USER'S MANUAL - Positioning Control Edition FX3G/FX3U/FX3UC SERIES PROGRAMMABLE CONTROLLERS Transistor Output FX3G Main Unit (Sink Output/ Source Output) FX3U Main Unit (Sink Output/ Source Output) FX3UC Main Unit (Sink Output/ Source Output) Line Driver Output FX3U-2HSY-ADP
Safety Precautions (Read these precautions before use.) Before installation, operation, maintenance or inspection of this product, thoroughly read through and understand this manual and all of the associated manuals. Also, take care to handle the module properly and safely. This manual classifies the safety precautions into two categories: and . Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
Safety Precautions (Read these precautions before use.) 2. WIRING PRECAUTIONS Reference • 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.
Safety Precautions (Read these precautions before use.) 3. STARTUP AND MAINTENANCE PRECAUTIONS Reference • 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.
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FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition FX3G/FX3U/FX3UC Series Programmable Controllers User's Manual [Positioning Control Edition] Manual number JY997D16801 Manual revision E Date 3/2009 Foreword This manual describes the "positioning" functions of the MELSEC-F FX3G/FX3U/FX3UC Series PLC and should be read and understood before attempting to install or use the unit. Store this manual in a safe place so that you can take it out and read it whenever necessary.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Outline Precautions • 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.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Table of Contents Table of Contents SAFETY PRECAUTIONS .................................................................................................. (1) Functions and Use of This Manual .......................................................................................... 9 Related Manuals ......................................................................................................................
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Table of Contents B. Built-in Positioning Functions Description of Manual (Built-in Positioning Function) ...................................................... B-2 1. Outline B-3 1.1 Features .......................................................................................................................................B-3 1.2 Setup Procedure for Positioning Control....................................................................
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4.2.5 4.2.6 4.2.7 4.2.8 Table of Contents Setting of Maximum Speed ........................................................................................................B-45 Setting of Bias Speed .................................................................................................................B-46 Setting of Acceleration Time......................................................................................................
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 7. Absolute Position Detection System (Absolute Current Value Read)-ABS Instruction 7.1 7.2 7.3 7.4 7.5 Table of Contents B-107 Instruction Format ....................................................................................................................B-107 List of Related Devices ............................................................................................................B-108 Function and Operation...............
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 12. Examples of Programs Table of Contents B-153 12.1 Input/Output Assignment........................................................................................................B-154 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program)........................................B-156 12.2.1 Example Program...................................................................................................................
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Table of Contents Appendix: Example Connection Description of Manual (Example of Connection) .......................................................... Apx.-2 Appendix 1. MELSERVO-J3 Series Apx.-3 Appendix 1-1 Main Unit (Transistor Output) .........................................................................Apx.-3 Appedix 1-1-1 Sink Input and Sink Output ..................................................................................
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Functions and Use of This Manual Functions and Use of This Manual The FX3G/FX3U/FX3UC PLC outputs transistor signals from the main unit and also outputs pulses from the high-speed output adapter and the positioning special function unit/block to the servo motor and stepping motor to properly control positioning operations.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Related Manuals Related Manuals Refer to this document to perform positioning operations with the FX3G/FX3U/FX3UC Series PLC. For hardware information on the PLC and for details on the special function units/blocks, refer to the respective manuals.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Related Manuals Indispensable manual 3Manual that may be indispensable depending on the purpose of use Abbreriated document Title of manual Document number Description Model code Programming Describes the basic instructions, applied instructions, and various devices of the JY997D16601 FX3G/FX3U/FX3UC PLC to provide detailed information on sequence programming.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic Names and Abbreviations Used in Manuals Generic name or abbreviation Description PLC FX3G series FX3G PLC or main unit FX3U series FX3U PLC or main unit FX3UC series FX3UC PLC or main unit Generic name for FX3G Series PLC Generic name for FX3G Series PLC main unit Generic name for FX3U Series PLC Generic name for FX3U Series PLC main unit Generic name for FX3UC Series PLC Generic name
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic name or abbreviation Description Extension unit Generic name for special function unit and special function block Special function unit/block or The number 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.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Generic name or abbreviation Generic Names and Abbreviations Used in Manuals Description Drive unit for servo motor and stepping motor Servo motor Generic name for servo motor or stepping motor Including pulse input type servo amplifier and drive unit.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Common Items A Common Items B Built-in Positioning Functions FX3G/FX3U/FX3UC Series Programmable Controllers Apx. Example Connection User’s Manual [Positioning Control Edition] A. Common Items Foreword "Common Items" describes an outline of the "positioning" functions incorporated in the MELSEC-F FX3G/ FX3U/FX3UC Series PLC and should be read and understood before attempting to install or use the unit.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Common Items Description of Manual (Common Items) In this manual, the following formats are used for describing the common items: Shows the title of the manual and the title of the division. This area shows the title of the manual and the title of the division for the current page. 1st line: Shows the title of the manual. 2nd line: Shows the title of the division. Shows the title of the chapter and the title of the section.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Common Items 1 Introduction 1.1 Outline A Common Items 1. Introduction B 1.1 Built-in Positioning Functions This manual describes the positioning control for the FX3G/FX3U/FX3UC PLC. In this chapter, a brief description of the positioning products is provided.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Common Items 1.2 1 Introduction 1.2 Introduction of Products Needed for Positioning Introduction of Products Needed for Positioning To control the positioning operation, use the positioning functions incorporated in the main unit (including the special adapters), and the special functions units/blocks. The functions, however, depend on the product(s) being used. Select the optimum product(s) for the purpose of use. 1.2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Common Items 1 Introduction 1.2 Introduction of Products Needed for Positioning A Model Number of axes Common Items 2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2.2 1.2 Introduction of Products Needed for Positioning Main Unit (Transistor Output) The FX3G/FX3U/FX3UC PLC incorporates positioning functionality. The PLC can output an open collector type pulse train of up to 100 kHz from the general-purpose outputs (Y000 to Y002), and it can simultaneously control 3 axes*1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2 Introduction of Products Needed for Positioning A • To use high-speed input/output special adapters only (not to use the other special adapters), it is not necessary to connect the expansion board. • To use the analog and communication special adapters, be sure to connect the expansion board.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Common Items 1 Introduction 1.2 Introduction of Products Needed for Positioning 3. Individual operation (FX2N-10GM, FX2N-20GM) Without connecting special function units (FX2N-10GM, FX2N-20GM) to the PLC, you can operate them individually. • FX2N-10GM can control one 1-axis servo motor or stepping motor. • FX2N-20GM can control two 1-axis servo motors or stepping motors. In addition, up to 48 I/O points can be added.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Unit Connection Common Items 2.1 FX3U PLC A Common Items 2. Unit Connection FX3U PLC Apx. FX3U Series Up to 2 units can be connected. B Example Connection A Up to 8 units can be connected. 2.1 B Built-in Positioning Functions This chapter displays several block diagrams to illustrate the various combinations of units needed for positioning control. A and B show the unit positions.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Unit Connection Common Items 2.2 2.2 FX3UC PLC FX3UC PLC FX3UC Series B B and C show the unit positions. (For installation details, refer to the manuals of the special adapter and special function units/blocks.) General-purpose output of main unit C MIL connector (20-pin) Servo motor or Stepping motor*2 Up to 8 *3 units can be connected.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Unit Connection Common Items 3 axes can be controlled. FX3G Series (40-point, 60-point type) Servo motor or Stepping motor B Built-in Positioning Functions Terminal board (M3) Apx. Example Connection 2 axes can be controlled. Transistor output (Y000 to Y002)*1 FX3G Series (14-point, 24-point type) Terminal board (M3) Transistor output (Y000, Y001)*1 *1. The relay output type PLCs do not have pulse output.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3. 3.1 Comparison of Performance Specifications Comparison of Specifications The specifications for each product with positioning functionality are shown below. 3.1 Comparison of Performance Specifications 3.1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items A Pulse Output Special Function Block [FX2N-1PG(-E), FX2N-10PG] Model FX2N-1PG(-E) Common Items 3.1.2 3.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Common Items 3.1.3 3 Comparison of Specifications 3.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items A Positioning Special Function Unit [FX2N-10GM, FX2N-20GM] Common Items 3.1.4 3.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items FX2N-1PG(-E) FX2N-10PG FX2N-10GM FX2N-20GM FX3U-20SSC-H Comparison of Operation Modes Built-in positioning function FX3G/FX3U/FX3UC PLC (main unit) (Transistor output) FX3U-2HSY-ADP(FX3U) 3.2 3.2 Comparison of Operation Modes 3*1 3 3 3 3 3 The mechanical zero return start command will start the zero return operation at the specified speed.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.2 Comparison of Operation Modes FX3U-20SSC-H FX2N-20GM FX2N-10GM FX2N-10PG Apx. − − − 3 3 − − 3 3 − 3 3*6 3 3 3 3 3 The operation starts at operation speed (1) by the start command. During the operation, if the speed reduction command is input, the speed will decelerate to operation speed (2).
