration deceleration 2 The servo end check is not performed during continuous operation A The servo end check is not performed during continuous pass operation 4 Supported in Ver 1 10 or later D Supported in Ver 1 20 or later 84 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 2 1 speed Positioning Operation 9 2 1 speed Positioning Operation UO ONPOJ U sch For details on the operation speed change and target address change refer to Section 7 6 For details on the torque limit refer to Subsection 7 8 3 For details on the STOP command refer to Section 7 4 For details on the related parameters control data and monitor data refer to Section 9 13 wasis INQ Q 1 Operation z i paces erate Deceleration a oe 3 e time S n l Pe Maximum speed 3 Speed om 53 Di 53 Operation speed 1 Eh S i Target address 1 4 gt Time ON 5 D START command OFF NN l N S Positioning completion r O OFF 1 Set the operation speed 1 and target address 1 2 Select the 1 speed positioning operation from the operation patterns and activate the START command to start the 1 speed positioning operation above figure The positioning completion signal is turned OFF Buum QI 3 The operation stops at the target address 1 and the operation ends turning the positioning completion signal ON POINT Kiowa eyep pue uolesnByuoo The
179. emarks of each company FX3U 20SSC H Positioning Block User s Manual Table of Contents Table of Contents SAFETY PRECAUTIONS ue deg 1 el Leg E H CEMMCAHONOF UL RT ge E lge EE 9 Compliance with EC directive CE Making 9 Functions and Use of the Manual ccccccceseceeeeeeeeeeceeeeeeeeneeneseneeensoaesenseeeseneeneseesenesaness 10 REESEN 11 Generic Names and Abbreviations Used in the Manual cccssccceeceeeeseeseeseneeeeneeeees 12 Reading the EIN E 14 1 Introduction 15 fa WE e lt 15 1 2 External Dimensions and Part Names a nnannnannnnnnnnnnnnnnnonrnnrronrrnrrnnernrrnnrvnrrnrrnnernrrsrrnrrnnernrrnnenne 16 1 POWER ae BECH EE 17 2 System Configuration 18 221 General CON QUPANOM EE 18 2 2 iCONMEGUOM WIN EE 19 23 PO DIICADIO PEO EE 19 3 Specifications 20 3 1 General SPCCHICAHONS erreira a E 20 32 Ee SUDDIV gt DECINC ATION ss ess E ee Ee NE 21 33 Perormance SPCCIICAT ON ee 21 3 4 INPUESDECIICATIONS EE 22 3 4 1 Input specifications E 22 342 IMC Mal iN OUl Le EE 22 SR dl Wei ie Le EE 23 29 INPUT COMMO CON ee 23 39 2 POWE SUDDIV GOMNECION ee 23 4 Installation 24 ANDIN CAM MOUNINO EE 25 A2 Direc MOUnINO WEE E 25 5 Wiring 26 5 1 Cable to Be Used Applicable Connector and Wire Gre 27 ee a We EUR e 27 Geh EES ronal cle aed ie ses dialer ge 27 5 1 3 Input cable and terminal block 28 5 2 Power SUDDIY WINING EE 29 5A OWEN SUDDEY WINING E 29 52 2 et eeh e EE 29 E Seef A elle
180. end Y axis monitor data from 20SSC H RUN monitor M8000 FNC 12 Uo G100 D100 Y axis current address user DMOV BFM 101 100 gt D101 D100 FNC 12 Y axis error BFM No Mov U0 G106 D106 BFM 106 D106 FNC 12 Y axis m code No Mov 0 G109 D109 BEM 109 gt D109 Y axis operation speed ANAL U0 G110 D110 present value BFM 111 110 D111 D110 Y axis Namber of the table in Bae U0 G116 D116 operation BFM 116 D116 FNC 12 Y axis error code Mov U0 G129 D129 BEM 129 D129 FNC 12 Y axis motor rotational speed pmMoy U0 G152 D152 BEM 153 152 gt D153 D152 FNC 12 Y axis servo status Mov U0 G164 D164 BEM 1645 D164 FNC 12 Y axis servo warning code Mov U 0 G168 D168 BEM 168 gt D168 FNC 12 Y axis motor feedback position pmMoy Y0 G170 D170 BFM 171 170 gt D171 D170 END 172 13 Diagnostics FX3U 20SSC H Positioning Block User s Manual 11 OOO S T 13 Diagnostics a When a fault occurs check the power supply voltage the PLC main unit and I O devices for loose 1 2 terminal screws and examine the connectors for a defective contact xD 39 ER STARTUP AND MAINTENANCE DANGER PRECAUTIONS Do not touch any terminal while the PLC s power is on Doing so may cause electric shock or malfunctions Before cleaning or retightening terminals externally cut off all phases of the power supply Failure to do so may cause electric shock Before modifying or disrupting the program in operation or running the
181. er If the time needed for the travel distance target address 1 is shorter than the deceleration time the pulse output stops at the target address 1 If the travel distance is zero immediate stop occurs when interrupt input INTO turns ON Speed Trapezoidal control Desired deceleration Approximate S shaped control The time to stop is slightly earlier because deceleration under the approximate S shaped control is slower than that of trapezoidal control while the travel distance is almost the same as that of trapezoidal control Operation speed 1 Target address 1 gt Time Interrupt input INTO kK Traveling time lt desired deceleration time 4 For the relation between the time for the actual deceleration and the specified time for desired deceleration refer to the following Refer to Section 7 2 3 2 speed positioning operation 1 Ifthe travel distance at the first speed is small If the travel time is smaller than the time needed to decelerate to the operation speed 2 the first operation speed does not reach the operation speed 1 If the travel distance of the first speed is zero the travel is at the second operation speed and travel distance No error is caused Speed control Desired Desired acceleration decceleration time time lt gt lt gt eee H Approximate bh S shaped S Operation speed 2 Start Time ks
182. eration For details on the JOG operations refer to Section 8 2 BFM Number Description BFM 14214 Setting range 0 to 5000 ms Default BFM 14014 POINT The JOG instruction evaluation time O ms gives continuous operation only 11 1 8 Acceleration time BFM 14018 BFM 14218 122 This parameter sets a time for the operation speed to reach the maximum speed from zero For details on the acceleration time refer to Section 7 2 BFM Number Description BFM 14218 Setting range 1 to 5000 ms Default BFM 14018 Note e The acceleration time becomes 1 ms when set at 0 ms or less and becomes 5000 ms when set at 5001 ms or more e Set the time within the range from 64 greater than 64 to 5000 ms in the approximate S shaped acceleration deceleration 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 1 Positioning Parameters 11 1 9 Deceleration time BFM 14020 BFM 14220 D T This parameter sets the time for the operation speed to reach zero from the maximum 3 For details on the deceleration time refer to Section 7 2 E BFM Number AN r n escriptio efau 1 2 32 Note SS e The acceleration time becomes 1 ms when set at 0 ms or less and becomes 5000 ms when set at 5001 ms or more e Set the time within the range from 64 greater than 64 to 5000 ms in the approximate S shaped 1 3 a
183. eration Mechanical zero return Linear interpolation JOG operation Linear interpolation interrupt stop 1 speed positioning operation Circular interpolation Interrupt 1 speed constant quantity feed 2 speed positioning operation Interrupt 2 speed constant quantity feed Interrupt stop Variable speed operation Multi speed operation Manual pulse generator operation Reciprocal movement instruction Ver 1 10 or later 54 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 7 Ring counter setting Ver 1 10 or later 3 Operation Example System of units degree Ring value 359999 Current address User Present 359 999 359 999 359 999 a ring value mdeg mdeg mdeg Omdeg Omdeg Omdeg Omdeg Reverse rotation Forward rotation counterclockwise 270 000 e 90 000 clockwise 180 000 When the address is specified in absolute value e The 20SSC H positions the motor in the rotation direction set in Ring operation rotation direction for absolute address Set the value of BFM 530 630 0 Direction for shorter rotation 1 Direction where the current value increases clockwise 2 Direction where the current value decreases counterclockwise Example of rotation in the direction for shorter rotation BFM 530 630 0 1 speed positioning operation Ring value Ring value 359 999 359 999 0 0 Target address 1 Target address 1 Current address 300 000 240 00
184. eration a Interrupt 1 speed constant quantity feed Manual pulse generator operation S 2 speed positioning operation Mechanical zero return Interrupt 2 speed constant quantity feed Variable speed operation LA Interrupt stop Multi speed operation SS Linear interpolation DS Linear interpolation interrupt stop S Table operation individual Table operation simultaneous Reciprocal movement instruction Ver 1 10 or later 2 Setting items The zero return interlock function applies when both of the following conditions are true uomeIgieu Ja e The zero return interlock setting of operation parameter 2 is ON 1 e The zero return completed status is OFF Buum QI 7 8 10 Positioning completion signal output waiting time Ver 1 20 or later Set the time after positioning is completed until the positioning completion flag turns ON For related parameters control data and monitor data refer to Section 7 11 Operation 6 The figure below shows the operation when the positioning completion signal output waiting time is set Scan in PLC ee L TE D a 5 ON READY d 4 4 OFF START ON D command OFF A S When the positioning D A completion flag changes from S OFF to ON the START Actual lt gt command turns ON a completion of ON positioning OFF 8 ON is detected Completion ON H ae S of positioning OFF Aa a a gt 3 Positioning completion S sig
185. eration speed 1 BFM 603 602 Closing operation speed Operation speed 2 BFM 507 506 Operation speed 2 BFM 607 606 Open signal Wired to X INTO Wired to Y INTO Close signal Wired to X INT1 Wired to Y INT1 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 13 Parameter Control Data Monitor Data and Table a 9 13 Parameter Control Data Monitor Data and Table Information uononpou BFM Number Item Description X axis Y axis Positioning Parameters OFF Disables the ring operation ON Enables the ring operation Ring counter setting Ver 1 10 or later Sudden stop selection STOP command Ver 1 20 or later Sudden stop selection Operation software limit parameters 2 Ver 1 20 or later BFM 14002 b3 BFM 14202 b3 wasis N OFF Normal deceleration stop BFM 14202 b4 ON Gudden stop BFM 14002 b4 uoleinBiyuoo OFF Normal deceleration stop BFM 14202 b5 ON Sudden stop BFM 14002 b5 LA Sudden stop selection Om PLC limit BFM 14002 b6 BFM 14202 b6 One Norma Gece tatomstop Ver 1 20 or later UN Sudden stop SS Sudden stop selection Servo amplifier limit Ver 1 20 or later OFF Normal deceleration stop BFM 14202 b7 ON Gudden stop BFM 14002 b7 Setting range Maximum speed BFM 14009 14008 BFM 14209 14208 an ni 1 to 2 147 483 647 user unit BFM 14218 BFM 14220 Setting range 1 to 5000 ms BFM 14222 Accel
186. eration time BFM 14018 Deceleration time BFM 14020 Interpolation time constant BFM 14022 uongIgieu Ja Setting range 1 to 2 147 483 646 user unit 1 Ring counter upper limit value Ver 1 10 or later BFM 14101 14100 BFM 14301 14300 Sudden stop deceleration time Ver 1 20 or later Sudden stop interpolation time constant Ver 1 20 or later Positioning completion signal output waiting time BFM 14106 Ver 1 20 or later Monitor data Current address user BFM 1 0 Current address pulse BFM 3 2 Real current address user Ver 1 20 or later BFM 14102 BFM 14302 Setting range 1 to 5000 ms Buum QI BFM 14104 BFM 14304 Setting range 1 to 5000 ms BFM 14306 Setting range 0 to 5000 ms Kioway OF BFM 101 100 Unit user unit 1 BFM 103 102 Unit PLS ejep pue uolesnByuoo BFM 21 20 BFM 121 120 Unit user unit Real current address pulse e 7 Ver 1 20 or later BFM 23 22 BFM 123 122 Unit PLS gum SE a E EES BFM 25 24 BFM 125 124 Unit user unit Se Ver 1 20 or later Z D Received target speed Se pE 2 Ver 1 20 or later BFM 27 26 BFM 127 126 Unit user unit Positioning parameter OFF Positioning parameter change 8 Status not completed i change completion flag BFM 32 b0 BFM 132 bO ae information 2 ON Positioning parameter change D Ver 1 20 or later completed 5 Control data 8 S Setting range BFM 601 600 2 147 483 648 t
187. esses The absolute relative address specification is ignored Rotation Direction The sign of the target address 1 decides the operation direction Operates in the direction that increases the current value Operates in the direction that decreases the current value 2 speed Positioning Operation 88 For details on the operation speed change and target address change refer to Section 7 6 For details on the torque limit refer to Subsection 7 8 3 For details on the STOP command refer to Section 7 4 For details on the related parameters control data and monitor data refer to Subsection 9 13 1 Operation A Acceleration Deceleration time l time S lt pe eee E ee e l Maximum speed Speed 3 e Operation speed 1 Operation speed 2 2 e Target address 2 Time ON START command OFF Positioning ON ON completion OFF 1 Set the operation speed 1 operation speed 2 target address 1 and target address 2 2 Select the 2 speed positioning operation from the operation patterns and activate the START command to start the 2 speed positioning operation above figure The positioning completion signal is turned OFF 3 Acceleration or deceleration operation to shift to operation speed 2 is started upon reaching the target address 1 4 The work piece stops at target address 2 and the operation ends turning the positioning completion signal ON
188. eters control data and monitor data refer to Section 7 11 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 8 Other functions 7 8 2 Servo end check function Use the servo end check function to detect the positioning operation completion by the servo status in position signal When the servo status in position signal turns ON after operation completion within the range of servo end check determination time the 20SSC H detects that the positioning operation has ended When the in position signal does not turn ON within the specified servo end determination time an external error occurs stopping the operation For related parameters control data and monitor data refer to Section 7 11 UO ONPOJ U sch wasis N uoleinBiyuoo e Zero or smaller settings are handled as 1ms e 5001 or larger settings are handled as 5000ms LA 1 To use the servo end check function om Specify the following settings 5 DC Setting item Description D Servo end check Enable the servo end check Servo end determination time Specify a value within the range from 1 to 5000ms 2 Applicable positioning operations uo ejlesu Ja e Operations applicable to the servo end check e Operations inapplicable to the servo end check JOG operation During continuous multi speed operation 1 speed positioning operation During continuous pass operation of Interrupt 1 speed constant quantity feed i
189. etion signal ON Note The center coordinate is always handled as a relative address from the start point When setting the same address for the start and target points the work piece moves in a perfect circle The center coordinate specification is available in the perfect circle operation Pulse rate and feed rate Set ratios that are the same for the pulse rate to the feed rate for the X axis and the Y axis if the version is earlier than Ver 1 20 Set the interpolation gear ratio selection function in the X axis Y axis when the ratio of the pulse rate to the feed rate differs between the X axis and the Y axis for versions Ver 1 20 or later For details on the interpolation gear ratio selection refer to Subection 7 10 3 During continuous pass operation If the circular path is too short and the travel time from the start point to the target point is shorter than the interpolation time constant the operation temporarily stops and shifts to the next interpolation operation When interpolation operations are consecutively repeated in a table operation the 2OSSC H provides continuous pass operation For details on the continuous pass operation refer to Section 10 10 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 11 Circular Interpolation Operation 2 Operation information Set a circular interpolation operation center CW direction or center CCW direction and an absolute relative address in the oper
190. etting bits b3 b2 give the following settings d For details on the user units refer to Section 7 9 Unit Setting System of units Unit Bit Status Bit Status System of units b3 b2 bt bo Positioning Unit Speed Unit sonsoubeig GO re omiin A 0 Mechanical system units inch min 5D 0 g 0 Composite system units Hz rf Q LU Note Motor system units and mechanical system units require pulse feed rate settings UOIEWUJOJU UOISIO 2 The positioning data with position data magnification are as follows Mechanical zero point address Target position change value address Software limit upper Current address user Software limit lower Current address pulse Target address Table information position data Target address2 Table information circular data Example The actual address or travel distance with target address 1 123 and position data magnification 1000 are as follows Motor system units 123 x 1000 123000 pulse Mechanical system units composite system units 123 x 1000 123000 um mdeg 10 tinch 123 mm deg 10 inch 119 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 1 Positioning Parameters 11 1 2 Operation parameters 2 BFM 14002 BFM 14202 BFM Number Bit Description Default 1 Enables or disables the servo end check function For details on the servo end check refer to Subse
191. fails install appropriate backup or failsafe functions into the system When combining this product with other products please confirm the standards and codes of regulation to which the user should follow Moreover please confirm the compatibility of this product with the system machines and apparatuses to be used If there is doubt at any stage during installation of the product always consult a professional electrical engineer who is qualified and trained in the local and national standards If there is doubt about the operation or use please consult the nearest Mitsubishi Electric distributor Since the examples within this manual technical bulletin catalog etc are used as reference please use it after confirming the function and safety of the equipment and system Mitsubishi Electric will not accept responsibility for actual use of the product based on these illustrative examples The content specification etc of this manual may be changed for improvement without notice The information in this manual has been carefully checked and is believed to be accurate however if you notice any doubtful point error etc please contact the nearest Mitsubishi Electric distributor Registration Microsoft and Windows are either registered trademarks 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 trad
192. fer memory No 159 12 Program Example FX3U 20SSC H Positioning Block User s Manual 12 1 Reading Writing Buffer Memory 2 Example 2 In the following program example 32 bit data in data registers D21 D20 is written to buffer memory BFM 501 500 in unit No 1 Write command FNC 12 en DMOV D20 un s00 T f TE a Buffer memory No Unit No 2 FROM TO instructions conventional method 1 FROM instruction read from BFM to PLC The FROM instruction is used to read data from the buffer memory The following shows how to use this instruction in a Sequence program Read command FNC 78 on DFROM K1 KO D10 K1 a L Number of transfer Unit No points Buffer memory No Transfer destination In the above program example 32 bit data is read from buffer memory BFM 1 0 in unit No 1 to data registers D11 D10 2 TO instruction write from PLC to BFM The TO instruction is used to write data to buffer memory The following shows how to use this instruction in sequence program Write command FNC 79 TE L Number of SIGNO transfer points Buffer memory No Transfer source In the above program example 32 bit data in data registers D21 D20 is written to buffer memory BFM 501 500 in unit No 1 160 12 Program Example FX3U 20SSC H Positioning Block User s Manual 12 2 Device Assignments 12 2 Device Assignments Device No U S a D 3 O lt
193. fer to Chapter 10 9 1 Functions Available with Each Positioning Operation 3 3 2 2 2 ZS ZS T E E oli S E als iolsS alo le Ehe S Ei Ee aleet Eelere o G E T g amp E 2 Q 2 oO FAN E e Ed aeeie E A E G SEI o lololo lg E Reference ao jajo C9 o f is D oO 2 Ke 2 Ce Q E ae gt O xe En Kal Vi Q fa e O Ce e eer ae E EE ES E E le 2 IS 5 IO le Pla la S S 5 S 8 Te N A e 1 S O o 2 2 2 gt Q E Q Q O D wb wb E E Approximate S shaped acceleration deceleration Section 7 2 trapezoidal acceleration deceleration Forward rotation limit reverse rotation limit Section 7 3 STOP command Section 7 4 STOP command Sudden stop selection z Section 7 5 Override function function O Subsection 7 6 1 Operation speed E E AA Ee Target address change Less re Tes ie A Subsection 7 6 3 Ring counter setting efetefeteteft tite Section 7 7 Servo ready check Ren Rea Kea Re A Subsection 7 8 1 Torque limit Real Ren Rem Ren Rea ren Fed O Subsection 7 8 3 Simultaneous start function ETS a O Applicable A When the speed change disable during operation signal is ON the operation speed and target address cannot be changed Not applicable 1 Operation becomes trapezoidal acceleration deceleration Even if the approximate S shaped acceleration deceleration is set by the positioning parameters the operation will execute with trapezoidal acc
194. for absolute address 154 TS Tabie laten ten EE 155 12 Program Example 158 12 1 Reading Writing Buffer Memory 159 TZ A e ee RT e ln le 159 12 1 2 How to read write from to buffer Memory ccccceeecceeeeeeeeecaeeeeeeeceeeceeeseeeeeeeeseeeeesaaeeeeessaeeees 159 12 2 DEVICE ele un 161 12 3 Explanation Of Operation EE 162 123 1 Mechanical Zero EEN 163 123 2 JOG Ee e e NEE 163 12 3 3 1 speed POSITIONING operation cc ccccceccceeccseeeeee cece eeeseeeeseeeeeeeeaeeeeaeeeseeeseeesaeeesaeesseeeesaeeesaes 164 12 3 4 Multi speed operation table operation mdrvdual 164 12 3 5 Circular interpolation operation table operation simultaneous ec eeeeceeseeeeeeeeeeeeeeeeeees 166 124 SEQUENCE Program EE 166 13 Diagnostics 173 OI a Os VS Be RE 174 Viel CMCC LED EE 174 Loo lee neie E RE le leen 174 13 2 Check Enron COOC E 175 TS EN WE tege 175 13 22 How loresetan CM EE 175 13 2 3 Error code list BFM 29 X axis BFM 129 Y axis ccccccccceeeeeeeeseseeeeseeeeeeeeeaeeeeeeseeeeeeens 176 13 2 4 Servo warning list BFM 68 X axis BFM SIG V axiell 181 13 3 Diagnostics on the PLC Main Klees 183 13 5 POWER LED Reie AE ee EE 183 1332 BA ff 5 Le EE 183 1323 3 ERROR DR eat nl Le e LEE 184 Table of Contents FX3U 20SSC H Positioning Block User s Manual Table of Contents Appendix A LIST OF PARAMETERS AND DATA 185 Appendix A 1 M nitor Data LIS EE 185 Appendix A 2 Control Data Table 187 Appendix A 3 Table
195. g servo parameter Refer to subsection 11 2 1 Set the auto tuning mode servo parameter to OFF and manually adjust the the gain Refer to subsection 11 2 1 Replace the servo motor Machine collision occurred Review the operation pattern Install limit switches Connect the servo motor correctly Hunting is occurring due to an unstable servo system Repeat acceleration deceleration to execute auto tuning Change the auto tuning response setting servo parameter Refer to subsection 11 2 1 Set the auto tuning mode servo parameter to OFF and manually adjust the gain Refer to subsection 11 2 1 Replace the servo motor 13 Diagnostics FX3U 20SSC H Positioning Block User s Manual 13 2 Check Error Code Error Error category Code Error Content Action decimal Parentheses in the error code column indicate the LED display on the servo amplifier For details on how to check errors and actions refer to the manual of the servo amplifier to be connected Excessive error e Increase the acceleration deceleration time The deviation between the model position and the constant actual servo motor position exceeds the excessive Increase the torque limit value error alarm level Servo parameter setting value The motor cannot be started due to insufficient default 3 rotations torque caused by a power supply voltage drop Refer to subsection 11 2 3 Review the power supply capacity Use
