Description of Manual (Built-in Positioning Function)
4. Zero return (ZRN) instruction
For this instruction, it is necessary to specify the maximum speed, bias speed, acceleration time, and deceleration time using the related devices in addition to the zero return speed and the creep speed specified by the operand of the instruction.
For operation of ZRN instruction, refer to Section 6.1.
For details on each setting item, refer to Subsection 4.2.5 to Subsection 4.2.8.
Maximum speed Initial value:
100,000 Hz
Zero return speed Initial value: 50,000 Hz Deceleration time
Bias speed Initial value: 0 Hz
Acceleration time
DOG Creep speed
Initial value:
1,000 Hz
CLEAR signal Zero-phase signal (X000 to X007)*1
Front end Rear end
1 ms or less 20 ms + 1 scan time (ms) Current value register = "0"
Initial value:
100 ms
Current position Initial value:
100 ms
20 ms + 1 scan time (ms)
Zero return speed
Deceleration time Acceleration time
DOG Creep speed
CLEAR signal Rear end Front end
1 ms or less
S2• S1•
Maximum speed Initial value:
100,000 Hz Initial value:
100 ms
Bias speed Initial value: 0 Hz
Current position Initial value:
100 ms
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Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds
4.2.2 Setting of Output Pulse Frequency (DVIT, PLSV, DRVI, and DRVA Instructions)
Set the output pulse frequency using the operand of each instruction. In this case, the setting range depends on the instruction (see the following table).
However, even in the setting range of each instruction, if the set value of the output pulse frequency is more than the maximum speed value, the operation will be performed at the maximum speed. If the set value of the output pulse frequency is less than the bias speed value, the operation will be performed at the bias speed.
For operation of DVIT instruction, refer to Chapter 9.
For operation of PLSV instruction, refer to Chapter 10.
For operation of DRVI or DRVA instruction, refer to Chapter 8.
*1. If FX3U-2HSY-ADP is not used, note that the frequency value cannot be more than 100,000 Hz.
*2. If FX3U-2HSY-ADP is not used, note that the frequency value cannot be less than -100,000 Hz.
*3. Only available for FX3U/FX3UC PLCs.
Caution:
• To use the main unit (transistor output), set the output pulse frequency (absolute value) to 100,000 Hz or less.
If more than 100,000 Hz is output from the transistor output of the main unit to perform operation, it may cause PLC failure.
• Set the output pulse frequency so that the output pulse frequency value is less than the maximum frequency value of the servo amplifier (driver unit).
Instruction Operand
Setting range
Instruction format 16-bit operation
(Hz)
32-bit operation (Hz) DVIT
instruction*3 10 to 32767 10 to 200,000*1
PLSV instruction
-32768 to -1, +1 to 32767
-200,000*2 to -1, +1 to 200,000*1
DRVI
instruction 10 to 32767 10 to 200,000*1
DRVA
instruction 10 to 32767 10 to 200,000*1
S2 DVIT S1• S2• D1• D2•
S PLSV S• D1• D2•
S2 DRVI S1• S2• D1• D2•
S2 DRVA S1• S2• D1• D2•
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Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds
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Common Items
Functions Positioning
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Built-inApx.
Connection Example4.2.3 Setting of Zero Return Speed (DSZR/ZRN Instruction)
Use the related device or the operand of the instruction to set the zero return speed.
The zero return speed setting range is shown in the following table.
Be sure to set the zero return speed so that the relation with the other speeds can be "bias speed zero return speed maximum speed". If the set value of the zero return speed is more than the maximum speed value, operation will be performed at the maximum speed.
For operation of DSZR instruction, refer to Section 6.2.
For operation of ZRN instruction, refer to Section 6.3.
*1. If FX3U-2HSY-ADP is not used, note that this value cannot be more than 100,000 Hz.
*2. Y002 is not available in FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
*3. Y003 is available only when two high-speed output special adapters are connected to the FX3U PLC.
Caution:
• When using the transistor outputs of the main unit, set the pulse frequency for the zero return speed to less than 100 kHz.
If a pulse higher than 100 kHz is output from a transistor output of the main unit to perform an operation, PLC failure may occur.
• Set the zero return speed so that the set value of the zero return speed is less than the maximum frequency value of the servo amplifier (driver unit).
Instruction
Operand or related device
Setting range
Instruction format 16-bit
operation (Hz)
32-bit operation
(Hz) DSZR
instru-ction
=Y000 D8347,D8346
10 to 200,000*1 Initial value: 50000
=Y001 D8357,D8356
=Y002*2 D8367,D8366
=Y003*3 D8377,D8376
ZRN instruction 3276710 to 10 to
200,000*1
D1
DSZR S1• S2• D1• D2•
D1 D1 D1
S1 ZRN S1• S2• S3• D•
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition
Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds
4.2.4 Setting of Creep Speed (DSZR/ZRN Instruction)
Use the related device or the operand of the instruction to set the creep speed.