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3 3*8 The workpiece will travel to the target position at the specified vector speed (interpolation operation). − − − − FX3U-20SSC-H 3*7 FX2N-20GM FX2N-10PG The operation will be performed at the operation speed specified by the PLC.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions A Common Items B Built-in Positioning Functions FX3G/FX3U/FX3UC Series Programmable Controllers Apx. Example Connection User’s Manual [Positioning Control Edition] B. Built-in Positioning Functions Foreword "B.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions Description of Manual (Built-in Positioning Function) In this manual, the following formats are used for describing the built-in positioning functions. Shows the title of the manual and the title of the division. This area shows the title of the manual and the title of the division for the current page. 1st line: Shows the title of the manual. 2nd line: Shows the title of the division.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.1 Features A Common Items 1. Outline 1.1 Features System Points and references • If the general outputs of the FX3G/FX3U/FX3UC PLC are used: 3 axes*1, maximum ... Number of controllable axes Servo amplifier (drive unit)etc. 1-axis 2-axes FX3G/FX3U/FX3UC PLC (transistor output) 3-axes ... To check the PLC model, refer to Section 1.3. For a detailed description of ...
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 1.2 1 Outline 1.2 Setup Procedure for Positioning Control 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.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 1 Outline 1.2 Setup Procedure for Positioning Control A • 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.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 1 Outline 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.3 Version Numbers of Compatible PLCs Version Numbers of Compatible PLCs 1.3.1 Manufacturer's serial number check method A Common Items 1.3 1. Checking the nameplate The year and month of production of the product can be checked from the manufacturer's serial number "SERIAL" indicated on the label adhered to the right side of the product. Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 1.3.2 1 Outline 1.3 Version Numbers of Compatible PLCs Version check The D8001 special data register contains information for determining the PLC version. D8001 2 4 1 PLC type and version 0 0 Version information (Example: Ver. 1.00) PLC type Example: 24 = FX3U/FX3UC PLC 26 = FX3G PLC 1.3.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 1.4 Version Numbers of Compatible Programming Tools A Version Numbers of Compatible Programming Tools The built-in positioning functions depend on the version of the FX3G/FX3U/FX3UC PLC. Select a compatible version of GX Developer for programming. → For details on version numbers of compatible PLCs, refer to Section 1.3. 1) FX3U PLC Model (Software model) *1. Ver. 8.23Z or later Ver. 8.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers 1.5 Assignment of Input/Output Numbers 1.5.1 Assignment of Input Numbers Assign the input numbers of the FX3G/FX3U/FX3UC PLC as follows: Application Input number Remarks Stop command All input points Connect a line to any input. If the line-connected input is turned on, turn off the positioning instruction signal must be turned off.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 1 Outline 1.5 Assignment of Input/Output Numbers A Input number Remarks The interrupt input depends on the pulse output destination specified by the DVIT instruction*2 as shown in the following table. If the version number of the PLC is 1.30 or higher, the interrupt input can be specified. interrupt input Y000 X000 Y001 X001 Y002 X002 *3 Y003 X000 to X007 X003 FX3UC PLC Ver. 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5.2 1.5 Assignment of Input/Output Numbers *1. X000 to X007 for FX3U-16M
, FX3UC-16M
. X000 to X007 for FX3G PLC (main unit). *2. Interrupt outputs are supported only in the FX3U and FX3UC PLC. *3. Y003 can be specified as the pulse output destination only if 2 high-speed output special adapters are connected to the FX3U PLC. *4. Ver.2.20 is assigned to the initial product of the FX3U PLC.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers A Application Y1/3+ Y1/3- Y4/6+ Y4/6- Y5/7+ Y5/7- 1st Y000 Y001 Y004 Y005 Remarks 2nd Y002 Connect a line to determine the pulse train signal or the forward rotation pulse train for the 1st axis of each high-speed output special adapter. For the 1st adapter, specify Y000 as the pulse output destination of the positioning instruction.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5.3 1.5 Assignment of Input/Output Numbers Connection of High-Speed Output Special Adapter 1. When the FX3U-16MR/ES uses an instruction that needs the high-speed inputting operation, the main unit should have enough input terminals. Before selecting the main unit, be sure to check the number of input points needed for the operation. 2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers A Common Items Block diagram FX3U Series main unit FX3U-2HSY -ADP Sequence program FX3U-2HSY -ADP 1st Y000 Y001 Y004 Y005 Y000 FNC 158 K15000 K10000 Y001 DRVA Y005 FNC 159 K10000 K10000 Y002 DRVA Y006 FNC 159 K1000 K5000 DRVI Y007 Y001 Y002 Y003 Y003 Y004 Y005 Y006 Y007 B - 15 B Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2. Specifications 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.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions A General Specifications Item Withstand voltage 2.2 500V AC, for 1 minute 5M Ω or more using 500V DC insulation tester Between output terminal of high-speed output special adapter and grounding terminal of PLC. Power Supply Specifications For the FX3G/FX3U/FX3UC PLC power supply specifications, refer to the following manuals.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.3 2.3 Performance Specifications Performance Specifications Model Number of control axes Interpolation FX3G/FX3U/FX3UC PLC*1 (main unit, transistor output) FX3U-2HSY-ADP*2 3 independent axes*4 2 independent axes (Connect 2 adapters to the main unit to control 4 axes independently.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4 Input Specifications A Input Specifications 2.4.1 FX3U Series main unit (24V DC Input) Common Items 2.4 Item 24V DC input specifications Input signal voltage All inputs Input signal current Input ON current Input OFF current 24V DC±10% X000 to X005 3.9kΩ X006,X007 3.3kΩ Apx. Example Connection Input impedance Input sensitivity current X010 or later 4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4.2 2.4 Input Specifications FX3UC Series main unit (24V DC Input) This section describes the input specifications of the FX3UC Series main unit. Note that the simultaneous turning-on rate is restricted for the input extension units and the main unit. For details on this restriction, refer to the following manual: → Refer to the FX3UC Hardware Edition.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4 Input Specifications A ·Source input type (FX3UC-
MT/DSS) Main unit Main unit Fuse Fuse 24V DC 24V DC Common Items ·Sink input type(FX3UC-