196. ge From previous page u T 3 lt Select X axis operation command X axis error reset X axis relative absolute address specification X axis start command X000 M20 X axis error reset X axis STOP X001 m21 X axis STOP X axis forward rotation limit X002 X axis forward 1 3 rotation limit sl X axis reverse rotation limit amp X003 l 2 X axis reverse 9 m23 rotation limit X axis forward rotation JOG X004 OR X axis forward A rotation JOG or X axis reverse rotation JOG E X005 SS X axis reverse 3 m25 rotation JOG o X axis mechanical zero return a X006 X axis mechanical B zero return command a RUN monitor Sa M8000 S S M27 Always OFF zj RUN monitor M8000 X007 i X axis START command X axis positioning at 1 step speed MO FNC 12 Target address 1 for X axis DMOV D500 U0 G500 1 speed positioning D501 D500 BFM 501 500 FNC 12 Operation speed 1 for X axis DMOV D502 UO G502 1 speed positioning D503 D502 BFM 503 502 X axis table operation individual M9 FNC 12 Table operation start No for X axis D521 UU CH xY axis D521 gt BFM 521 M10 X axis table operation simultaneous To next page To next page 169 FX3U 20SSC H Positioning Block User s Manual From previous page RUN monitor Ms000 X axis M code ON M48 FNC232 KEN RUN monitor M8000 Select Y axis operation command Y axis error reset X010 Y axis STOP X011 Y axis forward rotation limit X012
197. hand e The arc center i j radius r Interrupt 1 speed constant quantity feed and Interrupt 2 speed constant quantity feed setting items are handled as relative addresses 10 6 Relative address specification This operation information item sets the position data of subsequent table operations to a relative address based on the current address Point When table operation begins the position information data is handled by the absolute address specification default To use position information data with relative addresses the operation information of positioning control must be set beforehand 10 7 Jump When executing this operation information item the operation jumps to the specified table No Note that the table No does not jump from X axis table information to Y axis table information Write the table No of the jump point in the position information buffer memory location s for the applicable table information With FX Configurator FP set the table No of the jump point by the Jump No 10 8 Dwell When executing this operation information operation waits for the specified time A dwell is used as a wait to move between operations Set the dwell time in the position information buffer memory location s for the applicable table information With FX Configurator FP set the dwell by the Time 113 UONONPO U wasis INQ uoleinBiyuoo LA Uo2euu07 9jdwex 3 uongIgieu Ja Buin QI ou
198. hape selection 2 Mechanical resonance suppression filter selection Notch depth selection BEM ges Notch shape Notch width selection geb 15034 15234 selection 2 e Select the machine resonance suppression filter 2 0 Disable 1 Enable e Notch Depth Notch Width 0 Deep 40db 0 Standard a 2 1 T 14db 1 T a 3 2 8db 2 1 a 4 3 Shallow 4db 3 Wide a 5 BFM Set the low pass filter 15036 15236 ple Low pass filter setting ting range 100 to 18000 rad s PS Vibration Set the vibration frequency for vibration suppression control to suppress ead ST PB19 Suppression control low frequency machine vibration such as enclosure vibration K1000 15037 15237 vibration frequency q y l Setting range 1 to 1000 x0 1 Hz setting Vibration Set the resonance frequency for vibration suppression control to BFM BFM suppression control PB20 suppress low frequency machine vibration such as enclosure vibration K1000 15038 15238 resonance frequency setting Setting range 1 to 1000 x 0 1 Hz LU LU TI TI Select the procedure to set the low pass filter BFM BFM L filt ze 5 ow pass filter PB2 15041 15241 selection Low pass filter LPF selection PA 0 Automatic setting 1 Manual setting specify a number for the low pass filter setting Select the slight vibration suppression control 010 EE Micro vibration suppression control sel
199. he buffer memory for applied instructions refer to the following manual Refer to the Programming Manual 4 uoesedo ap 35 6 Memory Configuration and Data Operation FX3U 20SSC H Positioning Block User s Manual 6 3 Data Transfer Process 6 3 Data Transfer Process 6 3 1 PLC 20SSC H and servo amplifier The data transfer between PLC 20SSC H and servo amplifier is as follows FX3u FX3uc PLC F X3U 20SSC H Buffer memory BFM A Positioning parameters B Servo parameters Monitor data Control data A C Flash memory program Servo amplifier Servo amplifier Servo parameters Monitor data Servo parameters DS Monitor data Positioning parameters Servo parameters Table information 1 Power on data transfer process A in the figure above The following data transfer process occurs 1 The data in the 20SSC H flash memory is transferred to the buffer memory BFM 2 The servo parameters are transferred to the servo amplifier To transfer the servo parameters automatically to the servo amplifier at PLC power on set the following parameter in flash memory and turn the power ON in order from the servo amplifier to the 2OSSC H including the PLC For details refer to Subsection 6 3 3 Save servo parameters that relate to the servo amplifier with the servo series BFM 15000 15200 to the flash memory 2 Data
200. he current value and target address 1 is different from the sign difference between target address 1 and target address 2 With the specified relative address when the sign positive negative of target address 1 differs from that of target address 2 Caution uo ejlesu Ja An abrupt change in the rotation direction may cause damage to the machine It may also cause an error through motor overload If the operation in a different direction requires stop time use the 1 speed positioning operation Buum QI Kioway eyep pue uolesnByuoo Onu07 Buiuonisod Guies sojog N lo uo9 yenueyy OO e OD O CH D DI Les O 89 9 5 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 5 Interrupt 2 speed Constant Quantity Feed Interrupt 2 speed Constant Quantity Feed 90 START command OFF For details on the operation speed change and target address change refer to Section 7 6 For details on the torque limit refer to Subsection 7 8 3 For details on the STOP command refer to Section 7 4 For details on the related parameters control data and monitor data refer to Subsection 9 13 1 Operation Acceleration i Deceleration time time lt gt lt po NA Maximum s speed 3 i Speed Operation speed 2 Target address 1 Operation 4 speed 1 gt Time Interrupt input INTO OFF 4
201. he watchdog timer value Change the watchdog timer setting D8000 in the program so that the setting is larger than the maximum value of the scan time D8012 2 Remove the PLC and supply the power to it from another power source If the ERROR LED goes out noise may have affected the PLC Adopt the following measures Check the ground wiring and re examine the wiring route and installation location Fit anoise filter onto the power supply line 3 Ifthe ERROR LED does not go out even after measures in 1 and 2 are adopted consult a Mitsubishi Electric distributor One of the following errors has occurred on the PLC Flashing Parameter error Perform PLC diagnosis and program check with the programming tool e Syntax error e Ladder error If the operations of the PLC are abnormal perform PLC diagnosis and program check with the programming tool An I O error parallel link communication error or operation error may have occurred Off No errors to stop the PLC have occurred 184 FX3U 20SSC H Positioning Block User s Manual WW Appendix A LIST OF PARAMETERS AND DATA Appendix A LIST OF PARAMETERS AND DATA Appendix A 1 Monitor Data List Appendix A 1 Monitor Data List m code is ON Unit ready During servo parameter transfer Saving to flash memory Initializing buffer memory During operation speed change During target address change eiert Description Value of E Reference X axis S monitor
202. hen the positioning parameters H0000 enable command turns OFF 11 3 21 Deviation counter value BFM 51 50 BFM 151 150 sonsou eiqg QO gt elle pue sia oweled Jo SI The deviation counter value of the servo amplifier is stored BFM Number Description Value Format Default e LU UOIEWWJOJU UOISIO BFM Se BFM 51 50 151 150 Deviation counter value of the servo amplifier PLS 11 3 22 Motor speed BFM 53 52 BFM 153 152 The present rotation speed of the servo motor is stored BFM Number Description Value Format Default e BFM BFM 53 52 153 152 The present rotation speed of the servo motor x0 1 r min 11 3 23 Motor current value BFM 54 BFM 154 A ratio of the present value of the rated servo motor current is stored BFM Number BFM 154 The value of the servo motor current x 0 1 Default X axis BFM 54 141 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 3 Monitor Data 11 3 24 Servo amplifier software number BFM 61 to 56 BFM 161 to 156 142 The software number of the servo amplifier is stored Updated at control power on to the servo amplifier BFM Number Description Value Format BFM 8 161 to 156 Servo amplifier software number ACSII code Default X axis BFM 61 to 56 Note The servo amplifier software number is stored in ASCI
203. i speed operation Linear interpolation Linear interpolation interrupt stop Circular interpolation Reciprocal movement instruction Ver 1 10 or later 3 Operation Speed Operation speed after change Operation speed Target address Time eg gt Speed change command in positioning operation Fax ON Operation speed change processing OF FI Cautions for speed change e After operation speed change if STOP command is turned ON during positioning operation the next operation speed becomes the changed speed e The operation speed can not change in the following statuses During deceleration by STOP command During automatic deceleration in position control e If an operation speed larger than the maximum speed is specified for the speed change value a setting error occurs and the operation speed is controlled at the maximum speed e To change the speed at interpolation control the speed change value has to be set in the X axis setting e The operation speed does not change during mechanical zero return at creep The speed change command is ignored 51 UORONpoJu wasis N uoleinBiyuoo LA Uo2euu07 9jdwex 3 uomeIgieu Ja Bui QI Kiowa OD D CH 3 0 a 3 oe a Y oi O Dune 10j g joujuod yenueyy OO 01 U0D Buuonisog QO uoesedo ap 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 6 Changing Duri
204. iately after power on specify 1 Motor Z phase pass unnecessary after power on default setting at servo parameter function selection C 4 With this setting the zero point pass signal turns ON even if the motor does not pass the zero point Z phase e With the simultaneous start flag ON the X axis mechanical zero return command simultaneously starts the X and Y axes mechanical zero return operation The 20SSC H ignores the Y axis mechanical zero return command J01 Uu09 jenue 2 Setting items as In the data set type zero return specify the following settings 3 2 For details on the setting items refer to Subsection 8 1 5 Setting item Description Zero return mode Specify the data set type zero return mode Mechanical zero point address Specify the current address user unit after the mechanical zero return completion 1 0 ei ox OD O O D 73 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 1 Mechanical Zero Return Control 8 1 4 Stopper type mechanical zero return The stopper position is defined as the zero point The stopper type mechanical zero return includes the following two types modes e Stopper type 1 This mechanical zero return method uses the DOG signal and stopper High speed travel is possible up to the DOG signal thus reducing the time for mechanical zero return e Stopper type 2 This mechanical zero return method creep speed only uses only the sto
205. ication Specified addresses are handled as relative addresses travel distance from the current address The absolute relative address specification is ignored Rotation Direction The sign of the target address decides the operation direction Operates in the direction that increases the current value When the value is 0 it is regarded as 1 Operates in the direction that decreases the current value 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 6 Interrupt Stop Operation 9 6 Interrupt Stop Operation UON ONPOJ U For details on the operation speed change and target address change refer to Section 7 6 For details on the torque limit refer to Subsection 7 8 3 For details on the STOP command refer to Section 7 4 For details on the related parameters control data and monitor data refer to Section 9 13 wasis N9 Operation speed 1 CH e O 1 Operation Acceleration Deceleration i 8 I O time 5 Speed E EENEG 3 d om ee P E Si S x oo L 2 0 k ON Time S START command OFF ON St Interrupt input INTO OFF Positioning completion cub on ON ee OFF OFF Duuu QI 1 Set the operation speed 1 and target address 1 maximum travel distance 2 Select the Interrupt stop operation from operation patterns and activate the START command to start the Interrupt stop operation at operation speed 1 above figure
206. ils on the warning codes refer to Subsection 13 2 4 11 3 31 Motor feedback position BFM 71 70 BFM 171 170 144 Motor feedback positions are stored BFM Number Description Value Format BFM 171 170 Motor feedback position PLS Decimal Default BFM 71 70 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 3 Monitor Data 11 3 32 Servo status 2 BFM 72 BFM 172 BFM Number Bit aor Description Value Format Default A parameter update completed flag e This bit is set when an automatic update of servo parameters is completed e Cleared when a servo parameter save command or servo parameter initialization command is finished BFM 72 BFM 172 b1 Parameter updating flag i e This bit is ON while servo parameters are being updated Parameter update request flag e This bit turns ON when the servo amplifier sends servo parameter update request 11 3 33 Flash memory write count BFM 91 90 The number of times data is written to the flash memory is stored BFM Number X axis BFM 91 90 Default Description Value Format ios The number of writes to the flash memory Decimal Note The maximum number of writes to the built in flash memory is 100 000 times 145 wh welbod WM Aiowey yng jdwex4 sonsou eiqg QO gt elle pue sia oweled Jo SI LU UOIEWUJOJU UOISIO
207. imit and Reverse Rotation mt 43 7 3 1 Forward rotation limit 2 FLS and reverse rotation limit 2 RLS servo amplifier side 44 7 3 2 Forward rotation limit 1 LSF and reverse rotation limit 1 LSR PLC edel 44 Foo Sonwa Din UE 45 TA Handing the STOP e lt e EE 46 7 5 Sudden stop selection Ver 1 20 or later 48 7 6 Changing During Operation Operation Speed Target Address 50 7 6 1 Changing the operation speed with the Override function ccceceseeeeeeseeeeeeeeaeeeeesaeeeeeesseaeeeeeas 50 7 6 2 Changing the operation speed with the operation speed change function es 51 7 6 3 Changing the target address 52 7 7 Ring counter setting Ver 10orlater 54 FS EIERE HIE Ee ee Eelere 56 1 6 1 SEIVO reaGy CHECK UMC ON WEE 56 720 2 SEIVO CMG Check TUMCU OM EE 57 Ee POPQUC MIME TUMGUON EE eee 58 7 8 4 Absolute position detection system uk 59 1 30 0 SNO ON OFF A ee ele a Se re es es ices es 59 7 8 6 Follow up TUNGUON scabs xtasacictecveden Second dE g Eeer ege ege 60 Te Simultaneous Start UNCION 2 005 acces aie ee ee eet ec ee 60 7 8 8 Current address Change function cccccecccceceeeeeeeeeeeeeeeeeeeeeesseeeeeeeeeeeeeeseaeeeeeeseeeeesaeeeeeeseaeeeeeeas 60 TOO EREECHEN TUN GON wees eege ege 61 7 8 10 Positioning completion signal output waiting time Ver 1 20 orlater 61 7 9 Precautions for using the user units mechanical or composite system of unt 62 7 10 Cautions tor POSItiOnING OPErallOn eege 63
208. imultaneously starts the X and Y axes mechanical zero return operation The 20SSC H ignores the Y axis mechanical zero return command 2 Zero return complete flag The zero return complete flag turns ON sets when the mechanical zero return operation finishes It turns OFF resets when reactivating the mechanical zero return command or when turning the power OFF 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 1 Mechanical Zero Return Control 8 1 2 DOG type mechanical zero return With the DOG type mechanical zero return the 20SSC H sets the zero point position after the module stops with a near point DOG signal and servo motor zero point signal Use the DOG search function to execute the DOG type mechanical zero return arbitrarily UO ONPOJ U sch 1 Operation 2 SR QW Zero return starts as follows at the rising edge OFF ON of the mechanical zero return command Sa A 23 Speed Acceleration time Deceleration time l S Maximum speed i Go Mechanical zero point address UOOBUUOD jdwex4 4 Zero return speed high speed 2 return speed creep DOG Time Zero point signal Si Di ON 5 Mechanical zero return command OFF sq ese ON Positioning completion OFF ON 5 Zero return completion OFF Current address user 5 X The travel value lt Mechanical zero point address Current address
209. in the servo parameters are readable and writable For the timing to transfer servo parameters to the servo amplifier refer to Subsection 6 3 3 For details on the servo amplifier parameters in the table below with their parameter numbers refer to the manual of the servo amplifier Refer to the manual of the servo amplifier For X axis BFM 15000 to 15199 For Y axis BFM 15200 to 15399 CAUTION Do not use unlisted BFMs for changing values not described in this section 11 2 1 Servo parameters Basic settings BFM Number Servo Amplifier Description Default X axis Y axis parameter No Specify the series name of the servo amplifier connected to the 20SSC H 0 None 1 MR J3B GEN aes Servo series KO 15000 15200 CAUTION The servo series name must be specified 20SSC H at factory default value 0 does not communicate with servo amplifiers Select which regenerative brake option to use or not use olo BFM BFM PA02 Regenerative brake O RENA pugi EEER H0000 15002 15202 option 00 Not use regenerative brake resistor 05 MR RB30 01 FR BU FR RC 06 MR RB50 02 MR RB032 08 MR RB31 03 MR RB12 09 MR RB51 04 MR RB32 Select whether or not to use the absolute position detection system lololo Absolute position detection system setting S 03 SEN 03 PAO3 Ge Ge 0 Disable use in incremental system H0000 iiti 1 Enable use in absolute position detection system CAUTION A parameter error occurs
210. information radius Set the radius of a circle with by r With specified positive value Operates the small circle a path With specified negative value Operates the big circle b path 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 12 Reciprocal movement insutruction Ver1 10 or later 9 12 Reciprocal movement insutruction Ver1 10 or later UO ONPOJ U sch For details on the operation speed change refer to Section 7 6 For details on the torque limit refer to Subsection 7 8 3 For details on the STOP command refer to Section 7 4 For details on the related parameters control data and monitor data refer to Section 9 13 1 Operation The motor starts the reciprocal cylinder like motion when the reciprocal movement pattern is selected as the operation pattern wasis N uoleinBiyuoo Open signal INTO 3 BS Close signal INT 1 Closing operation direction Motor operation uomeIgieu Ja Opening operation direction Position Buum QI Select operation pattern ON reciprocal movement instruction a READY OFF Positioning ON completion OFF e Stopped in the open position The motor does not operate when the close signal is ON The motor starts the closing operation when the close signal is OFF Kiowa OD eyep pue uolesnByuoo e Stopped in the close position The motor does not operate when the open signal is ON D The motor
211. ing BFM 607 606 WE operation and interrupt two speed positioning Koway OF Di CH J O oe r D o O 5 BFM 14213 14212 Manual forward reverse JOG JOG operation speed Time needed to reach the maximum speed from the zero BFM 14218 speed Time needed to reach the zero speed from the maximum BFM 14220 speed Deceleration time BFM 14020 Target address 1 BFM 501 500 Travel distance Target address 2 BFM 505 504 Acceleration deceleration mode Target position absolute address or travel distance EMD eee relative address in each operation mode Dune 10j g Target position absolute address or travel distance rn eeEE relative address for two speed positioning operation Select the acceleration deceleration control method approximate S shaped acceleration deceleration or trapezoidal acceleration deceleration In interpolation operation this mode handles trapezoidal acceleration deceleration even if the approximate S shaped acceleration deceleration is selected BFM 14000 b11 BFM 14200 b11 joujuod yenueyy OO Acceleration deceleration time for interpolation operation Time to reach from zero speed to the operation speed for acceleration or time to reach from the operation speed to the zero speed for deceleration Interpolation time constant BFM 14022 BFM 14222 01 U0D Buuonisog QO The flag is reset at the beginning of each operation or at the error
212. ion L gt gt gt Canceled remaining travel distance W j L d I f l l h f q i 1 l Time ON START command 4 OFF STOP command ON OFF Standby for remaining travel distance after stopped ON OFF Remaining travel distance operation cancel command ON OFF 3 Wiring the stop switch Connect the stop switch to the input terminal of the PLC For details of the PLC wiring method refer to the following manual according to the PLC being used Refer to the FX3u Hardware Edition Refer to the FX3uc Hardware Edition Japanese document only 4 STOP command Operate the PLC s STOP switch together with the 20SSC H STOP command Refer to Section 7 4 47 UONONPO U sch wasis INQ uoleinBiyuoo LA Uo2euu07 9jdwex 3 uomeIgieu Ja Bui QI Kiowa OD D CH 3 0 a 3 oe a Y oi O Dune 10j g Oomu03 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 5 Sudden stop selection Ver 1 20 or later 7 5 Sudden stop selection Ver 1 20 or later This function suddenly stops the work piece when the STOP command forward rotation limit switch 2 FLS reverse rotation limit switch 2 RLS forward rotation limit switch 1 LSF or reverse rotation limit switch 1 LSR software limit turns ON during positioning operation For the related parameters control data and monitor data refer
213. ion X020 RUN monitor M8000 Selection of X axis table operation individual 12 Program Example 12 4 Sequence Program X axis status information BFM 28 gt M40 to M55 Y axis status information BFM 128 gt M140 to M155 X axis 1 speed positioning operation X axis interrupt 1 speed constant quantity feed X axis 2 speed positioning operation X axis interrupt 2 speed constant quantity feed X axis interrupt stop X axis variable speed operation X axis manual pulse generator operation Linear interpolation operation Linear interpolation interrupt stop operation X axis Reciprocal movement instruction X022 X axis table operation individual Selection of X axis table operation simultaneous X024 Table operation simultaneous RUN monitor M8000 m15 Always OFF To next page To next page 167 Kiowey Jeng D a gt Wei O LO gt elle pue sia oweled Jo SI LU UOIEWUJOJU UOISIO 12 Program Example FX3U 20SSC H Positioning Block User s Manual 12 4 Sequence Program From previous page From previous page Select Y axis operation pattern Selection of Y axis 1 speed positioning operation X021 Y axis 1 speed positioning operation RUN monitor M8000 Y axis interrupt 1 speed constant quantity feed Y axis 2 speed positioning operation Y axis interrupt 2 speed constant quantity feed Y axis interrupt stop Y axis variable speed operation Y axis
214. ird person by Failures of Mitsubishi 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 Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice 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 Public 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 incineratio
