Description of Manual (Built-in Positioning Function)
1. Outline
This chapter describes a general outline of the positioning modules. Note that the general outputs of the FX3S/FX3G/FX3GC/FX3U/FX3UC PLC (transistor output) and FX3U-2HSY-ADP high-speed output special adapter are needed for positioning control.
1.1 Features
1) The general outputs of the FX3S/FX3G/FX3GC/FX3U/FX3UC PLC (transistor output) can control up to 3 axes*1 for positioning operations.
2) If one high-speed output special adapter (FX3U-2HSY-ADP) is connected, the adapter can control up to 2 axes for the positioning operation. If 2 high-speed output special adapters are connected, the adapters can control up to 4 axes for the positioning operation.
3) The FX3S/FX3G/FX3GC/FX3U/FX3UC PLC positioning instructions (applied instructions) are used for positioning control.
4) The general outputs of the FX3S/FX3G/FX3GC/FX3U/FX3UC PLC (transistor output) can output a pulse train of 100 kHz.
5) The FX3U-2HSY-ADP high-speed output special adapter (differential line driver system) can output a pulse train of 200 kHz.
6) The FX3U-2HSY-ADP high-speed output special adapter can switch the output method between "pulse train + direction" method and "forward/reverse rotation pulse train" method.
System
...
For a detailed description of the input/output specifications, refer to Section 2.4 and Section 2.5.
... To check the PLC model, refer to Section 1.3.
Points and references
...
1-axis 2-axes 3-axes
3 axes , maximum ... Number of controllable axes
For examples of connection, refer to the Appendix.
... For a detailed description of the positioning instructions, refer to Chapters 6 to 11.
If FX3U-2HSY-ADP adapters are connected to the FX3U PLC:
... For a detailed description of the input/output specifications, refer to Section 2.4 and Section 2.5.
... To check the PLC model, refer to Section 1.3.
...
1-axis 2-axes 3-axes FX3U PLC
4 axes, maximum
For examples of connection, refer to the Appendix.
...
For a detailed description of the positioning instructions, refer to Chapters 6 to 11.
4-axes FX3U-2HSY -ADP
... Number of controllable axes Servo amplifier (drive unit)etc.
Servo amplifier (drive unit)etc.
2nd 1st
*1
*1. 2 independent axes in the FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
If the general outputs of the FX3S/FX3G/FX3GC/FX3U/FX3UC PLC are used:
FX3S/FX3G/FX3GC/FX3U/FX3UC
PLC (transistor output)
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition
Built-in Positioning Functions 1.2 Setup Procedure for Positioning Control
1.2 Setup Procedure for Positioning Control
DESIGN PRECAUTIONS
• 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).
2) Note that when the PLC CPU detects an error, such as a watchdog timer error, during self-diagnosis, all outputs are turned off. Also, when an error that cannot be detected by the PLC CPU occurs in an input/output control block, output control may be disabled.
External circuits and mechanisms should be designed to ensure safe machinery operation in such a case.
3) Note that when an 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.
DESIGN PRECAUTIONS
• Do not bundle the control line together with or lay it close to the main circuit or power line. As a guideline, lay the control line at least 100mm (3.94") or more away from the main circuit or power line.
Noise may cause malfunctions.
• Install module so that excessive force will not be applied to the built-in programming port, power connectors, I/O connectors.
Failure to do so may result in wire damage/breakage or PLC failure.
WIRING PRECAUTIONS
• 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 or damage to the product.
• 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.
WIRING PRECAUTIONS
• Connect the AC power supply to the dedicated terminals specified in the manual of the PLC main unit.
If an AC power supply is connected to a DC input/output terminal or DC power supply terminal, the PLC will burn out.
• Connect the DC power supply to the dedicated terminals specified in the manual of the PLC main unit.
If an AC power supply is connected to a DC input/output terminal or DC power supply terminal, the PLC will burn out.
• Do not wire vacant terminals externally.
Doing so may damage the product.
• Perform class D grounding (grounding resistance: 100 or less) to the grounding terminal on the FX3S/FX3G/ FX3U PLC main unit with a wire 2 mm2 or thicker.
Do not use common grounding with heavy electrical systems (refer to the manual of the PLC main unit).
• Perform class D grounding (grounding resistance: 100 or less) to the grounding terminal on the FX3GC/FX3UC PLC main unit with a wire as thick as possible.
Do not use common grounding with heavy electrical systems (refer to the manual of the PLC main unit).