MT/DSS) B * COM0 X0 X0 X1 * Class-D grounding Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4.3 2.4 Input Specifications FX3G Series main unit (24V DC Input) This section describes the input specifications of the FX3G Series main unit. Note that the simultaneous turning-on rate is restricted for the input extension units and the main unit. For details on this restriction, refer to the following manual: → Refer to the FX3G Hardware Edition.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications A Output Specifications 2.5.1 FX3U Series main unit (Transistor Output) Common Items 2.5 Item Transistor output specifications External voltage All outputs 5 to 30V DC Inductive load All outputs 12W/24V DC Open-circuit leakage current All outputs 0.1 mA or less at 30V DC ON voltage All outputs 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 2. Source internal output circuit FX3U Series main unit Pulse train signal Y000 +V0 Direction signal Y004 +V1 Grounding*1 Servo amplifier*2 (Drive unit) 5 to 24V DC B - 24 *1. To ground the unit, refer to the servo amplifier (drive unit) manual. If the grounding method is not specified, carry out class-D grounding. *2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions A FX3UC Series main unit (Transistor Output) Item Transistor output specifications External voltage 5 to 30V DC Y000 to Y003 0.3 A/point Y004 or more 0.1A/1point Y000 to Y003 7.2W/1point (24V DC) Y004 or more 2.4W/1point (24V DC) Open-circuit leakage current All outputs 0.1 mA or less at 30V DC ON voltage All outputs 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 2. Source internal output circuit 5 to 24V DC FX3UC-
MT/DSS Main unit Pulse train signal Servo amplifier*2 (Drive unit) Y0 Direction signal Y4 Grounding*1 +V0 B - 26 *1. To ground the unit, refer to the servo amplifier (drive unit) manual. If the grounding method is not specified, carry out class-D grounding. *2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions A FX3G Series main unit (Transistor Output) This section describes the transistor output specifications of the FX3G Series main unit. Note that the simultaneous turning-on rate is restricted for the output extension units and the main unit. For details on this restriction, refer to the following manual: → Refer to the FX3G Hardware Edition.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 1. Sink internal output circuit FX3G Series main unit Pulse train signal Y000 COM0 Y004 Direction signal COM3 Servo amplifier (Drive unit) Grounding*1 5 to 24V DC 2. Source internal output circuit FX3G Series main unit Pulse train signal Y000 +V0 Direction signal Y004 +V3 Grounding*1 Servo amplifier*2 (Drive unit) 5 to 24V DC B - 28 *1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions A High-Speed Output Special Adapter [FX3U-2HSY-ADP] This section describes the output specifications of the high-speed output special adapter (FX3U-2HSY-ADP).
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.6 2.6 List of Functions List of Functions The instructions needed for the FX3G/FX3U/FX3UC PLC built-in positioning functions are shown in the following table: Positioning instruction Operation Description Refer to If the DSZR/ZRN instruction turns ON, mechanical zero return will be started at the specified zero return speed.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions Only available for FX3U and FX3UC PLCs. *2. Only available for FX3U/FX3UC PLC Ver. 2.20 or later and FX3G PLC. 2.6 List of Functions A Common Items *1. 2 Specifications B Built-in Positioning Functions Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Functions 3. Connection of Input/Output Lines and Tightening Torques This chapter describes how to connect the input/output lines and the terminal tightening torques. WIRING PRECAUTIONS • 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.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Functions A Terminal Board (M3, M3.5) A terminal board is used for the FX3U, FX3G Series main unit, FX2N Series input/output extension unit (excluding some types), and FX0N Series input/output extension block. 3.1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Functions 3.2 European Terminal Board • When two wires are connected to one terminal 3.7(0.15") Terminal Crimp screw terminal 6.8mm(0.27") or less 6.0mm(0.24") or more 3.7(0.15") 6.8mm(0.27") or less 3.2 Terminal 6.0mm(0.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Functions A Tool • To tighten the terminals, use a purchased small-sized screwdriver whose tip is straight and is not widened as shown in the right figure. B Phoenix Contact Model 0.4mm (0.02") SZS 0.4×2.5 2.5mm (0.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Functions 3.3.2 3.3 Connector Setup of Input/Output Connection Connector 1. Applicable connector (connector purchased at store) Use a 20-pin (1-key) socket that conforms to the requirements of the MIL C-83503. Preliminarily check that the peripheral parts, such as the connector cover, will not cause any interference. 2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Functions 3.3 Connector A Connectors manufactured by Daiichi Denshi Kogyo Co., Ltd. (shown in 3) and connectors manufactured by Matsushita Electric Works, Ltd. (shown in following table) Connector model AXW1204A Contact AXW7221 Semi-cover AXW62001A Crimping tool AWG22(0.3mm2) AWG24(0.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4. 4.1 List of Related Devices Before Programming This chapter describes several items that should be known before programming. They are: • Operation of related devices, such as output pulse frequency, operation command flag, current value, and operation monitor flag.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.1 List of Related Devices A M8347 M8357 M8367 M8377 Interrupt signal logic reverse*3,*5 Drivable DVIT Subsection 4.3.8 M8348 M8358 M8368 M8378 Positioning instruction activation Read only PLSY,PWM,PLSR, Subsection DSZR,DVIT,ZRN, 4.4.4 PLSV,DRVI,DRVA M8349 M8359 M8369 M8379 Pulse output stop command*3 Drivable PLSY,PLSR,DSZR, Subsection DVIT,ZRN,PLSV, 4.3.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.1.2 4.1 List of Related Devices Special Data Registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations. Device number Y000 Function Data length Initial value Corresponding instructions Refer to interrupt input specification 16-bit - DVIT Subsection 4.3.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions A Setting of Various Items Regarding Speeds Specify the output pulse frequency using the operand of each instruction or the related device to determine the output pulse frequency, zero return speed, or creep speed. 4.2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 3. Zero return instruction with DOG search function (DSZR) For this instruction, it is necessary to specify the maximum speed, bias speed, acceleration time, deceleration time, zero return speed, and creep speed using the related devices. → For operation of DSZR instruction, refer to Section 6.2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions Setting of Output Pulse Frequency (DVIT, PLSV, DRVI, and DRVA Instructions) Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.2.3 4.2 Setting of Various Items Regarding Speeds 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.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions A Setting of Creep Speed (DSZR/ZRN Instruction) Setting range Operand or 16-bit 32-bit related operation operation device Instruction (Hz) D1 =Y000 D1 =Y001 4.2.5 Apx. (Hz) D8345 D8355 D1 =Y002 *2 D8365 D1 =Y003*3 D8375 ZRN instruction Instruction format S2 10 to 32767 Initial value: 1000 DSZR S1• S2• D1• D2• 10 to 32767 ZRN S1• S2• S3• D• *1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.2.6 4 Before Programming 4.2 Setting of Various Items Regarding Speeds Setting of Bias Speed To control the stepping motor using each instruction, set the bias speed considering the resonance range of the stepping motor and the automatic start frequency. Use the devices shown in the following table to determine the bias speed for each pulse output destination device. Pulse output destination device 4.2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds A Setting of Deceleration Time Deceleration Time Y000 D8349 Y001 D8359 *1 Y002 D8369 Y003*2 D8379 Initial value Setting range 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. *1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands 4.3 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.