215. is r 2 For X axis BFM 0 to 99 my For Y axis BFM 100 to 199 SE E Caution Do not use unlisted BFMs for changing values not described in this section 11 3 1 Current address User BFM 1 0 BFM 101 100 The current address data is stored in units specified by the user soysoubeiq GO BFM Number Default gt BFM 1 0 2 147 483 648 to 2 147 483 647 user unit mane 1 Refer to the section shown below for details on the user units i a Refer to Section 7 9 a POINT 3 e The stored address data is always handled as an absolute address B e The unit of the value is a user specified one and includes a magnification setting for position data St The unit and magnification setting can be specified by the operation parameters 1 SE For details on the operation parameters 1 refer to Subsection 11 1 1 S e Itis possible to change the current address of a stopped axis to any address Overwrite the current address user with a new address The current address will be changed and its pulse data will be updated Set a value within the range from O to the ring value during the ring operation For details on the current address change function refer to Subsection 7 8 8 11 3 2 Current address Pulse BFM 3 2 BFM 103 102 The current address is converted into pulses and stored BFM Number Description Value Format Ge 2 147 483 648 to 2 147 483 647 PLS Decimal 103
216. is turned ON operation decelerates to a stop and is terminated When the STOP command is OFF positioning operation begins when the START command is turned ON Speed Control suspended with STOP command Next positioning operation Time ON ON START command 4 OFF 4 OFF STOP command OFF Standby for remaining travel distance after stopped 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 4 Handling the STOP command 2 Remaining travel distance operation mode When the STOP command is turned ON operation decelerates to a stop and the 20SSC H enters standby state for the remaining travel distance operation At this time standby for remaining travel distance flag is turned ON When the STOP command is OFF and the START command is turned ON during standby status positioning operation continues for the remaining travel distance Control suspended SC with STOP command Remaining travel distance operation Time ON i ON START command OFF OFF STOP command ON OFF Standby for remaining travel ON OFF distance after stopped To cancel the remaining travel distance operation in the remaining travel distance operation mode When remaining travel distance operation cancel commana is turned ON in standby status the operation for the remaining travel distance is cancelled and the positioning operation terminates Speed Remaining travel distance operat
217. ished by the b3 absolute position detection system Turns OFF at OFF to ON transition of a mechanical zero return command at power off reset or when an absolute position is lost during the absolute position detection system Current value overflow e This bit is set when the current address value falls outside b4 the range of 32 bit data 2 147 483 648 to 2 147 483 647 Cleared by power off or when a zero return command becomes active Occurrence of an error e This bit is set upon occurrence of an error from the 20SSC H or the servo amplifier b5 e Cleared when an error reset command becomes active For details on the statuses at occurrence of errors refer to Subsection 11 3 18 Completion of positioning This bit is set upon normal completion of positioning BEM 28 BEM 128 Cleared when a START command becomes active an error Bit occurs or an error reset command becomes active When the 20SSC H is stopped by a STOP command the bit is kept in OFF status Ready and waiting for remaining travel after stopping This bit is set when the 20SSC H goes into a standby state for b7 the remaining travel upon a STOP command Cleared by a START command or when the remaining travel operation is canceled For details on the stop command refer to Section 7 4 m code is active This bit is set when a m code becomes active When a m code OFF command is received the bit is cleared For details on the m code refer to Section 10 9
218. itioning operation starts After 5 000 000 pulses of travel in the current value incrementing direction the operation decelerates to stop e When X017 is turned ON again positioning starts with the same travel distance again The state of X021 Y axis selection of 1 speed positioning operation on the PLC main unit changes from OFF to ON e When turning X011 Y axis stop to ON during positioning the operation decelerates to stop 12 3 4 Multi speed operation table operation individual Multi speed operation works in table operation In this example multi speed operation functions by the drive to increment 1 Operation details Acceleration time Deceleration time 200ms Maximum speed 200ms Speed H A t gt Ge Z oo lt gt H I Operation information 2 000 000Hz Operation Operation information information 1 200 000Hz 1 000 000Hz Position data Position data TTT Position data 2 000 000PLS 3 000 000PLS Time sw START command 10003 11003 m code No 10001 11001 10002 11002 1 m code ON m code OFF command SL 164 X axis FX3U 20SSC H Positioning Block User s Manual 12 Program Example 12 3 Explanation of Operation e When turning X007 X axis START command to ON with X022 X axis selection of table operation individual turned ON multi speed operation starts with the preset X axis tabl
219. itioning parameter change BFM 32 BFM 132 See E completion flag Bit subsection 11 3 20 ES b15tob1 Not available GE GE Deviation counter value Deviation counter value of servo amplifier PLS Decimal subsection 11 3 21 51 50 151 150 P gp aa oN Motor rotation speed Rotation speed of servo motor x0 1 r min Decimal subsection 11 3 22 53 52 153 152 P P Ge BFM 54 BFM 154 Motor current value Current value of servo motor x0 1 Decimal subsection 11 3 23 BFM BFM Software number of im 61 to 56 161 to 156 servo amplifier Stores software number of servo amplifier ASCII code ER subsection 11 3 24 BFM 62 BFM 162 SES SE Stores parameter number of servo parameter pen J subsection 11 3 25 bO Zero phase passed BFM 63 BFM 163 See aeren Bit subsection 11 3 26 b3 Zero speed b15tob4 Not available bO Ready ON b1 Servo ON Servo status b6tob2 Not available b7 Servo alarm is arising BFM 64 BFM 164 b11tob8 Not available Bit subsection 11 3 26 b12 In position b13 Torque is limited b14 Absolute position is lost b15 Warning is arising BFM 65 BFM 165 Regenerative load ratio Regenerative load ratio Decimal subsection 11 3 27 BFM 66 BFM 166 Effective load torque Effective load torque Decimal subsection 11 3 28 BFM 67 BFM 167 Peak torque ratio Peak torque ratio Decimal subsection 11 3 29 BFM 68 BFM 168 Servo warning Code Stores servo warning number Decimal subsection 11
220. k User s Manual 11 2 Servo Parameters BFM Number Servo Amplifier Description X axis Y axis parameter No Default BFM BFM PB30 Gain changing Set the position loop gain when the gain changing is valid K37 15048 15248 Position loop gain Setting range 1 to 2000 rad s BFM BFM PB31 Gain changing Set the speed loop gain when the gain changing is valid K823 15049 15249 Speed loop gain Setting range 20 to 50000 rad s LU TI BFM PB32 SE Set the speed integral compensation when the gain changing is valid 15050 15250 H g Setting range 1 to 50000 x 0 1 ms compensation Gain changing Vibration Set the vibration frequency for vibration suppression control when the BFM SCH 445051 15251 PB33 suppression control gain changing is valid vibration frequency Setting range 1 to 1000 x 0 1 Hz setting Gain changing Vibration Set the resonance frequency for vibration suppression control when the BFM SE i 15052 15252 PB34 suppression control gain changing is valid resonance frequency Setting range 1 to 1000 x 0 1 Hz setting 11 2 3 Servo parameters Advanced setting BFM Number Servo Amplifier Description X axis Y axis parameter No BFM LU TI z LU TI z LU LU TI TI Electromagnetic Set the delay time from when the electronic brake interlock MBR turns BFM i Sege PC02 brake sequence off until the base drive circuit is shut off 15065 15265 l output Setting
221. l This Manual Operating instructions and program examples User s Manual Shows how to use FX3U 20SSC H positioning special function block and details on example programs Servo amplifer Servo motor Obtain the instruction manual of the servo motor to be connected to your system This manual will be needed to set the parameters for the servo amplifer or write to the servo amplifer E p s i D CEO o l Le E F 10 FX3U 20SSC H Positioning Block User s Manual Compliance with EC directive CE Marking Associated Manuals For a detailed explanation of the FX3U 20SSC H positioning block refer to this manual For the operation of FX Configurator FP or hardware information and instructions on the PLC main unit refer to the respective manuals Refer to these manuals O Refer to the appropriate equipment manual A Fora detailed explanation refer to an additional manual number Manual for the Main Module FX3u Series PLCs Main Unit Describes FX3U Series PLC specification for I O Supplied FX3u Series wiring and installation extracted from the FX3u A Marial Hania Nanua JY997D18801 Users Manual Hardware Edition For details refer to FX3U Series Users Manual Hardware Edition W FX3U Series l l EE Additional sere Manual JY997D16501 Describes FX3U Series PLC specification details for 09R516 Manual e I O wiring installation and maintenance Hardware Edition FX3uc Series PLCs Main Unit
222. l aspects of safety with aspects regarding to automated equipment Any commissioning or maintenance engineer must be of a competent nature trained and qualified to the local and national standards required to fulfill the job These engineers should also be trained in the use and maintenance of the completed product This includes being familiar with all associated manuals and documentation for the product All maintenance should be carried out in accordance with established safety practices All operators of the completed equipment should be trained to use that product in a safe and coordinated manner in compliance with established safety practices The operators should also be familiar with documentation that is connected with the actual operation of the completed equipment Note the term completed equipment refers to a third party constructed device that contains or uses the product associated with this manual This product has been manufactured as a general purpose 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
223. l forces on the fixing part of the SSCNET III cable s or the connecting part of the SSCNET connector In the worst case the SSCNET III cable s may break or become damaged When laying SSCNET IlI cable s do not apply forced tension 3 Lateral pressure If lateral pressure is applied to the optical cable s the SSCNET III cabling itself distorts the internal optical fiber gets stressed and the chance for transmission loss increases In the worst case the SSCNET III cable s may break To avoid lateral pressure while laying the cable s do not bind the SSCNET III cabling with nylon bands TY RAP 4 Twisting If the SSCNET IIl cabling is twisted it has the same effect as applying when local lateral pressure or bending stress Consequently transmission loss increases and in the worst case the SSCNET III cable s may break 6 S 3 ejep pue uolesnByuoo Onu07 Buiuonisod Guies esojog N lo uo9 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 31 5 Wiring FX3U 20SSC H Positioning Block User s Manual 5 4 Connecting the SSCNET III Cabling 5 4 2 Cautions for SSCNET Ill cable wiring Secure the cable close to the connector with bundle material in order to prevent the SSCNET III cable from applying its own weight to the connector Reserve the following distance when wiring 1 Wiring duct If the duct is below the bottom of the 20SSC H leave sufficient clearance to eliminate effects on the SSCNET III cable The
224. larger capacity Reduce the rotation speed of the servo motor Reduce the load This warning is not displayed on MR J3 70B 100B servo amplifiers with cooling fans 13 Diagnostics FX3U 20SSC H Positioning Block User s Manual 13 3 Diagnostics on the PLC Main Unit 13 3 Diagnostics on the PLC Main Unit p The following describes some of the PLC errors from the LED lights on the PLC gS For details related to the PLC main unit wiring special auxiliary relays and special data registers refer to the 3 following respective manuals FX3u Hardware Edition 1 2 FX3uc Hardware Edition Japanese document only mI aa EE 13 3 1 POWER LED on flashing off LED state PLC state Action On Power of the specified voltage is being E eee supplied to the power supply terminal H PPly Q One of the following causes may have 5 occurred Power and current of the specified E Suppiy voltage e After disconnecting cables other than the power cable turn the power ON Flashing voltage is not being supplied to the power again and check for changes in the state If no improvement is obtained Consult a Mitsubishi Electric distributor supply terminal Incorrect external wiring gt Internal errors in the PLC ovc ODO o H D a Gecke EE s H the power is not OFF check the power supply and the power supply 9 The oer supply is OFF out c p PPly ake If power is being supplied correctly consult a Mitsubishi Elec
225. ler D O O D o O 5 109 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 2 How to Set Table Information Note Note that the procedures to set the table information from FX Configurator FP and a sequence program are different e The position of the operation information is different a Position information d m code information b Speed information e Circle information c Operation information 1 X axis Y axis table information Buffer memory Position Speed Operation m code Table No information information information information a 0 1 2 a E EC 3 NEG NEE f a 4 E E 5 DL 200 tC 6 es S E a C O O 1 2 The setting method for the following information is different e Dwell time Buffer memory Set in position information FX Configurator FP Set in Time e Jump point table No Buffer memory Set in position information FX Configurator FP Set in Jump No FX Configurator FP Command code Address Positioning at 2 step speed Positioning at 2 step speed Dwell Jump End Positioning at 1 step speed End 0 1 2 3 4 5 6 7 A In 2 speed positioning operation and interrupt 2 speed constant quantity feed operation two setting rows are required 110 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 2 How to Set Table Information zs 2 XY axis table information Buffer memory uononpou a b Position infor
226. lt X axis BFM 25 24 Refer to Section 7 9 POINT e The target address for the table number currently being executed is stored during table operation e Variable speed operation is not supported 11 3 16 Received target speed BFM 27 26 BFM 127 126 138 The target speed for the positioning operation currently being executed is stored in units specified by the user Ver 1 20 or later BFM Number Description Value Format BFM Ge CIE EE 2 147 483 648 to 2 147 483 647 user unit Decimal 1 Refer to the section shown below for details on the user units z Default X axis BFM 27 26 Refer to Section 7 9 POINT e The target speed for the table number currently being executed is stored during table operation 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 3 Monitor Data 11 3 17 Status information BFM 28 BFM 128 Status of the 20SSC H can be checked by ON OFF statuses of each bit BFM Number Bit Description Value Format Default READY BUSY Turns ON when the 20SSC H is ready fora START command after normal completion of positioning or when recovering from an error Turns ON while pulses for forward rotation are output Turns ON while pulses for reverse rotation are output 1 Completion of zero return operation Turns ON upon completion of mechanical zero return operation or when the current position is establ
227. lure to do so may cause failures in the PLC After transportation verify the operations of the 20 MEMO FX3U 20SSC H Positioning Block User s Manual FX3U 20SSC H User s Manual Manual revision 7 2007 Foreword This manual describes the FX3uU 20SSC H Positioning Block and should be read and understood before attempting to install or operate the hardware 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 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 2005 MITSUBISHI ELECTRIC CORPORATION FX3U 20SSC H Positioning Block User s Manual Outline Precautions 1 This manual provides information for the use of the FX3U 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 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 al
228. lution of servo motor Servo Amplifier Resolution per Revolution of Servo Motor PLS REV MR J3B 262144 121 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 1 Positioning Parameters 11 1 6 JOG speed BFM 14013 14012 BFM 14213 14212 This parameter sets the speed for Forward JOG and Reverse JOG operations For details on the JOG operations refer to Section 8 2 BFM 14213 Setting range 1 to 2 147 483 647 user unit 14212 Set the value within 1 to 50 000 000Hz in converted pulse data BFM Number Y axis Default BFM 14013 14012 K2 000 000 1 Refer to the section shown below for details on the user units and converted pulse data Refer to Section 7 9 Note e Set the JOG speed at or below the maximum speed When the JOG speed exceeds the maximum speed the 20SSC H operates at the maximum speed e Speed change commands in positioning operation change the JOG speed into a preset value 11 1 7 JOG Instruction evaluation time BFM 14014 BFM 14214 This parameter sets the evaluation time for the forward reverse JOG command to determine whether the control is inching or continuous For forward reverse commands that are ON for longer than the JOG evaluation time the 2OSSC H executes continuous operation For forward reverse commands that are ON for shorter than the JOG evaluation time the 20SSC H executes inching op
229. m enables or disables control commands Once the model code is stored control commands are enabled Model code K5220 enables control commands Values other than the model code disables control commands BFM Number X axis Default BFM 522 Note Write the model code K5220 to the control command enable disable before executing control commands After control commands are executed 0 is automatically stored in the control command enable disable 11 4 15 Control command BFM 523 152 This data item sets data to the buffer memory the flash memory or initializes the data BFM Number Bit i A escription Detecti on etau X axis Y axis Number mme i D S gees Writes X axis positioning parameters S 14000 to ed BFM 14199 into the flash memory parameters save vee Writes Y axis positioning parameters BFM 14200 to BFM 14399 into the flash memory Writes X axis table information BFM 1000 to BFM 3999 into the flash memory Table information Y axis Writes Y axis table information BFM 4000 to BFM save command 6999 into the flash memory X axis Edge XY Writes XY axes table information BFM 7000 to BFM axes 12999 into the flash memory Writes X axis servo parameters EE 15000 to BFM Servo parameters ns inane into the flash memory save command vaie Writes Y axis servo parameters BFM 15200 to BFM 15399 into the flash memory Not available WER Fee Sann
230. manual pulse generator operation Linear interpolation operation ll E Linear interpolation interrupt stop operation Cum Y axis Reciprocal movement instruction Selection of Y axis table operation individual X023 Y axis table operation individual RUN monitor M8000 M110 Always OFF Write the X and Y axis operation pattern selection to 20SSC H RUN monitor M8000 FNC 12 X axis operation pattern selection MOV K4MO U0 G520 Mo to M153 BFM 520 FNC 12 Y axis operation pattern selection K4M100 UO G620 M100 to M115 BEM 620 Set the table operation start No for the X Y and XY axes Unit ready X Y axis M200 FNC 12 KO D521 Table operation start No for MOVP X axis XY axis KO0 gt D521 FNC 12 Table operation start No for MOVP DoZ Y axis KO D621 Set the target address 1 and operation speed 1 for X and Y axes 1 step positioning Unit ready X Y axis Target address 1 for X axis M200 FNC 12 1 speed positioning DMOVP 900900 D500 K5 000 000 D501 D500 ee Operation speed 1 for X axis 1 seed positioning DMOVP Pare eee K2 000 000 D503 D502 FNC 12 Target address 1 for Y axis DMOVP K5000000 D600 1 speed positioning K5 000 000 D601 D600 FNC 12 Operation speed 1 for Y axis DMOVP K2000000 D602 1 speed positioning K2 000 000 gt D603 D602 To next page To next page l i 168 12 Program Example FX3U 20SSC H Positioning Block User s Manual 12 4 Sequence Program From previous pa
231. mation 1 For details on the user units refer to the following Refer to Section 7 9 2 Variable speed operation is not supported A 2 147 483 648 to 2 147 483 647 with Variable Speed operation 104 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 1 Outline of Table Operation SEU 10 Table Operation 10 1 Outline of Table Operation This section describes the table information setting and table operation motions For details on the positioning commands available with the table operation refer to the following For details on each positioning operation refer to Chapter 9 About the table operation The table operation executes preset positioning operation patterns from the table information Positioning operations are consecutively executed and may be arranged in any order A few positioning operations are only available in table operation Positioning operations for table operation only e Multi speed operation e Circular interpolation e Continuous pass operation 10 1 1 Applicable positioning operations for table operation e Applicable positioning operations for table e Inapplicable positioning operations for table operation operation 1 speed positioning operation Variable speed operation Interrupt 1 speed constant quantity feed Manual pulse generator 2 speed positioning operation JOG operation Interrupt 2 speed constant quantity feed Reciprocal movement instruction
232. mation Speed information Table No Circle information i Operation m code information c d eae ras seme Ee EH 2 o s sooo soo sooo 1 1 200 2000 f 2500 0 Ze 2 2201 LUUT e To TI ai 3 LL ll o ll 4 NEEN ee ee ee ee eee eee 5 poo soo e fot f ai 3 6 LD soo 2 II o 7 oS WE S E d o d S E 2 1 The setting method for the following information is different S e Dwell time Buffer memory Set in position information FX Configurator FP Set in Time e Jump point table No Buffer memory Set in position information FX Configurator FP Set in Jump No uomeIgieu Ja FX Configurator FP C a b e d Bui QI Address Are center Command code x PLS i PLS y PLS i PLS Arc radius Lu Jump No r PLS 10ms SES Y axis positioning at 2 step speed Howay OF X axis positioning at 1 step speed eyep pue uolesnByuoo Y axis positioning at 1 step speed End 2 In 2 speed positioning operation and interrupt 2 speed constant quantity feed operation two setting rows are required Onu07 Buiuonisod Guies esojog N lo uo9 yenueyy OO 01 U0D Buuonisog QO D SS OD O CH D DI O 111 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 3 Tables and BFM No Allocation 10 3 Tables and BFM No Allocation 112
233. mber of connectable units however depends on the type of main unit Special extension unit To check the number of connectable units refer to the User s Manual Hardware Edition of the main unit to be used for your system Special function unit Generic name for special function unit 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 the main unit to be used for your system Special function block function Positioning special block or 20SSC H Optional unit Abbreviated name for FX3U 20SSC H Memory cassette FX3uU FLROM 16 FX3u FLROM 64 FX3u FLROM 64L Battery FX3uU 32BL FX Series terminal block FX 16E TB FX 32E TB Input output cable FX 16E 500CAB S FX 16E O O OCAB FX 16E 0 O OCAB R or Input cable O O O represents 150 300 or 500 Input output connector FX2c l O CON FX2c l O CON S FX2c l O CON SA Power cable FX2nc 100MPCB FX2nc 100BPCB FX2nc 10BPCB1 Peripheral unt 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 OD5C GPPW J SW OD5C GPPW E programming software package FX PCS WIN E Generic name for FX