The creep speed setting range is shown in the following table.
Be sure to set the creep speed so that the relation with the other speeds is "bias speed creep speed 32767 Hz*1".
For operation of DSZR instruction, refer to Section 6.2.
For operation of ZRN instruction, refer to Section 6.3.
*1. If the maximum speed is set to less than 32767 Hz, note that this value (32767 Hz) will automatically be changed to the maximum speed.
*2. Y002 is not available in FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
*3. Y003 is available only when two high-speed output special adapters are connected to the FX3U PLC.
4.2.5 Setting of Maximum Speed
Set the maximum speed to determine the upper limit value for the output pulse frequency and the zero return speed.
Use the devices shown in the following table to determine the maximum speed for each pulse output destination device.
*1. Y002 is not available in FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
*2. Y003 is available only when two high-speed output special adapters are connected to the FX3U PLC.
Caution:
• To use the main unit (transistor output), set the output pulse frequency (absolute value) to 100,000 Hz or less.
If more than 100,000 Hz is output from the transistor output of the main unit to perform operation, it may cause PLC failure.
• Set the output pulse frequency so that the output pulse frequency value is less than the maximum frequency value of the servo amplifier (driver unit).
Instruction
Operand or related device
Setting range
Instruction format 16-bit
operation (Hz)
32-bit operation
(Hz)
DSZR
instru-ction
=Y000 D8345
10 to 32767 Initial value: 1000
=Y001 D8355
=Y002*2 D8365
=Y003*3 D8375
ZRN instruction 10 to 32767
Pulse output destination device
Maximum
speed Initial value
Setting range Transistor output of main
unit
High-speed output special adapter
Y000 D8344,D8343
100,000Hz
10 to 100,000 Hz:
If the value is set to 9 Hz or less, the maximum speed will be automatically set to 10 Hz.
10 to 200,000 Hz:
If the value is set to 9 Hz or less, the maximum speed will be automatically set to 10 Hz.
Y001 D8354,D8353
Y002*1 D8364,D8363 Y003*2 D8374,D8373
D1
DSZR S1• S2• D1• D2•
D1 D1 D1
S2 ZRN S1• S2• S3• D•
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Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds
A
Common Items
Functions Positioning
B
Built-inApx.
Connection Example4.2.6 Setting of Bias Speed
To control the stepping motor using each positioning instruction, set the bias speed considering the resonance range of the stepping motor and the self-starting frequency.
Use the devices shown in the following table to determine the bias speed for each pulse output destination device.
*1. Y002 is not available in FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
*2. Y003 is available only when two high-speed output special adapters are connected to the FX3U PLC.
4.2.7 Setting of Acceleration Time
Set the time required for acceleration from the bias speed to the maximum speed.
If the output pulse frequency is less than the maximum speed, the actual acceleration time will be shorter than the set acceleration time.
If the variable speed pulse output (PLSV) instruction is used, the set acceleration time is only valid during acceleration/deceleration (M8338 = ON)*3.
Use the devices shown in the following table to determine the acceleration time for each pulse output destination device.
*1. Y002 is not available in FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
*2. Y003 is available only when two high-speed output special adapters are connected to the FX3U PLC.
*3. Only available for FX3UC PLC Ver. 2.20 or later and FX3S/FX3G/FX3GC/FX3U PLC.
Pulse output
destination device Bias speed Initial value Setting range
Y000 D8342
0Hz
1/10 or less of maximum speed:
If the value is set to more than 1/10 of the maximum speed, the bias speed will be automatically set to 1/10 of the maximum speed.
Y001 D8352
Y002*1 D8362
Y003*2 D8372
Pulse output destination device
Acceleration
Time Initial value Setting range
Y000 D8348
100ms
50 to 5,000 ms:
If the value is set to 49 ms or less, the acceleration time will be automatically set to 50 ms. If the value is set to 5,001 ms or more, the acceleration time will be automatically set to 5,000 ms.
Y001 D8358
Y002*1 D8368
Y003*2 D8378
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition
Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds
4.2.8 Setting of Deceleration Time
Set the time required for deceleration from the maximum speed to the bias speed.
If the output pulse frequency is less than the maximum speed, the actual deceleration time will be shorter than the set deceleration time.
If the variable speed pulse output (PLSV) instruction is used, the set deceleration time is only valid during acceleration/deceleration (M8338 = ON)*3.
Use the devices shown in the following table to determine the deceleration time for each pulse output destination device.
*1. Y002 is not available in FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
*2. Y003 is available only when two high-speed output special adapters are connected to the FX3U PLC.
*3. Only available for FX3UC PLC Ver. 2.20 or later and FX3S/FX3G/FX3GC/FX3U PLC.