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands A Immediate Stop of Pulse Output (Pulse Output Stop Command Relay) Pulse output stop command relay Y000 M8349 Y001 M8359 Y002*1 M8369 Y003*2 M8379 Operation During pulse outputting operation, if the pulse output stop command relay of the corresponding pulse output destination device is turned on, the pulse outputting operation will immediately stop.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands 2. Zero return instruction (ZRN instruction) Zero return will be performed in the reverse rotation direction only. (During zero return, the value indicated by the current value register will be decreased.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands A CLEAR Signal Output (DSZR/ZRN Instruction) 1. If it is not necessary to use the CLEAR signal device specification function, or if an FX3UC PLC below Ver. 2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4 Before Programming 4.3 Various Special Relays for Operation Commands CLEAR signal device specification method: 1) Write the CLEAR signal output (Y) device number in the "CLEAR signal device specification" register with a hexadecimal number (expressed in octal numbers). e.g. setting H0010 means Y010. When setting H0008, an operation error occurs because Y008 does not exist.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions A Designation of Interrupt Input Signal for DVIT Instruction Interrupt input signal Pulse output destination device If it is not necessary to use the interrupt input specification function If it is necessary to use the interrupt input specification function (M8336 = ON) (M8336 = OFF), or if an FX3UC PLC below Ver. 1.30 is used *1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands *1. A device can only be specified if an FX3U/FX3UC PLC Ver. 2.20 or later is used. When using an FX3UC PLC below Ver. 2.20, if "8" is set and then the specified interrupt positioning (DVIT) instruction turns ON, an operation error (error code: K6763) will occur, and the instruction will not cause any operation. *2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions A Acceleration/Deceleration by PLSV Instruction Common Items 4.3.9 4.3 Various Special Relays for Operation Commands Output pulse frequency Bias speed Initial value: 0 Hz Bias speed Acceleration time Apx. Example Connection Maximum speed Initial value: 100,000 Hz B Built-in Positioning Functions Using an FX3U/FX3UC PLC Ver. 2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.4 Current Value and Flag for Monitoring of Operation 4.4 Current Value and Flag for Monitoring of Operation 4.4.1 Current Value During positioning operation, use the current value register to check the current value positioning address. The current value will be increased or decreased depending on the rotation direction.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.4 Current Value and Flag for Monitoring of Operation A Completion of Instruction Execution ("Instruction execution complete" Flag, "Instruction execution abnormal end" Flag) • "Instruction execution complete" flag: Will be turned on if the instruction is executed properly.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side 4.5 Setting of Various Items on PLC Side 4.5.1 Setting of Common Items Using Program For each pulse output destination device (Y000, Y001, Y002*1, Y003*2), set the items shown in the following table without using the operand of the instruction.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side A Y000 Y001 Instruction Y002*1 Y003*2 DSZR ZRN ABS TBL 3 M8460 M8461 M8462 M8463 - - - Logic of interrupt input M8347 M8357 M8367 M8377 signal - - - command *8 PLSV DVIT DRVI DRVA Refer to - 3 - - Subsection 4.3.7 3 - 3 - - Subsection 4.3.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4 Before Programming 4.5 Setting of Various Items on PLC Side Example program: In the following program, the zero return instruction with DOG search function (DSZR), variable speed pulse output (PLSV) instruction, and interrupt positioning (DVIT) instruction are used for the pulse output destination (Y000) under the conditions shown in the following table.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4 Before Programming 4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5.2 4.5 Setting of Various Items on PLC Side Setting of High-Speed Output Special Adapter If a high-speed output special adapter (FX3U-2HSY-ADP) is used, the pulse output method can be selected from "pulse train + direction" method and "forward/reverse rotation pulse train" method. 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side A If a high-speed output special adapter (FX3U-2HSY-ADP) is used, the same output will be used for both the CLEAR signal and the rotation direction signal of the DSZR (FNC150) or ZRN (FNC156) instruction. For this reason, it is necessary to change the CLEAR signal output device in order to output the CLEAR signal.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.6 4 Before Programming 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side Setting of Various Items on Servo Amplifier (Drive Unit) Side → For details on the servo amplifier (drive unit), refer to the manual of the product used in your system. 4.6.1 Setting the Command Pulse Method 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4 Before Programming 4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4 Before Programming 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side Reference: Image of PLC output and waveform (for MELSERVO-J3 Series servo amplifier) 1) Base unit (transistor output (sink output)) a) Connection of PLC to servo amplifier When a FX3U Series PLC (sink output) is used, it is connected as shown below.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.6.2 4 Before Programming 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side Setting of Electronic Gear (For MELSERVO Series) Use the electronic gear of the servo motor to set the transfer distance per pulse. For details on the electronic gear setting, refer to the manual of the servo motor or servo amplifier, and set an optimum value depending on the application.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4 Before Programming 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side A Common Items Setting example 2: To set the transfer distance per pulse to 0.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 4.7 Items To Be Observed in Programming Items To Be Observed in Programming This section describes various programming items that will not be affected by any pulse output destination devices (hardware). For information on the pulse output destination devices (hardware) that are affected by programming items, refer to the following sections.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 Items To Be Observed in Programming Y002 (pulse output destination) cannot be specified when the 14-point or 24-point type FX3G PLC is connected. *2. Y003 can be specified as the pulse output destination only if two FX3U-2HSY-ADP adapters are connected to the FX3U PLC.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.7.2 4 Before Programming 4.7 Items To Be Observed in Programming STOP instruction For the normal stop of an operation (stop after speed reduction), use the "instruction OFF" function or "forward/reverse limit relay". If an immediate stop is absolutely needed to avoid danger, use the pulse output stop command relay.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 Items To Be Observed in Programming Good example: Apx. FNC158 DDRVI M8029 The M8029 will function as the "instruction execution complete" flag of DRVI instruction. Completion of instruction execution M8329 Abnormal completion of instruction execution M1 The M8029 will function as the "instruction execution complete" flag of DRVA instruction.