234. mit value Ver 1 10 or later GE eu time pane Ver 1 20 or later Sudden stop BFM interpolation time 14304 constant Ver 1 20 or later Positioning completion BFM signal output waiting 14306 time Ver 1 20 or later 1 For details on the user units refer to the section given below 2 BEM 14202 b14 is not available A O Software limit lower K3000 subsection 11 1 18 K3000 subsection 11 1 19 H0100 subsection 11 1 20 Sets the ring counter upper limit value K359 999 1 to 2 147 483 646 user unit subsection 11 1 21 Sets the sudden stop deceleration time 1 to 5000 ms an subsection 11 1 22 Sets the sudden stop interpolation time constant 1 to 5000 ms Kag subsection 11 1 23 Sets the positioning completion signal output waiting time 0 to 5000 ms KO subsection 11 1 24 Refer to Section 7 9 Appendix A LIST OF PARAMETERS AND DATA FX3U 20SSC H Positioning Block User s Manual Appendix A 5 Servo Parameters List Appendix A 5 Servo Parameters List S OD BFM number Default Reference GE Pr M Ser mplifier seri Setting of servo amplifier series connected to 20SSC H KO 45000 415200 ervo amplifier series etting of serv p 12 BFM BFM mU xX a 15002 15202 Regeneration option Setting of with without regeneration option H0000 Sg Oo DI BFM BFM Absolute position l PO SE 415003 15203 detection system Setting of with without absolute detection system
235. mp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 5 Table Information 11 5 Table Information This section shows BFMs for positioning in table operation Table numbers and BFM numbers are assigned as shown in the table below For details on the table operation refer to the following N Aioway Jong Refer to Chapter 10 1 For X axis BFM 1000 to 3999 For Y axis BFM 4000 to 6999 For XY axes BFM 7000 to 12999 BFM Number Table No Description Default jdwex4 weJbold GE GEN Positi Position information x K 1 1 3 1001 1000 7001 7000 EH Set target addresses or etc for informa i BFM DEM tion Boson the table operation 28 a 4001 4000 7003 7002 Aey j 2 BFM BFM 7 1003 1002 7005 7004 Speed Speed information x l nel Sg Sg informa Set the operation speed tion j j Ce 4003 4002 7007 7006 SES SS A BFM l Center coordinate i l K 1 oop 7009 7008 Circular Radius r Set center coordinate and SC ai o SCH informa radius of a circular line for 3 tion j i circular interpolation operation a EE veer sevens Coo og S Q BFM 1004 BFM 4004 BFM 7012 Operation information Ser ections by IME lapie K 1 operation B BFM 1005 BFM 4005 BFM 7013 m code information E IS OUPO SACH WME AR we a positioning operation D H BFM BFM 7 Gate 39 1011 1010 7021 7020 Position Position information x K 1 Ss SR informa tion ition i j S Le 4011 4
236. must be set to transfer information between the 20SSC H and servo amplifier Set the servo series of servo parameters according to the servo amplifier Servo parameters must be saved to the flash memory in 20SSC H gt For servo series details refer to subsection 11 2 1 2 Function selection C 4 Servo parameters Expansion setting Immediately after power ON this parameter needs to be set to operate in modes other than the JOG or manual pulse generator operation modes Set 1 Not needed to pass motor Z phase after the power supply is switched on default setting here In other setting cases the servo motor should be rotated more than one revolution by the JOG or manual pulse generator immediately after power ON For details refer to subsection 8 1 1 and 11 2 3 3 Zero return interlock setting Positioning parameters Operation parameter 2 Immediately after power ON this parameter needs to be set to operate in modes other than the JOG manual pulse generator or mechanical return operation modes Set invalid here In other setting cases operate to be set to the zero return executed flag For details refer to subsection 7 8 9 and 11 1 2 40 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 2 Outline of Positioning Operation zs 7 2 Outline of Positioning Operation uononpou The relationship between the operation speed acceleration deceleration time and travel distance
237. n SA 2 When turning the DOG ON the operation decelerates to the zero return speed creep S 3 When turning the DOG OFF the operation stops at the zero phase signal of the motor and the c mechanical zero point address is stored to the current value zero point signal count 1 time 3 Y axis B 1 When turning X016 Y axis mechanical zero return command to ON at the PLC main unit DOG type Be mechanical zero return operation starts in the current value decrementing direction os 2 When turning the DOG ON operation decelerates to the zero return speed creep a3 3 When turning the DOG OFF the operation stops at the zero phase signal of the motor and the mechanical zero point address is stored to the current value zero point signal count 1 time 12 3 2 JOG operation Acceleration time Deceleration time Speed 200ms Maximum speed 200ms L gt 4 000 000HZz w gt Kee E ee os Oe 4 JOG speed 2 000 000Hz gt gt Time iJOG command Determination time o 300ms Forward Ke rotation JOG X axis e When turning X004 X axis forward rotation JOG to ON at the PLC main unit the JOG operation starts in the current value incrementing direction e When turning X005 X axis reverse rotation JOG to ON at the PLC main unit the JOG operation starts in the current value decrementing direction Y axis e When turning X014 Y axis forward rotation JOG to ON at th
238. n the acceleration deceleration time interpolation time constant changes according to the ratio by which the operation speed changes For details refer to the note in Section 7 2 FX3U 20SSC H Positioning Block User s Manual 7 6 Changing During Operation Operation Speed Target Address 7 6 2 7 Before Starting Positioning Operation Changing the operation speed with the operation speed change function 1 This function is possible to change to the specified new operation speed at an arbitrary timing However the speed does not change during mechanical zero return after detection of the near point DOG and start of deceleration to the creep speed For the related parameters control data and monitor data refer to Section 7 11 To make speed change valid Specify the following settings Setting item Description Change command in operation disabled OFF Speed change value Setting Speed change command in positioning operation ON at speed change 2 Applicable positioning operations e Operations applicable to the operation speed e Operations inapplicable to the operation change function speed change function Mechanical zero return at high speed Mechanical zero return at creep JOG operation Manual pulse generator operation 1 speed positioning operation Variable speed operation Interrupt 1 speed quantity feed 2 speed positioning operation Interrupt 2 speed quantity feed Interrupt stop Mult
239. n Setting range lt BFM BFM Positioning 1001 1000 E mT Poston datax datax 2 147 483 648 to 2 147 483 647 12 user unit e 2 Present address changing SS OD 2 147 483 648 to 2 147 483 647 user unit Dwell 0 to 32 767 x10ms Jump 0 to 299 Position data y 4001 4000 7003 7002 BFM BFM S d dat 1003 1002 7005 7004 REES DEM DEM 4003 4002 7007 7006 SES ESA BFM Center coordinate i 7009 7008 radius r 2 147 483 648 to 2 147 483 647 BEM user unit a 7011 7010 Center coordinate j Operation informa BFM 1004 BFM 4004 BFM 7012 Sets operation command 1 to 99 BFM 1005 BFM 4005 BFM 7013 Stores m code in execution 1 D vi Wei O LO 1 to 50 000 000 user unit 1 J0 3S pue sia oweled EEN GE Position data x 1011 1010 7021 7020 ne ae Position data B 4011 4010 7023 7022 g 3g ro BFM BFM 1013 1012 7025 7024 Speers zo gt section 11 5 PTN GEN Speed data 4013 4012 7027 7026 H y DEM Center coordinate i 7029 7028 radius r BFM a 7031 7030 Center coordinate j BFM 1014 BFM 4014 BFM 7032 operation information BFM 1015 BFM 4015 BFM 7033 m code information Same as table number 0 sla PTN Position data x 3991 3990 12981 12980 wae PPNI Position data 6991 6990 12983 12982 y BFM BFM 3993 3992 12985 12984 SERGE BFM APM Speed data 6993 6992 12987 12986 299 p y Sa
240. n 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 197 FX3U 20SSC H Positioning Block User s Manual Revised History ee Revised History Date 12 2005 1 2006 4 2006 2 2007 7 2007 Revision A C Description First Edition Power on Timing added Subsection 5 2 1 Clerical Error Correction Subsection 3 4 1 8 1 4 8 1 5 8 3 1 8 3 3 9 2 1 Section 9 9 12 4 Appendix A 1 Appendix A 3 The Error Code 2013 content and countermeasures added Subsection 13 2 3 Clerical Error Correction UL cUL Compliance added Supported in Ver 1 10 Reciprocal movement instruction added to Positioning Operation Patterns Section 9 12 Ring counter setting added Section 7 7 Ring operation rotation direction for absolute address Mode Selection added to the Interrupt 1 speed Constant Quantity Feed Subsection 9 3 1 9 3 2 The following functionalities added to MPG Input Operation Section 8 3 MPG Response Torque Limit MPG Input Selection Servo Parameter Transfer Mode added
241. n below for details on the user units Refer to Section 7 9 11 3 9 Current pulses input by manual pulse generator BFM 13 12 BFM 113 112 13 g The number of input pulses from the manual pulse generator is stored Forward rotation increments the current number of pulses and reverse rotation decrements it 5 Magnification settings for the manual input pulses are not reflected in the stored value BFM Number Default gt X axis BFM 13 412 BFM 2 147 483 648 to 2 147 483 647 PLS Decimal T g ioe ee ee sama S 11 3 10 Frequency of pulses input by manual pulse generator 2 BFM 15 14 BFM 115 114 B Manual pulse generator input frequency is stored S Description Value Format Default e BFM 15 14 BFM 115 114 100 000 to 100 000 Hz Decimal Magnification settings for the manual input pulses are not reflected on the stored value POINT 11 3 11 Table numbers in execution BFM 16 BFM 116 While performing a table operation the table number in execution is stored BFM Number Description Value Format 1 Not in execution EES 0 299 Stores table number in execution ESERS 11 3 12 Version information BFM 17 Default BFM 16 The version of 20SSC H is stored BFM Number Description Value Format O e Ver 1 00 is stored as K100 Default BFM 17 137 11 Buffer Memory Parameters amp Monitored Data
242. n the value is 0 it is regarded as 1 Operates in the direction that decreases the current value wasis N uoleinBiyuoo 9 3 2 Interrupt 1 speed Constant Quantity Feed Constant position stop mode LA When the ring operation for current address BFM 14002 14202 b3 is ON and the interrupt 1 speed constant quantity feed mode selection BFM 519 619 b6 is ON the 20SSC H positions the motor by the 38 absolute movement quantity set in the target address 1 after interrupt input is given oo This function is new for Ver 1 10 S 1 Only supported 20SSC H Ver 1 10 or later 1 Operation 4 A Acceleration i Deceleration S time time a lt gt 2 S Geess deiten gcerggeecegg i Maximum speed 4 Speed Operation speed 1 Buum QI Stop at target address 1 absolute address Target address 1 OFF 6 START command ON 285 SE Interrput input OFF SS INTO z Positioning E St completion SE 7 1 Turn ON the ring operation for current address and interrupt 1 speed constant quantity feed mode B selection 3 2 2 Set the operation speed 1 and target address 1 position after interrupt input ER 3 Select interrupt 1 speed constant quantity feed as the operation pattern and turn ON the START 3 command The 20SSC H starts the interrupt 1 speed constant quantity feed at the operation speed 1 and turns OFF the positioning completion signal as
243. nal output waiting time Positioning operation shorter than a scan in PLC 9 POINT os ee ee 36 e When the positioning operation time is shorter than a PLC scan the sequence program can only detect the positioning completion signal if the positioning completion signal output waiting time is set to a time longer than the scan time e Becomes 5000 ms when set at 5001 ms or more 1 0 e If positioning is completed and an error occurs during the positioning completion signal output waiting time S the positioning completion signal remains OFF a e The setting of the positioning completion signal output waiting time is invalid during table operation i 61 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 9 Precautions for using the user units mechanical or composite 7 9 Precautions for using the user units mechanical or composite system of units 62 1 User units The user can select the unit setting for positioning For the unit setting method refer to the following section For the setting method refer to Subsection 11 1 1 1 System of units Select the units to use Motor system of units The position command and speed command are based on the number of pulses Mechanical system of units The position command and speed command are based on mm mdeg 10 inches and so on Composite system of units The position command is based the mechanical system while the speed command is
244. nance 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 conditions 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 unapproved 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
245. neous start flag M30 M130 m code OFF command M31 M131 Change command in operation disabled M32 M132 z N Speed change command in positioning M33 M133 Target position change command o D z gt a D 2 c O O 3 3 Q gt Q lt NO N SE M34 M134 in positioning control Not available M35 M135 Always OFF Target address 1 D501 D500 D601 D600 Operation speed 1 D503 D502 Table operation start No D521 D603 D602 D621 161 FX3U 20SSC H Positioning Block User s Manual 12 3 Device No Name X axis Y axis Monitor data READY During forward rotation pulse output M40 M41 M42 M43 4 4 M46 M140 M141 M142 M143 M144 M145 M146 During reverse rotation pulse output Zero return completed A lt on Current value overflow Error occurrence Positioning completion Standby for remaining travel distance M47 M147 Status information m code ON Unit ready 4 M49 M50 Saving to flash memory M51 M52 M53 5 5 D1 DO M148 M149 M150 M151 M152 M153 M154 M155 D101 D100 D106 D109 D111 D110 D116 D129 D153 D152 D164 D168 D171 D170 z co During servo parameters transfer Initializing buffer memory During operation speed change A g z z D During target address change ee A S O KS Wu During table operation execution Current address user Error BFM No m code No Operation speed present value D11 D10 Number of the table
246. ng e During mechanical zero return at zero return speed high speed e JOG operation e 1 speed positioning operation e Interrupt 1 speed constant quantity feed e 2 speed positioning operation e Interrupt 2 speed constant quantity feed e Interrupt stop e Variable speed operation e Multi speed operation e Linear interpolation e Linear interpolation interrupt stop e Reciprocal movement instruction Ver 1 10 or later e Manual pulse generator operation Ver 1 10 or later Torque output setting 2 Details of control The operation with the torque limit is as follows Various operations ON OFF OFF OFF START command w l 2 i Torque limit setting 300 200 Positioning parameters Torque output setting 0 i 100 Control data Stored torque limit 300 X 100 Monitor data wi 3 i 1 The torque limit setting or torque output setting becomes valid at the rising edge of the START signal If the torque output setting is 0 operation is made with the torque limit setting 2 If the positioning parameter setting is changed issue a positioning control parameter command to validate the new setting 3 Precautions for control e Ifthe zero return torque limit value exceeds the torque limit setting an error occurs e Ifthe torque limit function causes the operation to stop drop pulses remain in the deviation counter After the load torque is removed the operation continues a
247. ng Operation Operation Speed Target Address 7 6 3 Changing the target address This function is used to change the target address in positioning control to a new specified address 1 To make target address change valid Specify the following settings Setting item Description Change command in operation disabled OFF Target position change value address Set the new target address Target position change value speed Set the new operation speed Target position change command in positioning operation ON at target address change Note To leave the operation speed unchanged set the target position change value speed to the same speed as the current operation speed 2 Applicable positioning operations e Operations applicable to the target address e Operations inapplicable to the target address change function change function 1 speed positioning operation Mechanical zero return Interrupt 1 speed constant quantity feed Manual pulse generator operation 2 speed positioning operation JOG operation Interrupt 2 speed constant quantity feed Variable speed operation Interrupt stop Multi speed operation Reciprocal movement instruction Linear interpolation Ver 1 10 or later Linear interpolation interrupt stop Circular interpolation 3 Operation 1 When changing both the address and speed Speed A New operation speed Operation speed New target address ime
248. ng fan alarm 2047 e The cooling fan of the servo amplifier 47 stopped e e The rotation speed of the fan fell below the alarm level Overload 1 e The load exceeded the overload protection characteristics of the servo amplifier Servo amplifier f 2050 e 50 Overload 2 e e A machine collision or other similar factor has caused the max output current to flow continuously for several seconds e Servo motor e Locked 1s or more 2051 During rotation 2 5s or more 51 180 Replace the servo amplifier Review the drive method Review the environment so that the ambient temperature is within the range 0 to 55 C Use within the specification range Review the environment so that the ambient temperature is within the range 0 to 40 C Reduce the load Review the operation pattern Use a servo motor that provides larger output Replace the servo motor Replace the cooling fan of the servo amplifier Remove any debris Replace the servo amplifier The servo amplifier is exceeding its continuous output current rating Reduce the load Review the operation pattern Use a servo motor that provides larger output Machine collision occurred Review the operation pattern Install limit switches Connect the servo motor correctly Servo system is unstable due to servo hunting jittering Repeat acceleration deceleration to execute auto tuning Change the auto tuning response settin
249. ng the target address change function the target address after change becomes valid when the target address 1 or target address 2 is changed at the same time When changing the target address open position during the opening operation change the target address 1 at the same time When changing the target address close position during the closing operation change the target address 2 at the same time Operation speed The actual operation speed is decided by the following calculation formulas Operation speed1 x Override setting Operation speed2 x Override setting The actual operation speed 1 and operation speed 2 can be changed using the operation speed change function except under the following conditions e During deceleration operation e When the speed change disable during operation signal is ON Address specification Specified address are handled as absolute address The absolute relative address specification is ignored Rotation Direction The rotation direction is determined by the relationship among the current address target address 1 and target address 2 Setting item Setting item Setting during X axis direct operation Setting during Y axis direct operation Open position Target address 1 BFM 501 500 Target address 1 BFM 601 600 Close position Target address 2 BFM 505 504 Target address 2 BFM 605 604 Opening operation speed Operation speed 1 BFM 503 502 Op
250. ng the wire to break and become damaged Use flame resistant acetate cloth adhesive tape e g 570F by Teraoka Seisakusho Co Ltd Exposing the SSCNET Ill cable to solvent oil may deteriorate the optical fiber and alter its mechanical characteristics When using the SSCNET III cable near solvent oil take protective measures to shield the SSCNET 26 27 Ill cable When storing the SSCNET III cable attach the protective cap to the 20SSC H connector port for dust protection Do not remove the protective cap from the 20SSC H connector port until just before connecting the SSCNET III cable Attach the protective cap to the 20SSC H connector port after removing the SSCNET III cable to protect the internal optical device from exposure to dust Keep the protective cap and protective tubing clean and always store them in the provided plastic bag when removing them from the hardware devices When replacing the 20SSC H or when sending the product to a local distributor for repair make sure to attach the protective cap to the 20SSC H connector port Failure to do so may damage the internal optical device and require optical device replacement 4 STARTUP AND MAINTENANCE PRECAUTIONS DANGER Do not touch any terminal while the PLC s power is on Doing so may cause electric shock or malfunctions Before cleaning or retightening terminals externally cut off all phases of the power supply Failure to do so may cause electric shock Before modifying
251. nical zero return command UONBUUOD jdwex4 If the forward rotation JOG command and reverse rotation JOG command turn ON at the same time however the forward rotation JOG reverse rotation JOG commands are ignored 7 10 2 When the travel distance is small 1 1 speed positioning operation If the time needed for the travel distance target address 1 is shorter than the acceleration deceleration time the actual operation speed does not reach the command speed operation speed 1 uomeIgieu Ja Desired Desired 5 Speed acceleration deceleration time time l 3 ee oo a RCM EE E l Ce S A i l Tr Z i s l apezolda Operation speed 1 control 6 D l Approximate S shaped control s3 WA I ok Seg D i o VI NI A Start Time K gt Traveling time lt desired acceleration time desired deceleration time For the relation between the time for the actual acceleration deceleration and the specified time for desired acceleration deceleration refer to the following Dune 10j g Refer to Section 7 2 Oomu03 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 63 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 10 Cautions for Positioning Operation 64 2 Interrupt 1 speed positioning operation Ver earlier than 1 10 or BFM 519 619 b6 OFF in Ver 1 10 or lat
252. nt travel distance command 2 quantity feed SPM FS RRE GE ON Absolute positioning by the Ver 1 10 or later specified address Select motion patterns bO 1 speed positioning operation b1 Interrupt 1 speed constant quantity feed b2 2 speed positioning operation b3 Interrupt 2 speed constant quantity feed b4 Interrupt stop Operation pattern selection BFM 520 BFM 620 b5 Variable speed operation b6 Manual pulse generator operation b7 Linear interpolation operation b8 Linear interpolation interrupt stop operation b9 Table operation individual b10 Table operation simultaneous b11 Reciprocal movement instruction Ver 1 10 or later Sets the rotation direction during the ring operation when the address is specified in absolute value Ring operation rotation direction for absolute BEM 530 BEM 630 0 Direction for shorter rotation address 1 Direction where the current value increases clockwise 2 Direction where the current value decreases counterclockwise Table Information Control data For details on the table operation refer to the following Refer to Chapter 10 and Section 11 5 Set operation information Operation information Refer to subsection 10 1 3 Set the target address Position address data sering range Refer to Section 11 5 2 147 483 648 to 2 147 483 647 user unit Set the operation speed Setting range 1 to 50 000 000 user unit Speed infor
253. ntana nunbenG DEM Center coordinate i 12989 12988 radius r BFM 12991 12990 Center coordinate j BFM 3994 BFM 6994 BFM 12992 ee information BFM 3995 BFM 6995 BFM 12993 m code information 1 For details on the user units refer to the section given below Refer to Section 7 9 189 FX3U 20SSC H Positioning Block User s Manual 190 2 1 1 at ee a Ie The operation information includes the following items No processing NOP m code NOP End END 1 speed positioning DRV_X 1 speed positioning DRV_Y 1 speed positioning DRV_XY Interrupt 1 speed constant quantity feed SINT_X Interrupt 1 speed constant quantity feed SINT_Y Interrupt 1 speed constant quantity feed SINT_XY 2 speed positioning DRV2_X 2 speed positioning DRV2_Y 2 speed positioning DRV2_ XY Interrupt 2 speed constant quantity feed DINT_X Interrupt 2 speed constant quantity feed DINT_Y Interrupt 2 speed constant quantity feed DINT_XY Interrupt stop INT_X Interrupt stop INT_Y Interrupt stop INT_XY Multi speed operation DRVC_X Multi speed operation DRVC_Y 19 20 21 22 23 24 25 26 2T 90 91 92 93 94 95 96 Appendix A LIST OF PARAMETERS AND DATA Appendix A 3 Table Information List Linear interpolation LIN Linear interpolation interrupt stop LIN_INT Circular interpolation center CW direction CW_1 Circular interpol