• When drilling screw holes or wiring, make sure cutting or wire debris does not enter the ventilation slits.
Failure to do so may cause fire, equipment failures or malfunctions.
• Install module so that excessive force will not be applied to I/O connectors.
Failure to do so may result in wire damage/breakage or PLC failure.
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition Built-in Positioning Functions
A
Common Items
Functions Positioning
B
Built-inApx.
Connection Example 1.2 Setup Procedure for Positioning Control• Connect input/output cables securely to their designated connectors.
Loose connections may cause malfunctions.
• Make sure to properly wire the terminal block in accordance with the following precautions.
Failure to do so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions or damage to the product.
- The disposal size of the cable end should follow the dimensions described in the manual.
- Tightening torque should follow the specifications in the manual.
- Tighten the screws using a Phillips-head screwdriver No.2 (shaft diameter 6mm (0.24”) or less). Make sure that the screwdriver does not touch the partition part of the terminal block.
• Make sure to properly wire to the terminal block (European type) in accordance with the following precautions.
Failure to do so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions or damage to the product.
- The disposal size of the cable end should follow the dimensions described in the manual.
- Tightening torque should follow the specifications in the manual.
- Twist the end of strand wire and make sure that there are no loose wires.
- Do not solder-plate the electric wire ends.
- Do not connect more than the specified number of wires or electric wires of unspecified size.
- Affix the electric wires so that neither the terminal block nor the connected parts are directly stressed.
• Make sure to properly wire to the FX Series terminal blocks in accordance with the following precautions.
Failure to do so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions or damage to the product.
- The disposal size of the cable end should follow the dimensions described in the manual.
- Tightening torque should follow the specifications in the manual.
- Tighten the screws using a Phillips-head screwdriver No.2 (shaft diameter 6mm (0.24”) or less). Make sure that the screwdriver does not touch the partition part of the terminal block.
STARTUP AND MAINTENANCE 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, cut off all phases of the power supply externally.
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.
STARTUP AND MAINTENANCE PRECAUTIONS
• Do not disassemble or modify the PLC.
Doing so may cause fire, equipment failures, or malfunctions.
For repair, contact your local Mitsubishi Electric representative.
• Turn off the power to the PLC before connecting or disconnecting any extension cable.
Failure to do so may cause equipment failures or malfunctions.
• Turn off the power to the PLC before attaching or detaching the following devices.
Failure to do so may cause equipment failures or malfunctions.
- Peripheral devices, expansion boards, and special adapters - Input/output extension units/blocks and FX Series terminal blocks WIRING PRECAUTIONS
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition
Built-in Positioning Functions 1.2 Setup Procedure for Positioning Control
Setting of PLC and servo amplifier
•Selection of output method
(high-speed output special adapter)
•Setting of command pulse input method and electronic gear (servo amplifier)
Specifications on incorporated positioning functions
Refer to Chapter 2
System configuration and unit selection
Wiring
Refer to Chapter 2 and Appendix.
Built-in positioning function
Examples of practical programs
Refer to Division A
"Common Items".
Operation test
Refer to Chapter 5
If the motor does not operate or does not operate properly, refer to Chapter 13
"Troubleshooting."
Refer to Chapter 12.
Outline
Refer to Chapter 1
Setting of PLC side
Setting of servo amplifier parameters Refer to Chapter 4.
Motor specifications
•Performance specifications
•Motor capacity
Programming
Refer to Chapters 6 to 11.
Motor specifications
Refer to the manual of each motor.
Related devices
Refer to Chapter 4.
Outline of system
•Version numbers of compatible PLCs
•Version numbers of compatible programming tools
•Assignment of input/output numbers
Specifications
•General specifications, power supply specifications, performance specifications
•Input/output specifications
System configuration
•Unit selection
Wiring
•Wiring of power supply, input, and output lines
•Example of connection to servo amplifier
Related devices
•Maximum speed, zero return speed
•Acceleration time, deceleration time
Operation test
•Creation of program for operation test
•Motion check
(forward rotation, reverse rotation) Programming
•Details on the positioning instructions
Examples of programs
(forward rotation, reverse rotation, zero return)
•Relay ladder program
•Step ladder program
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition Built-in Positioning Functions
A
Common Items
Functions Positioning
B
Built-inApx.
Connection Example 1.3 Version Numbers of Compatible PLCs1.3 Version Numbers of Compatible PLCs
1.3.1 Manufacturer's serial number check method
The year and month of production of the product can be checked on the nameplate, and "LOT" indicated on the front of the product.