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 Items To Be Observed in Programming 2) To use at a position other than just below the positioning instruction: If two or more positioning instructions are used in a program, the "Instruction execution complete" flag (M8029) and "Instruction execution abnormal end" flag (M8329) will be turned on or off after execution of each instruction.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions A Operation Error Flag When there is an error in the applied instruction configuration, target device or target device number range and an error occurs while operation is executed, the following flag turns ON and the error information is stored. 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.8 4 Before Programming 4.8 Items To Be Observed When Using the Main Unit (Transistor Output) Items To Be Observed When Using the Main Unit (Transistor Output) 1. Pulse output destination devices Use Y000, Y001, and Y002*1 transistor outputs of the main unit for the pulse output destination devices. Do not use the transistor output Y003 of the main unit for positioning instructions.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4 Before Programming 4.9 Caution for Using the High-Speed Output Special Adapter (FX3U-2HSY-ADP) A Operation of output Instruction for outputting pulse train at high speed Other instructions If the instruction turns ON, the corresponding output will be turned on (the corresponding LED will be turned on). Can be activated. FX3U PLC main unit of transistor output type Can be activated.*1 Can be activated.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.10 4.10 Format and Execution of Applied Instruction Format and Execution of Applied Instruction Instruction and operand: - Function numbers (FNC00 - FNC
) and symbols (mnemonic codes) are assigned to the applied instructions of the PLC. For example, a symbol of "SMOV" (shift) is assigned to FNC13.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4 Before Programming 4.10 Format and Execution of Applied Instruction A Depending on the sizes of the numeric values to be processed, applied instructions can be classified into two types: 16-bit instructions and 32-bit instructions. In addition, depending on the execution type, these instructions can also be classified into two types: continuous execution type and pulse execution type.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5. Operation Test This chapter describes the operation test of positioning instructions. During forward rotation (JOG+) operation and reverse rotation (JOG-) operation, the test checks whether positioning instructions are properly activated.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions A • 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.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.1 1 2 5.1 Test Procedure Test Procedure Turn off the power to the PLC. Temporarily connect the limit switches (forward rotation limit 1, reverse rotation limit 1) and the manual switches (forward rotation, reverse rotation). Connect the limit switches and the manual switches to the following input terminals of the PLC. Do not connect the servo amplifier (drive unit).
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions A Check the operation in the forward rotation direction. B Built-in Positioning Functions Check the output indicator lamp (LED lamp) and the current value register to monitor the operation. The status of the LED indicator lamp and the value indicated in the current value register depend on the pulse output destination or rotation direction set by the positioning instruction.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 9 5.1 Test Procedure Check the operation of the forward rotation limit switch. During operation in the forward rotation direction (at step 8), turn off the forward rotation limit switch 1 (X010), and confirm that the operation in the forward rotation direction is stopped.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.1 Test Procedure A Turn off the reverse rotation (JOG-) switch (X013) to stop the operation in the reverse rotation direction. 1) LED indicator lamp check Check the LED indicator lamps of the PLC or the display module to check whether or not the outputs are turned on.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.2 5.2 Creation of Test Program Creation of Test Program 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6. 6.1 6 Mechanical Zero Return (DSZR/ZRN Instruction) 6.1 Types of Mechanical Zero Return Instructions Mechanical Zero Return (DSZR/ZRN Instruction) Types of Mechanical Zero Return Instructions If forward rotation pulses or reverse rotation pulses are being output, the positioning instruction of the PLC will increase or decrease the current value of the current value register.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions A DOG Search Zero Return (DSZR Instruction) Use this instruction to change the CLEAR signal output destination with an FX3U/FX3UC PLC Ver.2.20 or later or an FX3G PLC. 6.2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 4 : When a high-speed output special adapter is used as a destination for pulse output on a FX3U PLC, use the output shown in the following table for rotation direction signals.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) A The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.2.3 6 Mechanical Zero Return (DSZR/ZRN Instruction) 6.2 DOG Search Zero Return (DSZR Instruction) Function and Operation Command input FNC 150 DSZR S1• S2• D1• D2• → For details on the maximum speed, bias speed, acceleration time, and deceleration time, refer to Subsection 4.2.5 to Subsection 4.2.8.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) A = Y000 M8346 D1 = Y001 M8356 D1 = Y002 M8366 D1 = Y003 M8376 D1 OFF: Positive logic (Turning on the input will turn on the near-point signal.) ON: Negative logic (Turning off the input will turn on the near-point signal.) Apx. , specify a pulse output number in the range of Y000 to Y003.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 6) CLEAR signal output This instruction can output the CLEAR signal after stopping at the origin. If it is necessary to output the CLEAR signal at the completion of zero return, turn on the "CLEAR signal output function enable" relay (see the following table). Use an FX3U/FX3UC PLC Ver.2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) A Zero return operation is described below assuming that Y000 is specified as the pulse output destination device D1 . If Y001, Y002, or Y003 is specified, it is necessary to change the output number of each related relay (special auxiliary relay, special data register) below.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 2. DOG search function If the forward rotation limit and the reverse rotation limit are set, the DOG search function can be used for zero return. The zero return operation depends on the zero return start position.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6 Mechanical Zero Return (DSZR/ZRN Instruction) 6.2 DOG Search Zero Return (DSZR Instruction) A Common Items B Built-in Positioning Functions 4) If the limit switch in the zero return direction turns ON (if the start position is at forward rotation limit 1 or reverse rotation limit 1): a) When the zero return instruction is executed, zero return will be started.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.2.4 6 Mechanical Zero Return (DSZR/ZRN Instruction) 6.2 DOG Search Zero Return (DSZR Instruction) Important Points → For important programming points, refer to Section 4.7. • If an input (X000 to X017)*1 from the main unit is used for the near-point signal (DOG) S1 , the rear end of the near-point signal (DOG) will be monitored (detected) at 1ms intervals (interruption).