254. nterpolation operation 2 speed positioning operation Manual pulse generator operation Interrupt 2 speed constant quantity feed Interrupt stop Variable speed operation Multi speed operation Linear interpolation Linear interpolation interrupt stop Circular interpolation Mechanical zero return Reciprocal movement instruction Ver 1 10 or later Buum QI Kioway OF Di CH 5 De r D o O 5 Dune 10j g Oomu03 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 57 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 8 Other functions 7 8 3 Torque limit function The torque limit function sets the torque limit value for the servo amplifier from the 20SSC H For related parameters control data and monitor data refer to Section 7 11 1 Torque limit function setting Specify the following items to use the torque limit function Setting item Description Zero return torque limit value Torque limit value for zero return control creep The torque limit during the following operations is the torque limit setting or torque output setting according to the torque output setting value lf the torque output setting is 0O The torque is limited to the torque limit value or zero return torque limit value Torque limit setting Ifthe torque output setting is between 1 and 10000 increment 0 1 The torque is limited to the torque output setti
255. ntrol state The monitor data is stored in the buffer memory Monitor the data BFM BFM when necessary 0 to 99 100 to 199 For details refer to Section 11 3 uononpou Monitor data wasis N The user controls the positioning control system using the control data The control data is related to operation related settings speed BFM BFM change command during positioning operation stop operation 500 to 599 600 to 699 restart etc uoleinBiyuoo Control data LA For details refer to Section 11 4 om The positioning parameters specify the unit speed and other 5 features of the positioning control BFM BFM of Positioning parameters Enter data according to the mechanical equipment and applicable 14000 to 14200 to o motor 14199 14399 For details refer to Section 11 1 The servo parameters depend on the servo amplifier to be used and Seno parameters are used to control the servomotor 15000 to 15200 to BFM BFM Enter data according to the specifications to be used For details refer to Section 11 2 EE 15399 uomeIgieu Ja The table information is used for table type positioning control Positioning control is based on the data specified in each table operation information position information speed information m code information Up to 300 positioning table points per table can be defined For details refer to Section 11 5 BFM BFM 1000 to 7000 to
256. nual internal data PLS number of encoder valid bits SSCNET III communication error e Check the SSCNET III cable connection SSCNET III cable communication error e Wipe off any dirt from the end surface 4011 e Change the SSCNET III cable e To reduce noise follow the servo amplifier manual 9001 If this error occurs after rebooting and initializing the Major errors 20SSC H the module needs repair 9002 Watchdog timer error Consult a Mitsubishi Electric distributor 177 vm EH welbold WM Aioweyseyng wh m gt lt D 3 D sonsoubeiq gt epeq pue sia oweled jo sr LU UOIEWUJOJU UOISIO 13 Diagnostics FX3U 20SSC H Positioning Block User s Manual 13 2 Check Error Code Error Error category Code Error Content Action decimal Parentheses in the error code column indicate the LED display on the servo amplifier For details on how to check errors and actions refer to the manual of the servo amplifier to be connected Undervoltage e MR J3 CB SC Power supply voltage dropped to 160VAC or less Review the power supply MR J3 0B1 Power supply voltage dropped to 83VAC or less 2012 Memory error 1 RAM The servo amplifier must be repaired Consult a 12 RAM memory fault in servo amplifier Mitsubishi Electric distributor Make sure to Power OFF the 20SSC H and the servo This error occurs depending on the order with which gl SE the peripheral devices are powered OFF EE 2
257. o 2 147 483 647 user unit Target address 1 BFM 501 500 Setting range Operation speed 1 BFM 503 502 BFM 603 602 TE JA 1 to 2 147 483 647 user unit Sr OO Setting range Target address 2 BFM 505 504 BFM 605 604 2 147 483 648 to 2 147 483 647 e user unit a Setting range Operation speed 2 BFM 507 506 BFM 607 606 ay 4 3 1 1 to 2 147 483 647 user unit Override setting BFM 508 BFM 608 Setting range 1 to 30000 x 0 1 uojesedo ap 103 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 13 Parameter Control Data Monitor Data and Table BFM Number Item Description OFF Operates with absolute addressing Relative Absolute address BEM 518 b8 BEM 618 b8 ON Operates with relative addressing specification This parameter is disabled during a table operation At this command OFF ON 20SSC H START command BFM 518 b9 BFM 618 b9 starts a positioning operation with the Operation selected motion pattern command 1 At X axis START command ON while this Simultaneous START flag BFM 518 b10 BFM 618 b10 flag is ON operations at X and Y axes start simultaneously OFF Enables the operation speed and Speed change disable BEM 518 b12 BEM 618 b12 target position change commands during operation ON Disables the operation speed and target position change commands Mode selection for the OFF Relative positioning by the specified Operation Interrupt 1 speed consta
258. o SES BFM 14199 Initializes positioning parameters of Y axis BFM 14200 to BFM 14399 Initializes table information of X axis BFM 1000 to BFM 3999 b11 Initializes table information of Y axis BFM 4000 to BFM 6999 b12 Initializes table information of XY axes BFM 7000 to BFM 12999 b13 Initializes servo parameters of X axis BFM 15000 to BFM 15199 b14 Initializes servo parameters of Y axis BFM 15200 to BFM 15399 b15 Not available Manual pulse input Se magnification 1 to 1 000 000 times D subsection 11 4 16 numerator Manual pulse input ae magnification 1 to 1 000 000 times subsection 11 4 17 denominator Ver 1 10 or later 0 X input X opr Y input Y opr BFM 529 GE eg 1 X input Y opr Subsection 11 4 19 Eet 2 X input X and Y opr BFM 530 D Subsection 11 4 20 Ring operation rotation 0 Direction for shorter rotation direction for absolute 1 Direction where the current value increases clockwise BFM 630 ae address 2 Direction where the current value decreases Ver 1 10 or later 1 For details on the user units refer to the section given below Refer to Section 7 9 2 2 147 483 648 to 2 147 483 647 with Variable Speed operation A BFM 619 b1 is not available Appendix A LIST OF PARAMETERS AND DATA FX3U 20SSC H Positioning Block User s Manual Appendix A 3 Table Information List Appendix A 3 Table Information List S CD BFM number Table Default Refe O Descriptio
259. o amplifier limit turns ON Ver 1 20 or later For details on sudden stop Normal deceleration stop refer to Section 7 5 1 Sudden stop 0 Normal deceleration stop b8 to b13 Not available Sets the interpolation gear ratio selection Ver 1 20 or later For details on interpolation gear ratio selection refer to b14 Subsection 7 10 3 1 X axis Y axis 0 X axis Set the servo parameters transfer souce when the servo amplifier series is selected Ver 1 10 or later b1 For details on servo parameter transfer refer to Subsection 6 3 3 1 Transfers data stored in the buffer memory to the servo amplifier 1 5 0 Transfers data stored in the flash memory to the servo amplifier 1 BFM 14202 b14 is not available 120 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 1 Positioning Parameters 11 1 3 Pulse rate BFM 14005 14004 BFM 14205 14204 w T This parameter sets the number of pulses to rotate the servo motors once Mechanical system units and 3 Composite system units require this setting Motor system units ignores it 8 For details on the system of units refer to Section 7 9 Srey eaves Description Default 1 2 BFM BFM 39 14005 14205 Setting range 1 to 200 000 000 PLS REV K262 144 D3 14004 14204 11 1 4 Feed rate BFM 14007 14006 BFM 14207 14206 13 This parameter sets the travel distance per revol
260. occurrence and it is set upon normal completion However the flag is not set during stop operation or for the following operations even if the operation finishes BFM 128 b6 normally 1 JOG operation Mechanical zero return data setting type Manual pulse generator operation Variable speed operation Positioning completion BFM 28 b6 uoesedo ap 41 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 2 Outline of Positioning Operation Note e Trapezoidal acceleration deceleration and approximate S shaped acceleration deceleration If trapezoidal acceleration deceleration and approximate S shaped acceleration deceleration are performed under the same conditions travel distance operation speed and acceleration deceleration time the positioning time for the approximate S shaped acceleration deceleration is longer by 64ms e Approximate S shaped acceleration deceleration Specify 64ms or more 64 to 5000 for the acceleration deceleration time e Ifthe operation speed jog speed operation speed 1 operation speed 2 zero return speed high speed or zero return speed creep is Oz operation is performed at 1Hz e When the operation speed is changed by the override function during interpolation operation the acceleration deceleration time interpolation time constant changes according to the ratio by which the operation speed changes For override function details refer to Subsection 7
261. om 20SSC H No command error occurs as long as A B is an integer C x A B does not have to be an integer However if C x A B is not an integer repetitive operation of relative movement causes an accumulated error in the current address In absolute address operation an error within 1 pulse occurs with the calculation result rounded off but it does not cause an accumulated error In addition an accumulated error does not occur in the motor system of units Maximum speed restriction To specify speed data in the mechanical system of units enter data in the range between 1 and 50 000 000HZz in converted pulse data 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 10 Cautions for Positioning Operation 7 10 Cautions for Positioning Operation UON ONPOJ U 7 10 1 Overlapped specification of operation mode 1 The positioning operation does not start at START input command if multiple operation patterns are selected with multiple bits turned on in the parameters for operating patterns wasis N9 2 When two or more positioning operation commands are ON at the same time such as the forward rotation JOG reverse rotation JOG command and mechanical zero return command operation command such commands are executed with the following priority uoleinBiyjuoo LA Priority of positioning operation commands START command gt Forward rotation JOG gt Reverse rotation JOG gt Mecha
262. omeIgieu Ja Refer to the FX3U Hardware Edition Refer to the FX3UC Hardware Edition Japanese document only 5 2 2 Grounding Ground the cables as follows e The grounding resistance should be 100Q or less e Independent grounding should be established whenever possible Independent grounding should be performed for best results When independent grounding is not configured perform shared grounding as shown in the following figure For details refer to the following respective PLC manual 6 S 3 ejep pue uolesnByuoo Refer to the FX3U Hardware Edition Refer to the FX3UC Hardware Edition Japanese document only D Other Other 98w TE Q Q Q omen o l I l 2 Independent grounding Shared grounding Shared grounding bs Best condition Good condition Not allowed 8 The grounding wire size should be AWG22 20 0 3 to 0 5 mm je e The grounding point should be close to the PLC and all grounding wires should be as short as possible a 2 S OU O OQO 2 2 So 3D E uoesedo ap 29 5 Wiring FX3U 20SSC H Positioning Block User s Manual 5 3 Input Wiring 5 3 Input Wiring An external power supply 24VDC is necessary for the START DOG INTO INT1 and S S terminals 5 3 1 Sink input wiring Switch sink type A phase Manual pulse generator differential output type B phase 5 3 2 Source input wiring 24V DC IPL Switch sou
263. ommercially available connectors Use the 20 pin 1 key socket complying with MIL C 83503 Check in advance for interference with peripheral parts such as the connector cover 2 Input cable by Mitsubishi Electric Model name Cable length Remarks FX 16E O 1CAB Flat cable with tube provided with a 20 pin connector at both ends 1 5 3 5m FX 16E O 1CAB R Round multi conductor cable provided with a 20 pin connector at both ends FX 16E 500CAB S Bulk cable with 20 pin connector provided on a single end cable color red 1 O indicates the cable length 150 1 5m 300 3m 500 5m 3 Applicable connector for user cable by Mitsubishi Electric The user should prepare the electric wires and pressure crimp tool Model name and configuration of I O connector Applicable cable UL 1061 recommended and tool Description of part Crimp tool Our modelname Made by DDK Ltd Wire size Made by DDK Ltd 2 For flat FX2C O Setof10 Crimp connector aoe GN 357J 46740 Main body cable CON pieces FRC2 A020 30S Ee Bees 357J 4664N Attachment FX2C O Housing HU 200S2 001 S For united CON S Severe Crimp contact HU 411S AWG22 0 3mm2 357J 5538 cable FX2C I O Housing HU 200S2 001 2 E CON SA Set of 5 Crimp contact HU 411SA AWG20 0 5mm2 357J 13963 4 Applicable connectors commercially available connectors DDK Ltd connector specified in Item 3 above and Matsushita Electric Works connector specified in the table below
264. on The absolute relative address can be specified With the specified absolute address Specifies a target address position using address 0 as the base With the specified relative address Specifies a travel amount from the current address d uoesedo ap 95 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 10 Linear Interpolation Operation Interrupt Stop 4 Rotation Direction With the specified absolute address The rotation direction depends on whether the target address 1 is larger or smaller than the current address With the specified relative address The rotation direction is decided by the sign positive negative of target address 1 9 10 Linear Interpolation Operation Interrupt Stop For details on the operation speed change refer to Section 7 6 For details on the torque limit refer to Subsection 7 8 3 For details on the STOP command refer to Section 7 4 For details on the related parameters control data and monitor data refer to Section 9 13 1 Operation Y axis N Interpolation time constant Interpolation time constal Speed i i es HE eee boca eee Target address Maximum speed X Y axis 3 i gell Target k address 1 Vector speed i d operation X Y axis d speed of A axis gt X axis ON Tine START command OFF 1 ON X axis interrupt input OFF INTO Positioning completion a t ON OFF OFF 1 Set the o
265. on or off For output signals that may lead to serious accidents external circuits and mechanisms should be designed to ensure safe machinery operation in such a case e At Forward Reverse rotation limits make sure to wire the contacts with NC negative logic Wiring contacts with NO positive logic may cause serious accidents NO w DESIGN PRECAUTIONS A N CAUTION e Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise 1 Do not bundle the main circuit line together with or lay it close to the main circuit high voltage line or load line Otherwise noise disturbance and or surge induction are likely to take place As a guideline lay the control line at least 100mm 3 94 or more away from the main circuit or high voltage lines 2 Ground the shield wire or shield of the shielded cable at one point on the PLC However do not ground them at the same point as the high voltage lines Install module so that excessive force will not be applied to the built in programming connectors power connectors or I O connectors Failure to do so may result in wire damage breakage or PLC failure 7 1 Note on Setting Parameters Set the positioning parameters and servo parameters according to the system The following parameters must be set 1 Servo series Servo parameters Basic setting This parameter
266. on the PLC side At this time the zero return action varies in the following way according to the zero return starting position 1 A ae Zero return direction Forward Speed Reverse rotation limit DOG lt rotation limit Reverse rotation Position 3 Zero point Forward rotation If the starting position is in the near point signal OFF area before passing DOG a Operation is conducted in the zero return direction at the zero return speed high speed b After the DOG detection deceleration to the zero return speed creep begins c After detecting the zero point signal count start timing the zero point signal is counted d After counting the specified number of zero point signals the travel is stopped If the starting position is in the near point signal ON area a Operation is conducted at the zero return speed in the direction opposite to the zero return direction b Upon the DOG detection escaping from the DOG deceleration to stop begins c Operation is conducted in the zero return direction at the zero return speed high speed em N Nr Fe d After the DOG is detected deceleration to the zero return speed creep begins e After counting the zero point signal the 20SSC H stops If the starting position is in the near point signal OFF area after passing DOG a Operation is conducted in the zero return direction at the zero return speed high speed b U
267. oning Block User s Manual 9 3 Interrupt 1 speed Constant Quantity Feed 9 3 Interrupt 1 speed Constant Quantity Feed The interrupt 1 speed constant quantity feed function is also supported in Ver 1 10 or later when the ring operation is set for the current address Refer to Subsection 9 3 2 For details on the operation speed change and target address change refer to Section 7 6 For details on the torque limit refer to Subsection 7 8 3 For details on the STOP command refer to Section 7 4 For details on the ring counter setting refer to Section 7 7 For details on the related parameters control data and monitor data refer to Section 9 13 9 3 1 Interrupt 1 speed Constant Quantity Feed When the interrupt 1 speed constant quantity feed mode selection BFM 519 619 b6 is OFF the 20SSC H positions the motor by the relative movement quantity set in the target address 1 after an interrupt input is given This function is same as the function available in versions earlier than Ver 1 10 1 Operation Acceleration i Deceleration d time time Maximum speed 3 Speed Operation speed 1 Stop at target address 1 relative address Target address 1 Time ON START command OFF Keess ON Interrupt input OFF Oooo INTO Positioning ON ON completion a OFF 1 Set the operation speed 1 and target address 1 travel distance after interrupt input
268. onstant quantity feed refer to Section 9 3 2 speed Set this to perform 2 speed positioning operation positioning For details on the 2 speed positioning operation operation refer to Section 9 4 Set this to perform an interrupt 2 speed constant quantity feed constant quantity feed aea For details on the variable speed operation P refer to Section 9 7 10e manua pulse For details on the manual pulse generator operation generator 8 refer to Section 8 3 rigar l For details on the linear interpolation operation interpolation e refer to Section 9 9 Set this to perform an operation with the manual pulse Level BFM BFM EE generator 520 620 d interpolation v For details on the table operation individual b11 movement For details on the reciprocal movement instruction Ver 1 10 or later b12 to Interrupt 2 speed For details on the interrupt 2 speed constant quantity feed refer to Subsection 9 5 T E Set this to perform an interrupt stop H H For details on the interrupt stop refer to Section 9 6 Set this to perform a variable speed operation H0000 Set this to perform a linear interpolation operation stop interrupt stop refer to Section 9 10 individual eimiiltaneous For details on the table operation Ssamultaneous refer to Section 10 1 Teer Set this to perform a linear interpolation operation interrupt For details on the linear interpola
269. op warning occurred 2148 Cooling fan speed reduction warning 2149 Main circuit OFF warning Servo ON is Operation is 2152 Overload warning 2 continued continued 2153 Output watt excess warning 181 vm EH welbold WM Aioweyseyng wh m gt lt D 3 D sonsoubeiq gt epeq pue sia oweled jo sr LU UOIEWWJOJU UOISIO FX3U 20SSC H Positioning Block User s Manual 182 2 Content of warning and action 20SSC H error code 2102 2106 2116 2140 2141 2143 2144 2146 2147 2148 2149 2152 2153 web Servo amplifier LED indication Content Open battery cable warning The absolute position detection system battery voltage is low Home position setting warning The zero return could not be set to the accurate position Battery warning The voltage of the battery for the absolute position detection system is low Excessive regenerative warning There is a possibility that regenerative power may exceed the permissible regenerative power of the built in regenerative brake resistor or the regenerative brake option Overload warning There is a possibility that overload error code 2050 or overload error code 2051 may occur Absolute position counter warning Absolute position encoder pulses are faulty 13 Diagnostics 13 2 Check Error Code Action Replace the servo amplifier battery Remove the cause of drop pulses Reduce the cr
270. ormation BFM 7 BFM 107 Each input terminal status of the 20SSC H is allocated to a bit status corresponding to each of the input terminals BFM Number Bit Description Value Format Default p1 S Z S 11 3 6 Servo terminal information BFM 8 BFM 108 Each input terminal status of the servo amplifier is allocated with a bit status BFM Number Bit Description Value Format Default Becomes ON while the FLS terminal is used b1 Becomes ON while the RLS terminal is used BFM 8 BFM 108 i b2 Becomes ON while the DOG terminal is used b3 to b15 Not available 11 3 7 m code BFM 9 BFM 109 136 At m code ON the m code number is stored At no m code ON 1 is stored For details on the m code refer to Section 10 9 BFM Number Description Value Format 1 m code is OFF REES 0 to 32767 Stores the activated m code number SERIES Default X axis 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 3 Monitor Data 11 3 8 Current value of operation speed BFM 11 10 BFM 111 110 S T The current value of the operation speed is stored 3 The value becomes zero under suspension or in operation with a manual pulse input 8 Pony owe Descripti Value F t Default r n alue rorma eta _ T BEM 11 410 BEM ur Decimal Nal 2111 8110 O to 2 147 483 647 user unit ecima SE SP 1 Refer to the section show
271. ory Code Error Content decimal Value overflow The converted pulse data e g travel distance or operation speed exceeds 32 bits Setting error Center coordinate setting error When one of the following applies Start point center coordinate End point center coordinate Center coordinate is outside of the 2 147 483 648 to 2 147 483 647 PLS range Table operation start No error The table No is executed outside of the range 0 to 299 Jump No fault The jump No for the table information is set outside the range 0 to 299 Command format fault The operation information of the table information is set by a non defined number 3000 3001 3002 Control errors 3004 Current value overflow at absolute value detection system The converted pulse data of the current address exceeds 32 bits 3005 Manual pulse generator input error Interpolation error during ring operation stop or circular interpolation is performed while the ring operation is set 3006 176 No error Incorrect value range A value outside of the setting range is set to the buffer memory The zero return START and JOG commands are 4 ON at the same time Linear interpolation linear interpolation interrupt Action Change the setting value in buffer memory so that it is within the setting range Change the setting value of the corresponding buffer memory so that the converted pulse data is smaller than 32 bi