Pulse output destination device
Deceleration
Time Initial value Setting range
Y000 D8349
100ms
50 to 5,000 ms:
If the value is set to 49 ms or less, the deceleration time will be automatically set to 50 ms. If the value is set to 5,001 ms or more, the deceleration time will be automatically set to 5,000 ms.
Y001 D8359
Y002*1 D8369
Y003*2 D8379
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Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands
A
Common Items
Functions Positioning
B
Built-inApx.
Connection Example4.3 Various Special Relays for Operation Commands
4.3.1 Forward Rotation Limit and Reverse Rotation Limit
When using the servo motor, the forward rotation limit and the reverse rotation limit can be set for the servo amplifier.
To use the DOG search function for zero return, or to set the forward rotation limit or the reverse rotation limit for operations other than zero return using the PLC, set the forward rotation limit 1 (LSF) and reverse rotation limit 1 (LSR) for the PLC so that these limit switches can be activated before the forward rotation limit 2 or reverse rotation limit 2 of the servo amplifier.
As shown in the following figure, interlock the forward rotation limit 1 (LSF) with the forward limit relay, and the reverse rotation limit 1 (LSR) with the reverse limit relay. If the forward limit relay or the reverse limit relay turns ON, the motor will perform operation depending on the output instruction as shown in the following table.
Use the relays shown in the following table to determine the forward rotation limit and the reverse rotation limit for each pulse output destination device (Y000, Y001, Y002, Y003).
*1. Y002 is not available in FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
*2. Y003 is available only when two high-speed output special adapters are connected to the FX3U PLC.
*3. M8338 is supported in the FX3UC PLC Ver. 2.20 or later and FX3S/FX3G/FX3GC/FX3U PLC. If an FX3UC
PLC is used and its version is below Ver. 2.20, the PLSV instruction will perform operation in the M8338 = OFF mode (will perform operation without acceleration/deceleration).
*4. Only available for FX3U and FX3UC PLCs.
Note:
If the forward rotation limit (LSF) and the reverse rotation limit (LSR) cannot be set, observe the following items:
• Even if forward rotation limit 2 or reverse rotation limit 2 turns ON and the servo motor is automatically stopped, the positioning instruction currently being activated cannot recognize the motor being stopped.
Therefore, pulses will be continuously output until the instruction is deactivated.
• The DOG search function of the DSZR instruction (zero return instruction with DOG search function) cannot be used.
Pulse output destination
device
Forward limit relay
Reverse limit relay
Corresponding instruction and stop PLSV instruction
(M8338*3 =OFF)
DSZR, DVIT*4, ZRN, PLSV(M8338*3 =ON), DRVI,
and DRVA instructions
Y000 M8343 M8344
If the corresponding rotation limit relay is turned on, the pulse output (operation) will immediately stop.
If the corresponding rotation limit relay is turned on, the speed will decelerate, and the operation will stop.
Y001 M8353 M8354
Y002*1 M8363 M8364
Y003*2 M8373 M8374
Reverse rotation limit 2
(Servo amplifier side) Forward rotation limit 2
(Servo amplifier side) Forward rotation limit 1
(Programmable controller side)
LSF Reverse rotation limit 1
(Programmable controller side)
LSR
Reverse rotation Forward rotation Servo motor
Forward rotation limit 1
M8343 Forward limit relay for Y000 Reverse rotation limit 1
M8344 Reverse limit relay for Y000
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Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands
4.3.2 Immediate Stop of Pulse Output (Pulse Output Stop Command Relay)
During the execution of a positioning instruction, if the pulse output stop command relay is turned on, the pulses being output will immediately stop.
To output pulses again, turn off the pulse output stop command relay, deactivate (turn off) the positioning instruction, and then activate the instruction again (turn it on again).
The following table shows the pulse output stop command relay of each pulse output destination device.
*1. Y002 is not available in FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
*2. Y003 is available only when two high-speed output special adapters are connected to the FX3U PLC.
Note:
Use these relays only if immediate stop is absolutely needed to avoid dangers. Since the motor is
immediately stopped, use of these relays may damage the system. For normal STOP operation (decelerate to stop), use the "instruction OFF" function or "forward/reverse limit relay."
However, note that if the PLSV instruction is used together with the "instruction OFF" function or the "forward/
reverse limit relay" in the M8338 = OFF mode (operation without acceleration/deceleration), operation will immediately stop.
4.3.3 Designation of Zero Return Direction (DSZR/ZRN Instruction)
Use the DSZR instruction (zero return instruction with DOG search function) or ZRN instruction (zero return instruction) to specify the zero return direction*1. The zero return direction depends on the instruction.
For operation of DSZR instruction, refer to Section 6.2.
For operation of ZRN instruction, refer to Section 6.3.
*1. If the DSZR instruction (zero return instruction with DOG search function) is used, zero return will be performed in the direction of the first operation.