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6 Mechanical Zero Return (DSZR/ZRN Instruction) 6.2 DOG Search Zero Return (DSZR Instruction) B Built-in Positioning Functions • In the following case, the "Instruction execution abnormal end" flag (M8329) will be turned on, and the execution of the instruction will be completed. → For details on the "Instruction execution abnormal end" flag, refer to Subsection 4.7.4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.3 6.3 Zero Return (ZRN Instruction) Zero Return (ZRN Instruction) Use this instruction to change the CLEAR signal output destination with an FX3U/FX3UC PLC Ver.2.20 or later or an FX3G PLC. 6.3.1 Instruction Format 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions A List of Related devices 1. Special auxiliary relays The following table shows the related special auxiliary relays. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations. Device number Y002*1 Y001 Y003*2 Attribute Refer to M8029 "Instruction execution complete" flag Read only Subsection 4.4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.3.3 6.3 Zero Return (ZRN Instruction) Function and operation Command input FNC156 ZRN S1• S2• S3• D• → For details on the maximum speed, bias speed, acceleration time and deceleration time, refer to Subsection 4.2.5 to Subsection 4.2.8.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) A , specify a pulse output number in the range of Y000 to Y003. 5) Zero return direction For this instruction, the zero return direction is set to the reverse rotation direction. (During zero return operation, the value indicated in the current value register will be decreased.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 6) CLEAR signal output This instruction can output the CLEAR signal after stopping at the origin. If it is necessary to output the CLEAR signal at the completion of zero return, turn on the "CLEAR signal output function enable" relay (see the following table). Use an FX3U/FX3UC PLC Ver.2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) A Zero return operation is described below assuming that Y000 is specified as the pulse output destination device D . If Y001, Y002, and Y003 are specified, it is necessary to change the output number of each related relay (special auxiliary relay, special data register) below. → For details on related flags, refer to Section 4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.3.4 6 Mechanical Zero Return (DSZR/ZRN Instruction) 6.3 Zero Return (ZRN Instruction) Important Points → For important programming points, refer to Section 4.7. • If an input (X000 to X007) of the main unit is specified for the near-point input signal specified by S3 , the PLC interruption function will be used to stop the operation.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 7 Absolute Position Detection System (Absolute Current Value Read)-ABS Built-in Positioning Functions 7.1 Instruction Format A Common Items 7. Absolute Position Detection System (Absolute Current Value Read)-ABS Instruction B Instruction Format 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 7 Absolute Position Detection System (Absolute Current Value Read)-ABS Instruction Built-in Positioning Functions 7.2 7.2 List of Related Devices List of Related Devices → For details on the related devices, refer to Section 4.1 to Section 4.4. 1. Special auxiliary relays The following table shows the related special auxiliary relays. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 7 Absolute Position Detection System (Absolute Current Value Read)-ABS Built-in Positioning Functions 7.4 Initial Zero Return 1. Detection of absolute position 2) 32+6-bit data communication will be performed while mutually checking the data sending/ receiving condition using the "send data ready" signal and the "ABS data request" signal.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 7 Absolute Position Detection System (Absolute Current Value Read)-ABS Instruction Built-in Positioning Functions 7.5 7.5 Important Points Important Points • Set the timing sequence for powering on your system so that the power of the PLC is turned on after the power of the servo amplifier, or that power is turned on at the same time. • Leave the drive contact of the DABS (FNC155) instruction ON after reading the ABS value.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.1 Incremental Method and Absolute Method A Common Items 8. 1-Speed Positioning - DRVI/DRVA Instruction Instruction Target position setting method Incremental method: Uses a relative address to specify the target position. Drive to Absolute (DRVA) instrument Absolute method: Uses an absolute address to specify the target position. Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.1 Incremental Method and Absolute Method 2. Absolute method (absolute address setting method) Specify the distance (absolute address) from the origin to the target position. In this case, any position can be the start point (current position).
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction Drive to Increment - DRVI Instruction 8.2.1 Instruction Format A Common Items 8.2 B 16-bit instruction FNC 158 D DRVI - FNC 158 DRVI S1• S2• D1• 17 steps Instruction Execution condition symbol Continuous DDRVI execution type D2• 2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction 2 : When a high-speed output special adapter is used as a destination for pulse output on a FX3U PLC, use the output shown in the following table for rotation direction signals.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction A The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.2.3 8.2 Drive to Increment - DRVI Instruction Function and Operation This instruction uses a relative drive method to perform a 1-speed positioning instruction. For this instruction, the transfer distance from the current position to the target position should be specified together with a plus or minus sign.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction A ON/OFF status of device specified by D2 Rotation direction (increase/decrease current value) If the number of output pulses specified by S1 performed in the forward rotation direction. Forward rotation (Outputting pulses from D1 is a positive number, the operation will be will increase the current value.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction 8.3 Drive To Absolute - DRVA Instruction 8.3.1 Instruction Format 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction 1st adapter 2nd adapter Pulse output B Rotation direction output D1 = Y000 D2 = Y004 D1 = Y001 D2 = Y005 D1 = Y002 D2 = Y006 D1 = Y003 D2 = Y007 Built-in Positioning Functions High-speed output special adapter connection position Apx. List of Related Devices 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations. Device number Y000 Y001 Y002*1 Y003*2 Data length Default value 32-bit 0 Subsection 4.4.1 Bias speed (Hz) 16-bit 0 Subsection 4.2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions Function and Operation A This instruction uses an absolute drive method to perform a 1-speed positioning instruction. For this instruction, the distance from the origin (zero point) to the target position should be specified. → For details on the "Instruction execution complete" flag, refer to Subsection 4.7.4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction The rotation direction ON/OFF status of the specified device is shown in the following table. During instruction execution, however, do not use the output D2 for other purposes. ON/OFF status of device specified by D2 ON OFF 8.3.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.1 Instruction Format A Common Items 9. One-speed Interrupt constant quantity feed -DVIT Instruction B Instruction Format 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.1 Instruction Format 3. Devices Bit device Operand type Word device System user Digit designation System user Others Special unit Index Constant X Y M T C S D
.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions A List of Related Devices 1. Special auxiliary relays The following table shows the related special auxiliary relays. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations. Y000 Y001 Y002 Function Y003*1 Attribute Refer to M8029 "Instruction execution complete" flag Read only Subsection 4.4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.2 List of Related Devices 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations. Device number Y000 Y001 Y002 *1 Y003 Function Specification of interrupt input.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions A Function and Operation Command input FNC 151 DVIT S1• S2• D1• Common Items 9.3 9.3 Function and Operation D2• Acceleration time Speed Deceleration time Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.3 Function and Operation The rotation direction ON/OFF status of the specified device is shown in the following table. During instruction execution, however, do not use the output D2 for other purposes.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.3 Function and Operation A Description of setting Common Items Setting value Specifies a user interrupt input command*1 for the interrupt input signal. Pulse output destination device 9 ~ E*3 Y001 M8461 Y002 M8462 Y003*2 M8463 B Apx. Do not specify these values.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.3 Function and Operation Example program: The following program shows that the interrupt input for Y000 is set using the user interrupt input command (M8460).