272. ources or DC I O terminals will burn out the hardware components Do not wire vacant terminals externally Doing so may damage the product When drilling screw holes or wiring make sure cutting or wiring debris does not enter the ventilation slits Failure to do so may cause fire equipment failures or malfunctions Make sure to properly wire the FX Series terminal blocks in accordance with the precautions below in order to prevent electric shock a short circuit wire breakage 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 and 0 8 Nem Do not wire or bundle the SSCNET III cables together with or lay them near a main circuit cable high voltage line 26 or load lines separate from the PLC As a guideline lay the SSCNET III cables at least 100mm 3 94 or more away from power lines Failure to do so may cause surge induction and or noise disturbance Optical fiber end face defects that are caused from contaminants may deteriorate the signal transmission rate and cause malfunction When removing the SSCNET Ill cabling from the 20SSC H port make sure to attach the protective caps to the cable connectors and ports Do not remove the SSCNET III cable from its port while the power is ON for the 20SSC H or Servo Amp Do not look directly into the optical fiber cable ends or SSCNET Ill ports as doing so may cause eye damage The laser for SSC
273. peed The actual operation speed is operation speed 1 x override setting Rotation Direction The operation direction is decided by the sign of operation speed 1 Operates in the direction which increases the current value Decelerates to stop when the value is 0 Operates in the direction which decreases the current value If the sign of the operation speed value changes the reverse operation starts after decelerating to stop Caution An abrupt change in the rotation direction may cause damage to the machine It may also cause an error through motor overload To change the rotation direction set the operation speed 1 value to 0 and wait for the motor to stop completely after decelerating to stop If the operation speed 1 value changes from positive to negative e g 100 100 the work piece decelerates to stop and the 20SSC H starts the reverse operation immediately 9 Positioning Control FX3U 20SSC H Positioning Block User s Manual 9 8 Multi Speed Operation 9 8 Multi Speed Operation UO ONPOJ U sch The multi speed operation is a positioning procedure available only in the table operation For details on controlling by table operation and changing the operation speed refer to the following sections For details on the table operation refer to Chapter 10 For details on the operation speed change refer to Section 7 6 For details on the torque limit refer to Subsection 7 8 3 wasis INQ
274. peed 1 BFM 503 502 BFM 603 602 146 This data item sets the operation speed 1 for positioning operations BFM Number Description BFM Setting range 1 to 2 147 483 647 User unit 603 602 Set the value within 1 to 50 000 000Hz in converted pulse data 1 Refer to the section shown below for details on the user units Default BFM 503 502 Refer to Section 7 9 2 2 147 483 648 to 2 147 483 647 with Variable Speed operation Note e Set the operation speed 1 lower than the maximum speed If the operation speed 1 exceeds the maximum speed the 20SSC H operates at the maximum speed e You can change the operation speed during positioning operation if changing speed is enabled when not setting the flag for speed change disable during operation For details on the operation speed change function refer to Subsection 7 6 2 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 4 Control Data 11 4 3 Target address 2 BFM 505 504 BFM 605 604 oo T This data item sets a target position or travel distance for the positioning operation distance as the target 3 address 2 8 BEMN BFM BFM Setting range 2 147 483 648 to 2 147 483 647 User unit SZ 505 504 605 604 Set the value within 2 147 483 648 to 2 147 483 647 PLS in the converted pulse data 5g 1 Refer to the section shown below for details on the user units
275. peration speed 1 for the X axis and the target address 1 maximum travel distance for the X Y axis 2 Select the linear interpolation operation interrupt stop from the X axis and Y axis operation patterns and turn ON the START command for the X axis The linear interpolation operation interrupt stop shown above will operate at the specified vector speed X axis operation speed 1 The positioning completion signal is turned OFF The START command of the Y axis is ignored 3 At interrupt input INTO ON before the XY coordinate in target address 1 the work piece decelerates to stop and the operation ends turning the positioning completion signal ON When the interrupt input INTO does not turn ON before the XY coordinate in target address 1 the work piece moves to the target address 1 and the operation ends turning the positioning completion signal ON Note e When interpolation operations are consecutively repeated in a table operation the 2OSSC H provides continuous pass operation For details on the continuous pass operation refer to Section 10 10 2 Operation speed The actual operation speed vector speed is X axis operation speed 1 x X axis override setting The operation speed 1 for the X axis can be changed using the operation speed change function except under the following conditions e During deceleration operation e When the speed change disable during operation signal is ON 96 9 Positioning Control FX3
276. pon the forward reverse rotation limit the travel decelerates to stop c Operation is conducted in the direction opposite to the zero return direction at the zero return speed high speed d Upon the DOG detection escaping from the DOG the travel decelerates to stop The operation begins again in the zero return direction at the zero return speed high speed e After DOG detection the travel decelerates to the zero return speed creep speed and after counting the zero point signal the 2OSSC H stops 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 1 Mechanical Zero Return Control 4 When the limit switch forward or reverse rotation limit in the zero return direction turns ON a The operation is conducted in the direction opposite to the zero return direction at the zero return speed high speed b Upon the DOG detection escaping from the DOG the travel decelerates to stop c The operation is conducted again in the zero return direction at the zero return speed high speed d Upon the DOG detection the travel decelerates to the zero return speed creep speed and after counting the zero point signal the 2OSSC H stops UONONPO U sch wasis INQ uoleinBiyuoo Caution If the DOG is not detected during the DOG search operations a limit error occurs LA 4 Changing the zero return speed Use the override function or operation speed change function to change the zero return speed high speed Howe
277. pper Note e The zero return command is not accepted if the zero point pass signal servo status is OFF Before executing zero return be sure to rotate the servomotor at least once to turn the zero point pass signal ON The zero point pass signal turns ON when the motor passes the motor reference position signal Z phase To execute zero return immediately after power on specify 1 Motor Z phase pass unnecessary after power on default setting at servo parameter function selection C 4 With this setting the zero point pass signal turns ON even if the motor does not pass the zero point Z phase e With the simultaneous start flag ON the X axis mechanical zero return command simultaneously starts the X and Y axes mechanical zero return operation The 20SSC H ignores the Y axis mechanical zero return command 1 Stopper type 1 operation A Acceleration time Deceleration time Speed Maximum speed Zero return speed creep Zero return speed high speed Time gt i DOG Stopped due to torque limit Zero return torque limit y ON Mechanical zero return command OFF Positioning completion OFF ON Zero return completion OFF ON Current address user oe Kg The travel value gt lt Mechanical zero point address Current address pulse 1 At the rising edge OFF ON of the mechanical zero return command the work piece moves in the zero return direction at the zero ret
278. pulse generator 1 input per axis A B phase Positioning parameter Ver 1 20 or later 25 types Ver 1 10 or later 22 types Earlier than Ver 1 10 21 types Servo parameter 50 types Ver 1 10 or later 20 types Earlier than Ver 1 10 17 types Ver 1 20 or later 31 types Earlier than Ver 1 20 26 types Created by sequence programs using FROM TO instruction etc Direct operation 1 for X and Y axes respectively Table operation 300 tables for X Y and XY axes respectively Increment Absolute PLS um 10inch mdeg 1 10 100 and 1000 fold 2 147 483 648 to 2 147 483 647 PLS Beete Hz cm min inch min 10deg min Acceleration deceleration process Trapezoidal acceleration deceleration S pattern acceleration deceleration 1 to 5 000ms Only trapezoidal acceleration deceleration is available for interpolation Starting time 1 6ms or less Interpolation l function 2 axes linear interpolation 2 axes circular interpolation 21 a uononpou wasis IND Q O Q 3 Di O jdwex4 uonosuuoy uo ejlesu Ja Duuu QI Kioway OF eyep pue uolesnByuoo Onu07 Buiuonisod Guies esojog N lo uo9 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 3 Specifications FX3U 20SSC H Positioning Block User s Manual 3 4 Input Specifications 3 4 Input Specifications 3 4 1 Input specifications S 3 Specification X axis interrupt input X INTO X
279. r supply Off i e When the service power supply of the PLC main unit is in power supply and PLC main unit Gea POWER Green use make sure that the supply capacity is not being exceeded On Power is supplied from the external EES power supply and PLC main unit H Pply TE EE When the stop command is input the positioning operation eae stops and the LED lights Off Y axis or positioning control is being X READY Executed If the LED does not light even after a stop an error has Y READY Green i occuerd Check the error and remove the cause On The X axis Y axis cannot accept operation commands 3 For details on error codes refer to the following An error has occurred on the 20SSC H Check the error code X ERROR Flashing An error has occurred EES Refer to subsection 13 2 3 and perform the action according to the content of the error On CPU error If the 2OSSC H does not restore the problem at power ON again consult a Mitsubishi Electric distributor Input LED state indications 174 He Ge Content of Error Action Indication Indication X START X DOG off DOG input OFF If the LED does not light even if input is ON check the input Y DOG wiring The 20SSC H inputs START DOG INTO and INT1 require X INTO Y INTO an external power supply 24VDC X INT1 Off INTO INT1 input OFF Y INT1 pret on X OA Manual pulse generator A phase Y A DER If the LED does not flash even at pulse input from the
280. range 0 to 1000 ms LU TI z LU TI z Select the encoder cable communication system selection S ez 15967 PCO4 SE SEESER L Encoder cable communication system selection 0 Two wire type 1 Four wire type BFM Function selection 15068 15268 EES C 2 BFM Set the output range of the zero speed signal ZSP 15070 15270 FS Setting range 0 to 10000 r min Enable or disable the motor less operation 0 Disable LI T z 1 Enable LU TI 2 Select the encoder output pulse direction and encoder pulse output Le Encoder output pulse direction selection BFM Encoder output pulse Encoder output pulse setting selection PC03 15066 15266 selection Encoder output pulse direction 0 90 degrees in CCW direction A phase 1 90 degrees in CW direction A phase Encoder output pulse setting 0 With output pulses 1 With output division ratio K337 K1000 K1000 Default PC01 Error excessive Set error excessive alarm level with rotation amount of servo motor K3 15064 15264 alarm level Setting range 1 to 200 REV KO H0000 H0000 KO K50 131 jdwex4 welbold WM Aiowey yng sonsou eiqg QO gt elle pue sia oweled jo sr LU UOIEWWJOJU UOISIO FX3U 20SSC H Positioning Block User s Manual 11 Buffer Memory Parameters amp Monitored Data BFM Number Servo Amplifier Parameter No Description X axis Y axis Select a signal to be output to
281. ration z on i Used to activate m code axis DRV X T e e e EE a aa ES EECH et ee EATE ENERE peels zepeng PE a Performs interrupt 1 speed constant E ea aed Sa ETE Den Ya ORLY 8 laaan m E tt EAR os Ee wennen SE er SE Es i 156 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 5 Table Information Position D f informa Speed Circular m code 5 Type Abbrevi Setting information information informa S ation value tion SE p ay ie E V v V DINT_X vie t ft Interrupt 2 speed Makara ra 1 2 constant quantity vais DINT Y Performs interrupt 2 speed constant E E EE ER E m feed two table quantity feed SS rows are used 7 SS Interrupt stop INT_Y Performs interrupt stop operation v 1 3 2 Multi speed SSC axis DRV X X v operation multiple S Performs multi speed operation table rows are Y axis DRVC_Y s used gt Performs linear interpolation operation Linear interpolation LIN INT Performs linear interpolation p p ope interrupt stop operation interrupt stop Z Circular interpolation e T center CW direction o Circular interpolation 3 S A CCW i wi center CCW direction Performs circular interpolation B Circular interpolation operation p radius CW direction i Circul terpolation 3 g ircular in 5 V radius CCW direction 7 Mechanical zero Vans DRVZ V Performs mechanical zero return 7 return operation v
282. ration speed change disable flag is ON For the override function refer to Subsection 7 6 1 For the operation speed change function refer to Subsection 7 6 2 J01 Uu09 jenue 01 U0D Buluonisog QO uoesedo ap 19 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 1 Mechanical Zero Return Control 8 1 5 Related parameters control data and monitor data BFM number Item Description Positioning parameters Zero return direction BFM 14000 b10 BFM 14200 b10 EH ON The current value increasing direction OFF The NO contact for the DOG input logic of Operation 20SSC H parameter 1 Ee GE GE ON The NC contact for the DOG input logic of 20SSC H Zero point signal OFF The rear edge of DOG count start timing GE GE ON The front edge of DOG Ring counter setting OFF Disables the ring operation Ver 1 10 or later Beene GE ON Enables the ring operation Sudden stop selection OFF Normal deceleration stop STOP command Ge Ge ON Sudden stop Ver 1 20 or later Sudden stop selection OFF Normal deceleration stop Operation software limit aau SR ON Sudden stop parameter 2 Ver 1 20 or later Sudden stop selection OFF Normal deceleration stop PLC limit BFM 14002 b6 BFM 14202 b6 ON Sudden stop Ver 1 20 or later Sudden stop selection l i Servo amplifier BFM 14002 b7 BFM 14202 b7 E eh aye limit ON Sudden stop Ver 1 20 or later Maximum speed BFM 14009 14008 BFM 1
283. rator FP 1 X axis table information CR ExProgram FX3U 20SSC H X axis Table information module 0 Command code Incremental address specification Operation at multi step speed Address PLS 2000000 Speed Hz 1000000 Operation at multi step speed SO00000 2000000 Operation at multi step speed 3000000 1200000 End 2 Y axis table information Time 10ms Jump No RK ExProgram FX3U 20SSC H Y axis Table information module 0 Command code Incremental address specification Operation at multi step speed Address PLS 2000000 Speed Hz 1000000 Operation at multi step speed 5000000 2000000 Operation at multi step speed 3000000 1200000 End Time D 0ms Jump No m code H zi tio 11002 11003 165 mmh Ausl Jong esch D To 3 D a O Z gt elle pue sia oweled jo sr LU UOIEWUJOJU UOISIO 12 Program Example FX3U 20SSC H Positioning Block User s Manual 12 4 Sequence Program 12 3 5 Circular interpolation operation table operation simultaneous Circular interpolation operation works in table operation In this example circular interpolation operation functions by the drive to increment 1 Operation details Y axis A 1 000 000 2 000 000 4 000 000 J gt X axis 2 000 000 XY axis e When turnig X007
284. rce type iim Te en LBE Manual pulse generator differential output type 30 5 Wiring FX3U 20SSC H Positioning Block User s Manual 5 4 Connecting the SSCNET III Cabling 5 4 Connecting the SSCNET Ill Cabling UONONPO U 5 4 1 Cautions for installing the SSCNET Ill cabling SSCNET III cables are made from optical fiber If force is applied to the optical fiber in the form of major shock lateral pressure haul or sudden bending or twisting the inside will distort or break and optical transmission will cease Carefully read the precautions in this manual when handling the SSCNET III cable s For detailed specifications on the SSCNET III cable s or details on the assembling procedure refer to the following manual wasis INQ uoleinBiyuoo Refer to the MR J3 LJ B Servo Amplifier Instruction Manual LA 1 Minimum bend radius om Make sure to lay the SSCNET III cable s with a bending radius greater than the minimum bend radius 3 3 If the SSCNET III cable s has a smaller radius than the minimum bend radius optical transmission is Sm interrupted and may cause malfunction SSCNET Ill cable Minimum bend radius mm inches MR J3BUSL M 25 0 98 4 o Reinforced film cable 50 1 97 A Eeer er Code part 25 0 98 Z S Reinforced film cable 50 1 97 z Bees Code part 30 1 18 2 Tension If tension is applied to the SSCNET Ill cable s the chance of transmission loss increases due to externa
285. remains ON The 20SSC H simultaneously starts the X and BFM 618 b10 Y axes operation at the X axis start command ON OFF The speed and target position change commands during positioning control operation are valid ON The speed and target position change commands during positioning control operation are invalid BFM 618 b5 Simultaneous start BFM 518 b10 command In process speed change prohibition BFM 518 b12 BFM 618 b12 Monitor data Setting range 2 147 483 648 to 2 147 483 647 user units Setting range 2 147 483 648 to 2 147 483 647PLS Current address user BFM 1 0 BFM 101 100 Current address pulse BFM 3 2 BFM 103 102 Received target speed Ver 1 20 or later BFM 27 26 BFM 127 126 2 147 483 648 to 2 147 483 647 user unit 1 For user units refer to the following Refer to Section 7 9 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 3 Manual pulse generator operation 8 3 Manual pulse generator operation UONONPO U 8 3 1 Outline of manual pulse generator operation 1 Operation Ben When selecting the MPG manual pulse generator operation in the operation patterns the 20SSC H 28 e Q operates by the MPG input 53 Speed Manual pulse generator Maule eee s peg a erator wv a generator gt EES operation valid 3 SF Pulse output 3 Pulse output as I I O Time S I I I gt Operation pattern selection ON
286. ress changes are not allowed during 2 speed positioning operation Target address change that requires change of the operation direction at the 1st speed during 1st speed 4 operation Target address change that requires change of the target address at the 2nd speed during 1st speed a operation Buum QI Kioway OF Di CH 5 a3 oe r D o O 5 Dune 10j g Oomu03 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 53 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 7 Ring counter setting Ver 1 10 or later 1 1 Ring counter setting Ver 1 10 or later This function causes the current address to perform the ring operation within the range from 0 to the preset ring counter upper limit value The current address user performs the ring operation within the range from 0 to the preset ring value The current address pulse performs the ring operation within the range from O to the preset ring value converted into pulses For the related parameters control data and monitor data refer to Section 7 11 1 How to make the current address perform the ring operation Specify the following settings Setting item Description Ring counter setting ON Set the ring value for the current address Ring counter upper limit value 1 to 2 147 483 646 User unit 2 Applicable positioning operations e Operations allowing the ring operation e Operations not allowing the ring op
287. ro point For details on the stopper type mechanical zero return refer to Subsection 8 1 4 1 Mechanical zero return operation The mechanical zero return operation varies according to the zero return mode For details refer to the following For details on the DOG type mechanical zero return refer to Subsection 8 1 2 For details on the data set type mechanical zero return refer to Subsection 8 1 3 For details on the stopper type mechanical zero return refer to Subsection 8 1 4 1 Turn the mechanical zero return command from OFF to ON to execute mechanical zero return 2 After calibrating the zero point the mechanical zero point address from the positioning parameters is written to the current address 3 The zero return complete flag turns ON Note e The zero return command is not accepted if the zero point pass signal servo status is OFF Before executing zero return be sure to rotate the servomotor at least once to turn the zero point pass signal ON The zero point pass signal turns ON when the motor passes the motor reference position signal Z phase To execute zero return immediately after power on specify 1 Motor Z phase pass unnecessary after power on default setting at the servo parameter function selection C 4 With this setting the zero point pass signal turns ON even if the motor does not pass the zero point Z phase e With the simultaneous start flag ON the X axis mechanical zero return command s
288. s on the operation speed change function refer to Subsection 7 6 2 11 4 5 Override setting BFM 508 BFM 608 This data item sets an override value for the override function For details on the override function refer to Subsection 7 6 1 BFM Number Description Setting range 1 to 30000 x 0 1 11 4 6 Torque output setting value BFM 510 BFM 610 Default BFM 508 This data item sets an output torque for the torque limit function For details on the torque limit function refer to Subsection 7 8 3 BFM Number Description BFM 610 Setting range O to 10000 x 0 1 Default BFM 510 147 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 4 Control Data 11 4 7 Speed change value BFM 513 512 BFM 613 612 This data item sets the velocity change value For details on the operation speed change function refer to Subsection 7 6 2 BFM Number Description BFM Setting range 1 to 2 147 483 647 User unit 1 2 613 612 Set the value within 1 to 50 000 000 Hz in converted pulse data 1 Refer to the section shown below for details on the user units Default X axis BFM 513 512 Refer to Section 7 9 2 2 147 483 648 to 2 147 483 647 with Variable Speed operation 11 4 8 Target position change value Address BFM 515 514 BFM 615 614 This data item sets the
289. sary to change the positioning parameters enable command BFM 519 619 b4 from OFF to ON when changing positioning parameters during operation Changing the positioning parameters enable command must be done during stop in order for the changes to become valid For details on the Positioning parameters enable command refer to Subsection 11 4 11 For X axis BFM 14000 to 14199 For Y axis BFM 14200 to 14399 Caution Do not use unlisted BFMs for changing values not described in this section 11 1 1 Operation parameters 1 BFM 14000 BFM 14200 BFM Number Bit Description Default System of units user unit b1 60 00 motor system b1 b0 01 mechanical system b1 b0 10 composite system b1 b0 11 composite system User unit setting b3 b2 00 um cm min b3 b2 01 10inch inch min b3 b2 10 mdeg 10deg min b3 b2 11 not available Position data magnification Position data can be multiplied by 1 10 100 and 1000 times b5 b4 00 1 time b5 b4 01 10 times b5 b4 10 100 times b5 b4 11 1000 times b1 b2 b3 b4 b5 b6 to b9 Not available BFM BFM Zero return direction ae H0000 14000 14200 Wi 1 In zero return starts operation toward the increasing current value direction 0 In zero return starts operation toward the decreasing current value direction For details on the zero return operation refer to Section 8 1 Acceleration deceleration mode 1 Operates in approximate S shaped a