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.3 Function and Operation A The interruption positioning operation is described below assuming that Y000 is specified as the pulse output destination device by D1 . For this reason, if Y001, Y002, or Y003 is specified, it is necessary to change the output number of each related flag. → For details on related flags, refer to Section 4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.4 9.4 Important Points Important Points → For details on the instruction activation timing, refer to Section 4.7. • If the speed is too high for the number of pulses specified by S1 , the frequency will be reduced so that the speed can be reduced within the specified number of output pulses.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.4 Important Points A Common Items • The interrupt input cannot be used for the following items: Interrupt inputs can only be specified when using Ver.1.30 or later. - High-speed counter - Input interruption - Pulse catch - SPD instruction - DSZR instruction - ZRN instruction B Built-in Positioning Functions Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction 10.1 Instruction Format 10. Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction The built-in positioning function uses the variable speed pulse output (PLSV) instruction equipped with the rotation direction designation function to perform variable speed operation. If an FX3U/FX3UC PLC Ver.2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction 10.2 List of Related Devices A High-speed output special adapter connection position 1st adapter Rotation direction output D1 = Y000 D2 = Y004 D1 = Y001 D2 = Y005 D1 = Y002 D2 = Y006 D1 = Y003 D2 = Y007 Apx. Example Connection 2nd adapter Pulse output 3 : D
.b is available only in FX3U and FX3UC PLCs.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction 10.2 List of Related Devices 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 10.3 Function and Operation A Function and Operation The variable speed pulse output instruction changes the speed while using the rotation direction output. The acceleration/deceleration function applies for the variable speed pulse output (PLSV) instruction, which makes it possible to specify whether acceleration/deceleration will be used or not. If an FX3UC PLC below Ver.2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction 10.3 Function and Operation The rotation direction ON/OFF status of the specified device is shown in the following table. During instruction execution, however, do not use the output D2 for other purposes.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction 10.3 Function and Operation A 1st adapter 2nd adapter Pulse output destination device Rotation direction output D1 = Y000 D2 = Y004 D1 = Y001 D2 = Y005 D1 = Y002 D2 = Y006 D1 = Y003 D2 = Y007 Apx. Example Connection The rotation direction ON/OFF status of the specified device is shown in the following table.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 10.4 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction 10.4 Important Points Important Points → For important programming points, refer to Section 4.7. • During pulse output operation, if the output pulse frequency S is changed to "K0", the PLC will reduce the speed and then stop the pulse outputting operation if the acceleration/deceleration function is ON.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.1 Instruction Format A Common Items 11. Batch Data Positioning Mode (TBL Instruction) B Instruction Description *1 One-speed interrupt constant quantity feed (Interrupt positioning) PLSV(FNC157) Variable speed operation (Variable Speed Pulse Output) DRVI(FNC158) 1-speed positioning Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.2 11.2 List of Related Devices List of Related Devices 1. Special auxiliary relays The following table shows the related special auxiliary relays. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.2 List of Related Devices A The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations. To set the constants shown in the shaded area, set the positioning parameters. → For details on the positioning parameters, refer to Section 11.4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.3 11.3 Function and Operation Function and Operation Preliminarily set the positioning parameters using GX Developer, and then specify the pulse output destination D and the positioning table number (n) for the DTBL instruction in order to carry out positioning. Use GX Developer Ver.8.23Z or later to set the positioning parameters.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions A Positioning Parameter Setting 11.4.1 Positioning Parameter Setting Using GX Developer Assuming that GX Developer Ver.8.23Z or later is used, this section describes how to set the positioning parameters. Open the "parameter setting" window. On the project tree displayed on the left side of the screen, double-click "Parameter" and then "PLC Parameter".
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 2 11.4 Positioning Parameter Setting Set the memory capacity. Click on the "Memory capacity" tab, and then click on the "Positioning Instruction Setting" check box to enter a check in the box. *1 Enter a check. Setting item Setting range 16000*1 Memory capacity Set the capacity of the program memory.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions A Set the positioning data. After entering a check, positioning data can be set. Use the FX3U/FX3UC PLC of Ver.2.20 or later or FX3G PLC to use "Positioning". 1. Click on the "Positioning" tab. 2. Set the positioning constants to be used for TBL (FNC152) instruction.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.4 Positioning Parameter Setting *1. When the destination for pulse output on a FX3U or FX3UC PLC is a built-in transistor output, the setting range is 10 to 100,000 Hz. If an FX3U PLC is used, and if the pulse output destination is a FX3U-2HSY-ADP, the setting range will be 10 to 200,000 Hz. *2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.4 Positioning Parameter Setting A "Insert" button Description of setting Setting range "Delete" button Click this button to delete the selected line. - "Delete All" button Click this button to delete all the data from the positioning table of the selected pulse output destination device.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 4 11.4 Positioning Parameter Setting Transfer the parameters (+ sequence program) to the PLC. 1. Select "Online" from the tool menu, and then select "Write to PLC". The "Write to PLC" window will appear. *1 *1. For Ver. 8.13P to 8.24A of GX Developer, the PLC type is FX3UC. 2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions A Changing of Set Positioning Parameters (Number of Pulses and Frequency) The "pulses" and "frequency" set by the positioning parameters in a positioning table will be stored in the devices starting from the specified first device as shown below. The set "pulses" and "frequency" can be changed using a display module or HMI.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.4 Positioning Parameter Setting To read out and store the "pulse" and "frequency" changed by a display module or HMI: 1) In the "Positioning instruction setting" window of the positioning parameters, enter a check in the "Positioning table settings will not be initialized when the PLC is powered on" check box. Enter a check.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions A Common Items 12. Examples of Programs Operation Instruction Relay ladder program Step ladder program Description of instruction Mechanical zero return DOG Search Zero Return Absolute position detection Reading of current ABS value ABS(FNC155) Drive to Increment DRVI(FNC158) Drive to Absolute DRVA(FNC159) Subsection 12.2.1 Subsection 12.3.1 Section 8.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12.1 12 Examples of Programs 12.1 Input/Output Assignment Input/Output Assignment The programs shown in this chapter use 1 axis for Y000 (pulse output destination device). If other pulse output destination device are used, change various device numbers when reading the description. Note that Y003 (pulse output destination device) can be used only if two FX3U-2HSY-ADP adapters are connected to the FX3U PLC.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions *7.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12.2 12 Examples of Programs 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program) Programs for Forward/Reverse Rotation (Relay Ladder Program) 12.2.1 Example Program Positioning operation will be performed using the absolute positioning method shown in the following chart: → For details on input/output assignment, refer to Section 12.1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12 Examples of Programs 12.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions Positioning in forward rotation direction X024 M8348 Positioning in forward rotation direction Positioning operation being performed M10 "Zero return completion" flag M107 12 Examples of Programs 12.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) 12.3.1 Example Program 500,000 Output pulse frequency: 100,000 Hz 100 Apx. Example Connection Origin Acceleration/deceleration time: 100 ms The following program uses the step ladder (STL) instruction.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) M8002 *1 FNC 12 DMOV *1 FNC 12 MOV K1000 D8345 Sets the creep speed. 1,000(Hz)→D8345 *1 FNC 12 DMOV K50000 D8346 Sets the zero return speed. 50,000(Hz)→D8347,D8346 *1 FNC 12 MOV K100 D8348 Sets the acceleration time. 100(ms)→D8348 *1 FNC 12 MOV K100 D8349 Sets the deceleration time.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12 Examples of Programs 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) A M5 Positioning in reverse rotation direction M10 Resets the "forward rotation positioning completion" flag. RST M13 Resets the "reverse rotation positioning completion" flag. SET S13 Enters the reverse rotation positioning state (S13).