290. sary to connect the 20SSC H with the FX3uc PLC SS e The optional FXON 65EC FXON 30EC and FX2N CNV BC are necessary to lengthen the extension cable e The number of I O points occupied by the 20SSC H is eight Be sure that the total of the number of I O S points occupied UO points of the main unit power extension unit and extension block and the number of points occupied by the special function block does not exceed the maximum number of I O points of the D PLC oam For the maximum number of I O points of the PLC refer to the following manual a FX3u Hardware Edition 5 FX3uc Hardware Edition Japanese document only S 2 3 Applicable PLC e Model name Applicability g Ver 2 20 from the first product and later si FER Up to 8 blocks can be connected 4 Ver 2 20 from products manufactured in May 2005 with SER No 55 and later 9 FX3uc Series PLC Up to 7 blocks can be connected OD The version number can be checked by monitoring the last three digits of D8001 SE 1 An FX2NC CNV IF or FX3UC 1PS 5V is necessary to connect the 20SSC H with the FX3uc PLC el S 19 3 Specifications FX3U 20SSC H Positioning Block User s Manual 3 1 General Specifications 3 Specifications DESIGN PRECAUTIONS ak DANGER e Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure Otherwise malfunctions may cause serious accidents 1
291. se electric shock e Before modifying or disrupting the program in operation or running the PLC carefully read through this manual and the associated manuals and ensure the safety of the operation An operation error may damage the machinery or cause accidents e When verifying the Zero return JOG operation and positioning data thoroughly read this manual to ensure safe system operation Failure to do SO may cause an operation failure that leads to a serious accident or that causes damage to the machinery STARTUP AND MAINTENANCE PRECAUTIONS CAUTION Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric distributor Turn off the power to the PLC before connecting or disconnecting any extension cable Failure to do so may cause equipment failures or malfunctions Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause equipment failures or malfunctions Display module peripheral devices expansion boards and special adapters Terminal blocks and I O extension units blocks 158 12 Program Example FX3U 20SSC H Positioning Block User s Manual 12 1 Reading Writing Buffer Memory 1 U S a D 3 O lt 12 1 Reading Writing Buffer Memory 12 1 1 Assigned unit number 1 Assigned unit number The unit number for the 20SSC H is automatically assigned No 0 to No 7 starting
292. section 11 4 11 1 speed positioning Interrupt 1 speed constant quantity feed 2 speed positioning Interrupt 2 speed constant quantity feed Interrupt stop Variable speed operation Manual pulse generator operation Linear interpolation Linear interpolation interrupt stop Table operation individual Table operation simultaneous Reciprocal movement instruction Ver 1 10 or later b15 to b12 Not available BFM 521 BFM 621 ee start 9 to 299 KO subsection 11 4 13 187 Operation pattern HOOOO subsection 11 4 12 selection BFM 520 BFM 620 UOIJEWOJU UOISIO gJ 188 Appendix A LIST OF PARAMETERS AND DATA counterclockwise FX3U 20SSC H Positioning Block User s Manual Appendix A 2 Control Data Table Control command Model code control command enabled Stores positioning parameters of X axis BFM 14000 to BFM 14199 to flash memory Stores positioning parameters of Y axis BFM 14200 to BFM 14399 to flash memory Stores table information of X axis BFM 1000 to BFM 3999 to flash memory Stores table information of Y axis BFM 4000 to BFM 6999 to flash memory Stores table information of XY axes BFM 7000 to BFM 12999 to flash memory Stores servo parameters of X axis BFM 15000 to BFM 15199 to flash memory Stores servo parameters of Y axis BFM 15200 to BFM 15399 to flash memory Not available BEM a ee Santer comment Initializes positioning parameters of X axis BFM 14000 t
293. stop For details on the stop command refer to Section 7 4 SE Set this to perform a deceleration stop while outputting pulses for 618 b2 BFM 518 Forward rotation forward rotation ais H0000 limit LSF For details on the forward rotation limit LSF refer to Subsection 7 3 2 Set this to perform a deceleration stop while outputting pulses for Reverse rotation reverse rotation Leyal limit LSR For details on the reverse rotation limit LSR refer to Subsection 7 3 2 Forward rotation Pulses for forward rotation are output while this is set D se JOG For details on the JOG operations refer to Section 8 2 Reverse rotation Pulses for reverse rotation are output while this is set re JOG For details on the JOG operations refer to Section 8 2 148 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 4 Control Data Se umber Setinattom f Suome woe geg escription Detection etau p X axis Y axis Number 2 Y axis When this is set mechanical zero return operation is started S Mechanical zero 5 For details on the mechanical zero return Edge return command refer to Section 8 1 Ce ER EE 12 Relative Absolute An absolute address is used moves to the specified target my address based on the base position Si CG address a Level 32 p A relative address is used moves by a specified amount ons specification e of
294. surge induction are likely to take place As a guideline lay the control line at least 100mm 3 94 or more away from the main circuit or high voltage lines 2 Ground the shield wire or shield of the shielded cable at one point on the PLC However do not ground them at the same point as the high voltage lines Install module so that excessive force will not be applied to the built in programming connectors power connectors or I O connectors Failure to do so may result in wire damage breakage or PLC failure DISPOSAL PRECAUTIONS A N CAUTION e Please contact a certified electronic waste disposal company for the environmentally safe recycling and disposal of your device TRANSPORTATION PRECAUTIONS CAUTION e The PLC is a precision instrument During transportation avoid impacts larger than those specified in the manual of the PLC main unit Failure to do so may cause failures in the PLC After transportation verify the operations of the PLC 3 1 General Specifications For items not listed below specifications are equivalent to those of the PLC main unit For general specifications refer to the manual of the PLC main unit Refer to FX3U Hardware Edition Refer to FX3uc Hardware Edition Japanese document only Item Specification Dielectric withstand voltage 500V AC for one minute Conforming to JEM 1021 Insulation resistance 5MQ or more by 500V DC Megger Between all terminals and ground terminal FX3U 20SSC H Posi
295. t bending or twisting Failure to do so may crack the glass fiber and cause signal transmission loss Note that a short SSCNET III cable is highly susceptible to twisting e Make sure to use the SSCNET Ill cable within the allowable temperature range as shown in subsection 5 1 1 Do not expose the SSCNET III cabling to fire or excessive heat Avoid contact with high temperature components such as the servo amplifier radiator regenerative brake and servo motor e Do not force the SSCNET III cable into a bend radius smaller than the minimum allowable bend radius Refer to subsection 5 4 1 Precautions for the SSCNET III cable wiring e When connecting the SSCNET III cable to the cable port place the cabling inside a cable duct or bundle it as close to the 20SSC H as possible to avoid the cable from applying its own weight on the SSCNET III connector e Do not bundle or bring the SSCNET III cable in contact with other cables or with vinyl tape that contains plasticizing agents i e Soft Polyvinyl Chloride PVC Polyethylene resin PE Teflon Fluoro resin Nylon Plasticizing agents may infiltrate the SSCNET III cable and deteriorate the optical fiber thereby causing the wire to break and become damaged Use flame resistant acetate cloth adhesive tape e g 570F by Teraoka Seisakusho Co Ltd 5 Wiring FX3U 20SSC H Positioning Block User s Manual 1 Cable to Be Used Applicable Connector and Wire Size a WIRING PRECAUTIONS A N CAUTION e E
296. t data Change the program in the PLC main unit so that positioning control start commands do not overlap Check the center coordinate setting and set so that a circle is formed Change the table operation start No to 0 to 299 Change the jump No for the table information to O to 299 Change the operation information of the table information Turn the power OFF or perform a mechanical zero return or data set type zero return Change the pulse generator input numerator and pulse generator input denominator settings Reset the ring operation setting before executing the interpolation 13 Diagnostics FX3U 20SSC H Positioning Block User s Manual 13 2 Check Error Code Error Error category Code Error Content Action decimal Servo end error 4002 The in position signal did not turn ON during the Increase the servo end determination time setting servo end determination time operation start or during operation Servo ready error 4003 The servo motor ready signal did not turn ON at Check the servo motor and encoder cable e Check the wiring of the forward reverse rotation Forward rotation limit reverse rotation limit error limit limit switches and the program e The forward rotation limit 1 LSF and reverse Check the external signal selection positioning 4004 rotation limit 1 LSR are ON parameter settings e The forward rotation limit 2 FLS and reverse Retract from the forward reverse ro
297. tandard external cable 20 to 70 C 4 D MR J3BUSO M B_ 30 40 50m Long flex 4 to 158 F For long distance cable 1 O indicates the cable length 015 0 15m 03 0 3m 05 0 5m 1 1m 3 3m 5 5m 10 10m 20 20m 30 30m 40 40m 50 50m uomeIgieu Ja 5 1 2 Power supply cable The cable for connecting the 20SSC H power supply connector with the power supply is described 6 S 3 ejep pue uoneinByuoo Model name Length Remarks FX2NC 100MPCB Accessory of 20SSC H Preparing the power cable by yourself SE CD KEEN 3 0N 3 EN CG To prepare the power cable by yourself use the following wiring material and connector ek i r Specifications model name z a Wire size AWG 24 0 2mm2 Crimp terminal 50083 8014 Manufactured by Molex Incorporated 8 Ge For main unit FX3UC 2OSSC H 51030 0330 Manufactured by Molex Incorporated ousin j For input extension block FX2NC 51030 0230 Manufactured by Molex Incorporated 3 je a o Ov SS S si d uoesedo ap 27 5 Wiring FX3U 20SSC H Positioning Block User s Manual 1 Cable to Be Used Applicable Connector and Wire Size 5 1 3 Input cable and terminal block The cable for connecting the 20SSC H input connector with external devices is described 1 Input connector The input connector of 20SSC H complies with MIL C 83503 Procure the input cable while referring to the following 1 Applicable connector c
298. taneous permissible speed in the fixed parameters e Ifthe servo gain cannot be set to a proper value 2031 Reduce the load inertia moment ratio servo 31 parameter of the servo motor Refer to subsection 11 2 2 Review the acceleration deceleration time constant e Change the servo motor 2032 Overcurrent E _ e Correct the wiring N 32 e The current flow is higher than the permissible Change the servo amplifier current of the servo amplifier e Adopt noise suppression measures Overvoltage e Use the regenerative brake option e The converter bus voltage exceeded e Correct the setting of the regenerative brake Servo amplifier 400VDC option servo parameter Refer to subsection 11 2 1 e Change the regenerative brake option leads e Correctly connect the regenerative brake option leads 2033 e Replace the servo amplifier 33 e Fora wire break of the built in regenerative brake resistor change the servo amplifier e For a wire break of the regenerative brake option change the regenerative brake option e Add the regenerative brake option or increase the Capacity e Review the power supply e Correct the wiring 3 5ms e Change the cable e Adopt noise suppression measures Command frequency error e Review the operation program e The input pulse frequency of the command pulse Change the servo system controller 2035 is too high e Adopt noise suppression measures on the I O 35 signals Receive error 1 e Connect
299. tation Type Programmable Controller Open Type Equipment Models MELSEC FX3u series manufactured from December 1st 2005 FX3uU 20SSC H Standard Remark EN61131 2 2003 Compliance with all relevant aspects of the standard Programmable controllers e Radiated Emissions Equipment requirements and tests e Mains Terminal Voltage Emissions e RF immunity Fast Transients ESD Conducted Power magnetic fields Caution to conform with EC Directives Attach the ferrite cores to the power supply and the input cables 2O0SSC H side Attach the ferrite core approximately 200 mm or less from connector on the 20SSC H side e The ferrite core should use the following equivalent product Power supply cable needs at least 1 turn Model name ZCAT2035 0930 Manufactureed by TDK co Ltd 20SSC H Ferrite cores Input cable Model name ZCAT3035 1330 Manufactureed by TDK co Ltd 200 mm 0 78 or less External equipment Power supply cable Input cable FX3U 20SSC H Positioning Block User s Manual Compliance with EC directive CE Marking Functions and Use of the Manual FX3U Series Regarding wiring and installation of PLC Hardware manual Supplied Manual User s Manual Hardware Edition Additional Manual FX3U 20SSC H FX3U 20SSC H SE Regarding specification and parts names Installation Manual Supplied Manual How to install use the device Operation Manual Supplied Manua
300. tation limit by rotation 2 RLS limit are ON JOG operation or manual pulse generator input operation ZS e Correct the target address SE UMIL Error e Set the current value to within the software limit 4005 The current address exceeds the software upper and lower limits range by JOG operation manual pulse generator input operation 4006 The servo amplifier emergency switch is ON Check the servo motor and encoder cable ABS error e Make sure to use a servo motor with absolute The current position could not be established position detection e Make sure to use the battery for the servo motor External errors 4007 to retain the origin position e Make sure that the absolute position detection system in servo parameters is valid e Check the servo motor and encoder cable Illegal origin data 4008 The backup data for restoring the absolute position Execute a zero return is illegal Encoder error 1 During operation the variation of the encoder Check the servo motor and 4009 current value changes as follows EE Encoder current value variation 1 7 ms gt motor oe ee Seen meee ee 480 described in the manual for the servo amplifier Encoder error 2 During operation the following condition occurred Check the servo motor and 4010 encoder current value encoder unprocessed data encoder cable 8 e To reduce noise follow the servo amplifier PLS feedback current value servo amplifier SE ma
301. te the positioning parameters enable command Without activating the command changes will not be reflected in actual operation Changing the positioning parameters enable command must be done during stop in order for the changes to become valid 2 Transferring servo parameters a The following servo parameters are transferred to the servo amplifier when activating the servo parameter transfer command Auto tuning mode Position loop gain Auto tuning response Speed loop gain Feed forward gain Speed integral compensation Ratio of load inertia moment to servo motor inertia moment Speed differential compensation Model loop gain b During positioning operations the servo parameter transfer command is ignored c Transferring servo parameters in the status information is ON during the transfer For details on the status information refer to Subsection 11 3 17 150 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 4 Control Data 11 4 12 Operation pattern selection BFM 520 BFM 620 BFM Number Bit n z X axis Number escription Detection efault 1 speed Set this to perform 1 speed positioning operation positioning For details on the 1 speed positioning operation operation refer to Section 9 2 Set this to perform an interrupt 1 speed constant quantity Interrupt 1 speed feed constant quantity feed For details on the interrupt 1 speed c
302. ternally cut off all phases of the power supply Failure to do so may cause electric shock Before modifying or disrupting the program in operation or running the PLC carefully read through this manual and the associated manuals and ensure the safety of the operation An operation error may damage the machinery or cause accidents When verifying the Zero return JOG operation and positioning data thoroughly read this manual to ensure safe system operation Failure to do so may cause an operation failure that leads to a serious accident or that causes damage to the machinery STARTUP AND MAINTENANCE PRECAUTIONS AN CAUTION Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric distributor Turn off the power to the PLC before connecting or disconnecting any extension cable Failure to do so may cause equipment failures or malfunctions Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause equipment failures or malfunctions Display module peripheral devices expansion boards and special adapters Terminal blocks and I O extension units blocks 33 EH uononpou wasis N uoieJnsiuoo LA Uo2euu07 9jdwex 3 uomeIgieu Ja 5 ejep pue uolneinByuoo Aua Onu07 Buiuonisod Guies asojog N lo uo9 yenueyy OO 01 U0D Buuonisog QO uoesedo ap 6
303. the analog monitor 1 0 0 0 Analog monitor 1 M01 output selection Servo motor speed 8V at the maximum E Torque 8 V at the maximum Servo motor speed 8V at the maximum JP Torque 8 V at the maximum Current command 8 V at the maximum Speed command 8V at the maximum Droop pulses 10 V 1 x 102 PLS Droop pulses 10 V 1 x 10 PLS Droop pulses 10 V 1 x 104 PLS Droop pulses 10 V 1 x 10 PLS Feedback position 10 V 1 x 108 PLS Feedback position 10 V 1 x 10 PLS S Feedback position 10 V 1 x 108 PLS Bus voltage 8 V 400 V BFM BFM 15072 15272 Analog monitor 1 FS output IO D PS oO OO d OO OP Ga MA CH A Encoder pulse unit B Outputs 8 V as the maximum torque C Can be used for the absolute position detection system Select a signal to be output to the analog monitor 2 0 0 0 L pnatog monitor 2 M02 output selection Servo motor speed 8V at the maximum Torque 8 V at the maximum Servo motor speed 8V at the maximum Torque 8 V at the maximum Current command 8 V at the maximum Speed command 8V at the maximum Droop pulses 10 V 1 x 102 PLS Droop pulses 10 V 1 x 10 PLS Droop pulses 10 V 1 x 104 PLS Droop pulses 10 V 1 x 10 PLS Feedback position 10 V 1 x 108 PLS S Feedback position 10 V 1 x 10 PLS
304. the control line at least 100mm 3 94 or more away from the main circuit or high voltage lines 2 Ground the shield wire or shield of the shielded cable at one point on the PLC However do not ground them at the same point as the high voltage lines Install module so that excessive force will not be applied to the built in programming connectors power connectors or I O connectors Failure to do so may result in wire damage breakage or PLC failure WIRING PRECAUTIONS ak DANGER e Make sure to cut off all phases of the power supply externally before attempting installation or wiring work Failure to do so may cause electric shock WIRING PRECAUTIONS A N CAUTION e Use class D grounding grounding resistance of 100Q or less with wire as thick as possible on the grounding terminal of the 20SSC H However do not connect the ground terminal at the same point as a heavy electrical system e Make sure to attach the terminal cover offered as an accessory before turning on the power or initiating operation after installation or wiring work Failure to do so may cause electric shock e Make sure to connect cables and wires to the power signal inputs of the 20SSC H as described in this manual Connecting AC power cables with DC power sources or DC I O terminals will burn out the hardware components e Do not wire vacant terminals externally Doing so may damage the product e When drilling screw holes or wiring make sure cutting or wiring debris
305. the servo parameter a update stop command BFM 519 619 b11 is ON SS Note 5 A sequence program can change the servo parameters stored in the buffer memory in the 20SSC H and write updated values to the flash memory while the servo parameter update stop command BFM 519 619 b11 is d ON uoesedo ap 39 7 Before Starting Positioning Operation FX3U 20SSC H Positioning Block User s Manual 7 1 Note on Setting Parameters re 7 Before Starting Positioning Operation DESIGN PRECAUTIONS ak DANGER e Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure Otherwise malfunctions may cause serious accidents 1 Most importantly have the following an emergency stop circuit a protection circuit an interlock circuit for opposite movements such as normal vs reverse rotation and an interlock circuit to prevent damage to the equipment at the upper and lower positioning limits Note that when the PLC CPU detects an error such as a watchdog timer error during self diagnosis all outputs are turned off Also when an error that cannot be detected by the PLC CPU occurs in an input output control block output control may be disabled External circuits and mechanisms should be designed to ensure safe machinery operation in such a case Note that when an error occurs in a relay triac or transistor output device the output could be held either
306. the speed loop K337 15028 15228 compensation Setting range 1 to 10000 x 0 1 ms BFM PB11 Speed differential Set the differential compensation K980 15029 15229 compensation Setting range 0 to 1000 Set the notch frequency of the machine resonance suppression filter 1 BFM PB13 Machine resonance Set the frequency in accordance with the mechanical resonance K4500 15031 15231 suppression filter 1 frequency Setting range 100 to 4500 Hz Set the ratio of load inertia moment to servo motor inertia moment K70 Setting range 0 to 3000 x0 1 times LU LU TI TI i LI TI z Specify the notch shape used for the machine resonance suppression filter 1 Notch shape selection 1 o jo TR arm arm pare Jm E Di 15032 15232 selection 1 e Notch Depth Notch Width 0 Deep 40db 0 Standard ET 14db 1 7 Sa 8db 2 3 Shallow 4db 3 Wide Set the notch frequency of the machine resonance suppression filter 2 BFM BFM PB15 Machine resonance Set the frequency in accordance with the mechanical resonance K4500 15033 15233 suppression filter 2 frequency Setting range 100 to 4500 Hz 129 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 2 Servo Parameters BFM Number Servo Amplifier Description Default X axis Y axis Parameter No Specify the notch shape used for the machine resonance suppression filter 2 Notch s
307. ting Selecting the following patterns in the operation information requires two table rows e 2 speed Positioning operation e Interrupt 2 speed constant quantity feed In the case of X axis Y axis table information Position Speed Operation m code Table No information information information information One positioning operation is performed using 0 50 7 f a two table rows 1 When only 1 table row is set the next table row table No 11 is judged to be the 2nd speed of table No 10 and the operation is performed using that table information 2 Position Speed Circle EE o f 5800 10000 sooo eooo 9 1 3000 5000 1000 1200 9 o 500 1000 500 600 ri 2 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 4 Current Position Change 10 4 Current Position Change This operation information item changes the current address user pulse value to the one specified in the position address information 10 5 Absolute Address Specification This operation information item sets the position data for subsequent table operations to be based on an absolute address system with a defined 0 0 point Note e When table operation begins the position information data is handled by the absolute address specification default To use position information data with relative addresses the operation information of positioning control must be set before
308. ting range 1 to 10000 x 0 1 11 1 19 Zero return torque limit BFM 14040 BFM 14240 Default X axis BFM 14038 This parameter sets the torque limit for the mechanical zero return operation creep speed and magnifies the servo motor torque during the zero return operation creep speed in the range from 0 1 to 1000 0 For details on the torque limit refer to Subsection 7 8 3 BFM Number BFM 14240 Setting range 1 to 10000 x 0 1 11 1 20 External input selection BFM 14044 BFM 14244 Description Default X axis BFM 14040 BFM Number Bit Description Default Sets the FLS RLS signals from the servo amplifier to be used not used For instructions on how to use forward reverse rotation limit refer to Section 7 3 1 Use Use forward reverse rotation limits from the servo amplifier and those from the PLC 0 Not use Use only forward reverse rotation limits from the PLC For details on the operation parameters 1 refer to Subsection 11 1 1 Sets the DOG signals from the servo amplifier to be used not used For details on the mechanical zero return refer to Section 8 1 1 Use Use DOG signals from the servo amplifier b1 0 Not use reese EE Use DOG signals from the 20SSC H SE The b12 in command parameter1 sets the 20OSSC H DOG signal b2 to b7 Not available Sets the FLS RLS signal logic of the servo motor 1 NC contact servo amplifier ER
309. tion operation interrupt stop Table operation Set this to perform an individual table operation refer to Section 10 1 Set this to perform a simultaneous table operation Table operation dee leen Set this to perform a reciprocal movement instruction SUENAN refer to Section 9 12 1 Timing of the detection 1 Level detection activated when the bit is set or cleared 2 Edge detection activated at OFF to ON transition Note e The selected operation is started with a START input or START flag e The program must be created so that the operation pattern selection is executed before the START input or the START command e A positioning operation cannot be started even by the START input or START command when all bits of the operation patterns are OFF or multiple bits are ON An error occurs if multiple bits are set to ON 151 jdwex4 ech welbod WM Aiowey yng soysoubeiq GA gt epeq pue sia oweled Jo SI LU UOIEWWJOJU UOISIO 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 4 Control Data 11 4 13 Table operation start number BFM 521 BFM 621 This data item sets a table information number for the table operation For details on the table operation refer to Chapter 10 BFM Number Description BFM 621 Setting range 0 to 299 Default BFM 521 11 4 14 Control command enable disable BFM 522 This data ite
310. tioning Block User s Manual 3 Specifications 3 2 Power Supply Specification Power Supply Specification Item Specification Power supply voltage 24V DC 20 15 Ripple p p within 5 Permitted instantaneous External i sewer failure ime Operation continues when the instantaneous power failure is shorter than Sms Supply Powerconsimpion Powertse D Internal power PLC power supply 100mA 5V DC supply Performance Specification Item Number of control axes Backup Applicable PLC No of occupied I O points Connectable servo amplifier Servo bus Scan cycle Control input Parameter Control data Monitor data Positioning program Specification 2 axes Positioning parameters servo parameters and table information can be saved to flash memory Write count Maximum 100 000 times FX3U FX3UC PLC An FX2NC CNV IF or FX3UC 1PS 5V is necessary to connect the 20SSC H with the FX3UC PLC A maximum of 8 units blocks can be connected with the FX3U PLC A maximum of 7 units blocks can be connected with the FX3UC PLC 8 points input or output whichever may be counted MELSERVO MR J3 LJB Maximum 2 amplifiers can be connected Standard cord length Station to station maximum 20m 65 7 Long distance cord length Station to station maximum 50m 164 SSCNET III 1 77ms Interrupt input 2 inputs INTO and INT1 per axis DOG 1 input per input axis START input 1 input per axis Manual
311. travel from the current address START command Set this to start a positioning operation selected from the Edge operation patterns Starts X and Y positioning operations simultaneously 1 3 when a START command for X axis becomes active b10 2 Simultaneous includes JOG and zero return operations Geh 5 START flag X and Y positioning operations start individually by their respective START commands 4 BFM BFM excludes interpolation and XY table operations H0000 8 518 618 Set this to disable m codes M GOUERE For details on the m code refer to Section 10 9 gt Change Set this to disable an operation speed change command and commands during target position change command during operations Se b12 Level ei Ai 7 operations are So disabled T Speed change Changes the operation speed to the speed preset as a velocity e command during change value during operation a b13 ae Edge positioning For details on the operation speed change operation refer to Subsection 7 6 2 B Target position Changes the target address to the address preset as a target 55 b14 change command position change value address or speed during operations Edde 3 2 during positioning For details on the target address change g a operation refer to Subsection 7 6 3 S 1 Timing of detection 1 Level detection activated when the bit is set or cleared 2 Edge detection activated at OFF to ON transition 2 The
312. tric a Incorrect external wiring heer 5 SP Power of the specified voltage is not Sener H g e After disconnecting cables other than the power cable turn the power ON being supplied to the power supply l B again and check for changes in the state If no improvement is obtained terminal me rae Consult a Mitsubishi Electric distributor To The power cable is broken D 13 3 2 BATT LED on off z LED state PLC state Action On The battery voltage is low Immediately replace the battery off The battery voltage is higher than the value with D8006 Norma 183 13 Diagnostics FX3U 20SSC H Positioning Block User s Manual 13 3 Diagnostics on the PLC Main Unit 13 3 3 ERROR LED on flashing off LED state PLC state Action 1 Stop the PLC and turn the power ON again If the ERROR LED goes out a watchdog timer error may have occurred Adopt any of the following measures Review the program Set the maximum value D8012 lower than the watchdog timer value Check that the input used for input interrupt or pulse catch is not being abnormally turned ON and OFF in one scan Check that the frequency of the pulse duty 50 input to the high speed counter is not exceeding the specified range Add WDT instructions A watchdog timer error may have occurred Add some WDT instructions to the program and reset the watchdog On or the hardware of the PLC may be timer several times in one scan damaged Change t
313. ty feed control and also the linear interpolation and circular interpolation operations For positioning control refer to Chapter 9 UONOBUUOD 9jdwewx 2 Connection to servo amplifier by SSCNET Ill is possible The 20SSC H connects directly to the MELSERVO our company s servo amplifier MR J3 B via SSCNETIII e Connection using the SSCNET III cable between the 20SSC H and the servo amplifier reduces wiring Maximum length is 50m uomeIgieu Ja e With SSCNET III cables optical communication connections are less susceptible to electromagnetic noise etc from the servo amplifier e Setting the servo parameters on the 20SSC H side and writing reading the servo parameters to from the servo amplifier using SSCNET III is possible Buum QI e Current values and error descriptions from the servo amplifier can be checked with the buffer memories of the 20SSC H 3 Easy application of absolute position detection system e The servo amplifier with absolute position detection enables the absolute positioning detection system e Once the zero position is established the zero return operation at power startup is not necessary ou ejep pue uolesnByuoo e The absolute position system allows establishment of the zero position by the data set type zero return In this case wiring for near point DOG etc is not required 4 Easy maintenance 7 Various data such as positioning data parameters etc can be saved to the flash memory
314. um speed BFM 14009 14008 BFM 14209 14208 Setting range 1 to 2 147 483 647 user units 1 Torque limit setting BFM 14038 BFM 14238 Setting range 1 to 10000 x0 1 OFF The FLS RLS signal of the servo amplifier is FLS RLS signal not used selection PANA O SSES ON The FLS RLS signal of the servo amplifier is External signal used selection OFF The NO contact the FLS RLS signal logic of the FLS RLS signal servo amplifier logic GE ES ON The NC contact for the FLS RLS signal logic of the servo amplifier Ring counter upper limit value PE Ver 1 10 or later BFM 14101 14100 BFM 14301 14300 Setting range 1 to 2 147 483 646 user unit Control data Torque output value BFM 510 BFM 610 Setting range 1 to 10000 x0 1 Forward rotation In an MPG operation the work piece stops Ze BFM 518 b2 BFM 618 b2 immediately with this bit ON during forward rotation i limit LSF Operation output command 1 In an MPG operation the work piece stops BFM 618 b3 immediately with this bit ON during reverse rotation output 3 Q Q O 5 Description wasis N uoleinBiyuoo LA Uo2euu07 9jdwex 3 uongIgieu Ja Reverse rotation limit LSR BFM 518 b3 Specify the magnification for input pulses Setting range 1 to 1 000 000 Specify the dividing rate for input pulses Setting range 1 to 1 000 000 Sets the MPG response Setting range 1 to 32767 Sets the MPG input selection
315. uonisog QO uoesedo ap 81 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 3 Manual pulse generator operation e The operation speed is proportional to the frequency of pulse strings from the manual pulse generator according to the manual pulse input magnification In addition the override setting is invalid Manual pulse generator Servo amplifier 2 phase pulses 20SSC H Brenn Motor Frequency within 100kHz manual pulse input A phase inputpuls sx magnification numerator a manual pulse input Command magnification denominator gt B phase EE output pulses The following equation provides output pulses to 20SSC H a e Manual pulse input magnification numerator Input pulses frequency pulse quantity X manual pulse input from manual pulse generator magnification Manual pulse input KRETSCH denominator Ifthe pulse generator magnification is smaller than 1 1 one pulse is output for every multiple input pulse Therefore the frequency of output pulses is low while the pulse quantity is small If the manual pulse input magnification is larger than 1 1 multiple pulses are output for each input pulse Therefore the frequency of output pulses is high while the pulse quantity is large If the manual pulse input magnification is larger than 1 1 the motor rpm for each input pulse becomes larger causing rough positioning accuracy e Pulse generator magnification response
316. urn operation o The 20SSC H ignores the Y axis mechanical zero return command E Precautions when setting the DOG input logic An incorrect DOG input logic state will disable the correct operation Pay close attention when changing the d 0 initial setting value S S 71 72 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 1 Mechanical Zero Return Control 2 Setting items With DOG type mechanical zero return specify the following settings For details on the setting items refer to Subsection 8 1 5 Setting item Description Zero return mode Specify the DOG type zero return mode Zero return speed high speed Enter the zero return speed high speed Zero return speed creep Specify the post DOG input zero return speed creep Zero return direction Specify the zero return direction the current value increase decrease direction DOG input selection Select the DOG input servo amplifier 20SSC H to be used DOG input logic Specify the logic NO NC contact of the DOG input to be used Zero point signal count start timing Specify the timing front rear edge of DOG to start counting the zero point signal Zero point signal count Specify the zero point signal count Mechanical zero point address Specify the current address user unit written after the mechanical zero return completion 3 DOG search function The zero return with DOG search is executable with forward reverse rotation limit1
317. urn speed high speed 2 Atthe DOG input the 20SSC H decelerates the work piece to the zero return speed creep 3 The work piece hits the stopper and the work piece stops when the servomotor torque reaches the zero return torque limit value 4 After the stop point the 20SSC H writes the mechanical zero point address specified in the positioning parameters to the current address 5 The 20SSC H turns the positioning completion flag ON and sets turns ON the zero return complete flag DOG position Install the DOG at a position far enough from the stopper for the work piece to decelerate to the zero point return speed creep 74 8 Manual Control FX3U 20SSC H Positioning Block User s Manual 8 1 Mechanical Zero Return Control zs 2 Stopper type 2 operation A Acceleration time Speed lt gt S Maximum speed Zero return speed creep D SE ei SE es u Time T gt GE 5 Zero return torque limit Stopped due to torque limit lt gt 3 ON Mechanical zero return command OFF oF ON zi Positioning completion OFF 92 ON S Zero return completion OFF Current address user l X lt The travel value gt Mechanical zero point address Current address pulse 1 Upon the rising edge OFF ON of the mechanical zero return command the work piece moves in the zero return direction at the zero return speed creep 2 After the work piece hits the stopper the work pi
318. ution of the motor Mechanical system units and 5 Composite system units require this setting Motor system units ignores it 3 For details on the system of units refer to Section 7 9 e BEN Number Description Default gt BFM 14006 14206 S 11 1 5 Maximum speed BFM 14009 14008 BFM 14209 14208 3 LU This parameter sets the maximum speed for each operation For details on the maximum speed refer to Section 7 2 BFM Number Description Default X axis BFM Setting range 1 to 2 147 483 647 user unit 14009 The value must be within the range from 1 to 50 000 000 Hz when converted to pulse K4 000 000 14008 data 1 UOIEWWJOJU UOISIO 1 Refer to the section shown below for details on the user units and converted pulse data Refer to Section 7 9 Note Set JOG speed zero return speed high speed zero return speed creep operation speed 1 and operation speed 2 at or below the maximum speed If the operation speed exceeds the maximum speed the 20SSC H operates at the maximum speed Cautions in setting Set the maximum speed at or below the maximum rotation speed of the servo motor The formula to calculate the rotation speed of the servo motor from the pulse Converted pulse data is as follows For details on the converted pulse data refer to Section 7 9 Servo motor rotational speed r min Operation speed converted into pulse Hz x 60 resolution per revo
319. value Ring value 359 999 359 999 Target address 1 210 000 0 Monitor value age Target address 1 Current address ee 180 000 SS 00 00 SS o address 180 000 e The rotation direction is forward when the target address sign is and reverse when the target address sign is e The 20SSC H can position the motor to a value larger than the preset ring value Cautions e When specifying absolute addresses set a value within the range from 0 to the ring value Setting a value outside the setting range will cause an error e When changing the current address using the current address change function or when setting the zero point address set a value within the range from 0 to the ring value Setting a value outside the setting range will cause an error e The software limit setting is invalid during the ring operation e Performing interpolation during the ring operation causes error 7 8 Other functions The 20SSC H has an absolute position detection system torque limit function servo ON OFF servo check functions and others The parameter setting and sequence program enable each function 7 8 1 Servo ready check function The servomotor ready signal completion of preparation is checked during startup of operation or during operation With no servo ready signal a servo ready error occurs stopping the operation For servomotors with no servo ready signal disable the servo ready check function For related param
320. value within 2 147 483 648 to 2 147 483 647PLS in converted pulse data Sets m codes v y v e 0 to 9999 10000 to 32767 ag e g DRV or DRVZ No processing m code End EN Speed Circle Setting informatio p m code Type Symbol information information value n information ye eT STEE ERT SE EE a EE ES EE EE ETH CR KARIES lt S SS SS feed k H 5 Sh SO AN 3 ee EE EC WESTER RECH 106 10 Table Operation FX3U 20SSC H Positioning Block User s Manual 10 1 Outline of Table Operation Position i informatio Speed Circle ilype Symbol EN information information _ m code vaiue d Information yy ee e Ee xas Jorvax Fett Pele 2 12 1 2 speed positioning operation rans prvy o 7 E e vi BE See mama s Z ae he RETES kend bes S et mnt NEE UO ONPOJ U sch wasis INQ x KX sS uoieJnsiuoo SIS lt S LA DE er reien Je In 77 4 53 lt S K XY axis DINT_XY 12 Seel Lee A RER EE EA EEN Interrupt stop Ve a ee eNO EE E RE RER Multi speed operation ES te NEEN requires multiple tables used Y axis DRVCY 17 v vf f Linear interpolation NT es a Linear interpolation interrupt stop NINT 20 Ill Circular interpolation center CW direction RENE Pv vw fe fv vw Circular interpolation center CCW direction ecwi 22 v v vw fv v Circular interpolation radius CW direction w Tse ee ee ee Circular interpolation
321. vel time of the operation is 50 ms or less When the travel time of the operation is interpolation time constant x 2 or less When the preparation for the next operation information pre reading is not in time Kioway OF eyep pue uolesnByuoo 2 Content of continuous pass operation e Consecutive interpolation instructions do not stop and inflection points become smooth curves The radius of curvature varies depending on the interpolation time constant D A larger interpolation time constant makes a larger radius of curvature oam 3 0N b b b b O e To draw a precise locus apply circular interpolation operations Soo W D D D D D D D D e When the speeds between each interpolation operation differ the velocity becomes a composite speed e a with the one at the next step Y axis Inflection point i 8 Di v Curve 8 2 S 8 H X axis ov Interpolation time constant SS Speed sl When this period becomes lager oo A the radius of curvature becomes larger Time D SS OD O CH D DI CH sl 117 11 Buffer Memory Parameters amp Monitored Data FX3U 20SSC H Positioning Block User s Manual 11 1 Positioning Parameters o 11 Buffer Memory Parameters amp Monitored Data 11 1 Positioning Parameters The positioning parameters to set speed and units of measurement The BFMs in positioning parameters are readable writable It is neces
322. ver the speed does not change when the operation speed change disable flag is ON For the override function refer to Subsection 7 6 1 For the operation speed change function refer to Subsection 7 6 2 UOOBUUOD jdwex4 8 1 3 Data set type mechanical zero return uo ejlesu Ja Use the data set type mechanical zero return procedure to set the position moved by JOG or manual pulse generator operation as a zero point Therefore the work piece does not travel at the mechanical zero return command This zero return procedure is frequently used for equipment without a DOG or for transfer lines without a mechanical zero point Buum QI 1 Operation 1 With JOG or manual pulse generator operation the work piece is moved to the desired zero point 2 Turn ON the mechanical zero return command 3 The mechanical zero point address as specified in the positioning parameters becomes the current address Kowar O 4 The zero return complete flag In the data set type mechanical zero return mode the positioning completion flag does not turn ON ejep pue uolesnByuoo Note D e The zero return command is not accepted if the zero point pass signal servo status is OFF eRe Before executing zero return be sure to rotate the servomotor at least once to turn the zero point pass ogo signal ON The zero point pass signal turns ON when the motor passes the motor reference position signal 2E Z phase To execute zero return immed
323. vious page From previous page T RUN monitor M8000 lt Always OFF Y axis M code ON _ FNC232 D109 K11003 Y axis m code OFF command RUN monitor M8000 Y axis change command in operation disable M132 In this example always OFF 1 M133 in positioning control sonsou eig OO Y axis forget position change command in positioning control In this example always OFF Always OFF A Write the X and Y axis operation command to 20SSC H oop Soo 30 RUN monitor D M8000 Ge Gy g X axis operation command 2 vam Uess M20 to M35 BEM 518 a k 12 Y axis operation command B k am luoicere M120 to M135 BFM 618 lt So Read X axis monitor data from 20SSC H S S O RUN monitor 7 M8000 D 12 voco X axis current address user D BFM 1 0 D1 D0 N 12 X axis error BFM No N vacs BFM 6 gt D6 Ea 12 uoco X axis m code No X axis operation speed Ta UO G1 o oo present value X axis number of the table in F K V une pe operation DS 12 X axis error code DS vocz mm BEM 29 gt D29 D 12 une re X axis motor rotation speed D BFM 53 52 D53 D52 F DP 12 X axis servo status DP unge D64 BEM 64 D64 K e uoces Des X axis servo warning code BFM 68 D68 Bo 12 ue me X axis motor feedback position Bo BFM 71 70 D71 D70 To next page To next page 171 12 Program Example FX3U 20SSC H Positioning Block User s Manual 12 4 Sequence Program From previous page From previous page R
324. voltage lines 33 2 Ground the shield wire or shield of the shielded cable at one point on the PLC However do not ground them at 40 the same point as the high voltage lines e Install module so that excessive force will not be applied to the built in programming connectors power connectors or I O connectors Failure to do so may result in wire damage breakage or PLC failure 2 INSTALLATION PRECAUTIONS e Make sure to cut off all phases of the power supply externally before attempting installation or wiring work Failure to 24 do so may cause electric shock GHEE zeien Precautions uD Read these precautions before using CAUTION Connect the extension cables peripheral device cables input output cables and battery connecting cable securely to their designated connectors Unsecured connection may cause malfunctions Use the product within the generic environment specifications described in section 3 1 of this manual Never use the product in areas with excessive dust oily smoke conductive dusts corrosive gas salt air CID H2S SO2 or NO2 flammable gas vibration or impacts or exposed to high temperature condensation or rain and wind If the product is used in such conditions electric shock fire malfunctions deterioration or damage may occur Do not touch the conductive parts of the product directly to avoid failure or malfunctions Install the product securely using a DIN rail or mounting screws 24 Install the
325. xposing the SSCNET III cable to solvent oil may deteriorate the optical fiber and alter its mechanical characteristics When using the SSCNET III cable near solvent oil take protective measures to shield the SSCNET III cable e When storing the SSCNET III cable attach the protective cap to the 20SSC H connector port for dust protection e Do not remove the protective cap from the 20SSC H connector port until just before connecting the SSCNET Ill cable Attach the protective cap to the 20SSC H connector port after removing the SSCNET Ill cable to protect the internal optical device from exposure to dust e Keep the protective cap and protective tubing clean and always store them in the provided plastic bag when removing them from the hardware devices e When replacing the 20SSC H or when sending the product to a local distributor for repair make sure to attach the protective cap to the 20SSC H connector port Failure to do so may damage the internal optical device and require optical device replacement uononpou wasis N uoleinBiyuoo LA 5 1 Cable to Be Used Applicable Connector and Wire Size jdwex4 uonosuuoy 5 1 1 SSCNET Ill cable The SSCNET III cable for connecting 20SSC H with the servo amplifier is described Model Cable length Flex Lif cna a Application and remarks MR J3BUSO IM 0 15 0 3 0 5 1 3m Standard 40 to 85 C For standard in panel code MR J3BUSO M A 5 10 20m Standard 40 to 185 F For s
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