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Positioning in forward rotation direction Built-in Positioning Functions M53 X030 12 Examples of Programs 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) *5 Stop Waiting for 1 scan time command FNC 159 K500000 K100000 DDRVA STL S12 Positioning in forward rotation direction Y000 Y004 Moves to absolute position 500000 using the drive to Absolute instruction.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions A Positioning Using Batch Setting Method Positioning operation will be performed using the absolute positioning method as shown in the following chart: → For details on input/output assignment, refer to Section 12.1 500,000 B Built-in Positioning Functions Output pulse frequency: 100,000 Hz 100 Origin Apx. Example Connection Acceleration/deceleration time: 100 ms 12.4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 3 12.4 Positioning Using Batch Setting Method Click on the "Positioning" tab, and then set Y000 (pulse output destination) as follows. Before clicking on the "Positioning" tab, click on the "Memory Capacity" tab, and then enter a check in the "Positioning" check box. After entering a check, positioning data can be set. After entering a check, positioning data can be set.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions A Create a program. On the bar, click on "Online" and then "Write to PLC". The "Write to PLC" window will appear. Common Items 5 6 12.4 Positioning Using Batch Setting Method B Built-in Positioning Functions *1 Apx. Example Connection *2. 7 For Ver. 8.13P to 8.24A of GX Developer, the PLC type is FX3UC. Click the "Param+Prog" buttons, and then click the "Execute" button.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions X021 M8348 Origin Positioning return being performed 12.4 Positioning Using Batch Setting Method M101 M102 Normal end of origin return Abnormal end of origin return M100 RST M10 Resets the "origin return completion" flag. RST M12 Resets the "forward rotation positioning completion" flag. RST M13 Resets the "reverse rotation positioning completion" flag.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12.5 12 Examples of Programs 12.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.1 LED Indicator Lamp Check A Common Items 13. Troubleshooting B LED Indicator Lamp Check FX3U PLC FX3UC (D, DSS) PLC FX3UC-32MT-LT (-2) PLC FX3G PLC 13.1.1 POWER Indicator Lamp (Statuses: ON, flashing, OFF) [FX3G/FX3U/FX3UC] Lamp status Status of PLC Troubleshooting The specified voltage is properly The power is being supplied properly. supplied to the power supply terminal.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions B - 170 13 Troubleshooting 13.1 LED Indicator Lamp Check Lamp status Status of PLC Troubleshooting OFF The PLC may be at one of the following statuses: • The power is off. • The specified voltage is not supplied to the power supply terminal. • The power cable is disconnected. If the power is on, check the power supply unit and the power supply line.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.1 LED Indicator Lamp Check A Lamp status ON Troubleshooting The sequence program is being The RUN indicator lamp indicates the operation status of the PLC. executed. Note that the RUN indicator lamp will go out depending on the status Execution of the sequence program is of the ERROR indicator lamp (refer to Subsection 13.1.4). stopped. 13.1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions Lamp status 13 Troubleshooting 13.1 LED Indicator Lamp Check Status of PLC Troubleshooting The PLC has one of the following Diagnose the PLC (PC), or check the programs using the errors: programming tool. For countermeasures, refer to the following manual of the applied Flashing • Parameter error PLC.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions A Pulse Output Destination Device and Rotation Direction Output Indicator Lamp Common Items 13.1.6 13.1 LED Indicator Lamp Check 1. If transistor outputs from the main unit are used for positioning Signal B Description Turned on and off at The pulse outputting operation is controlled by the positioning instruction.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 13 Troubleshooting 13.1 LED Indicator Lamp Check 2. If the high-speed output special adapter (FX3U-2HSY-ADP) is used for positioning Status of pulse output method setting switch Signal LED status during execution of positioning instruction Description Turned on and off The pulse outputting operation is controlled by the at high speed positioning instruction.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions A Error Check Common Items 13.2 13.2 Error Check 13.2.1 Error Code Check Method Apx. Connect a personal computer to the PLC. Diagnose the PLC. On the tool menu bar, click on "Diagnostics", and then "PLC diagnostics" to diagnose the cause of the PLC error. 3 Check the diagnosis result. The following window will appear. Check the details of the error shown on the window.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.2 Error Check 13.2.2 Error Codes This section describes the error codes related to the positioning instructions. For details on the error codes, refer to the following manual. → Refer to the programming manual.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 13.3 If the Servo Motor or the Stepping Motor Does Not Operate A If the Servo Motor or the Stepping Motor Does Not Operate Common Items 13.3 13 Troubleshooting If the servo motor or the stepping motor does not operate, check the following items. 1) Check the wiring condition. 2) Execute the positioning instruction, and then check the statuses of the following LED indicator lamps.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 13.4 13 Troubleshooting 13.4 If Operation Is Stopped at a Wrong Position If Operation Is Stopped at a Wrong Position If operation is stopped at a wrong position, check the following items. 1) Check whether the electronic gear of the servo amplifier (drive unit) is set properly. → For the electronic gear setting method of the MELSERVO Series, refer to Subsection 4.6.2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Example Connection A Common Items B Built-in Positioning Functions FX3G/FX3U/FX3UC Series Programmable Controllers Apx. Example Connection User's Manual [Positioning Control Edition] Appendix: Example Connection Foreword To use the positioning function of the MELSEC-F FX3G/FX3U/FX3UC Series PLC described in this manual, the PLC should be connected to a servo amplifier drive unit.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Example Connection Description of Manual (Example of Connection) In this manual, the following formats are used for describing the examples of connection: Shows the title of the manual and the title of the division. This area shows the title of the manual and the title of the division for the current page. 1st line: Shows the title of the manual. 2nd line: Shows the title of the division.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Appendix 1: MELSERVO-J3 Series Example Connection Appendix 1-1 Main Unit (Transistor Output) A Common Items Appendix 1. MELSERVO-J3 Series Appendix 1-1 Main Unit (Transistor Output) B Appedix 1-1-1 Sink Input and Sink Output Apx. 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Example Connection *1. Appendix 1. MELSERVO-J3 Series Appendix 1-2 High-Speed Output Special Adapter Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2. Near-point signal (DOG) *3. To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Appendix 1: MELSERVO-J3 Series Example Connection Appendix 1-1 Main Unit (Transistor Output) A Common Items 2. FX3UC PLC MR-J3
A Series servo CN1 amplifier FX3UC-32MT/D DICOM 20 24V DC Class-D grounding*1 COM Zero Point signal(PG0) X000 X004 34 33 Servo ready (RD) DOG*2 X014 49 X017 Pulse train Direction Y004 DOCOM 46 PP 10 NP Zero speed*4 Positioning completed(INP) Torque being controlled*4 Servo error(ALM) Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Appendix 1. MELSERVO-J3 Series Example Connection Appendix 1-2 High-Speed Output Special Adapter Appendix 1-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function".
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Example Connection To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side. Note that the limit switches on the PLC side should be activated slightly earlier than the limit switches on the servo amplifier side.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Example Connection Appendix 1. MELSERVO-J3 Series Appendix 1-2 High-Speed Output Special Adapter 2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-1 Main Unit (Transistor Output) A Common Items Appendix 2. MELSERVO-J2 (-Super) Series Appendix 2-1 Main Unit (Transistor Output) B Appendix 2-1-1 Sink Input and Sink Output 1. FX3U/FX3G PLC Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection *1. Appendix 2-1 Main Unit (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2. Near-point signal (DOG) *3. To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-1 Main Unit (Transistor Output) A Common Items 2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-2 High-Speed Output Special Adapter Appendix 2-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function".
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Example Connection Appendix 2-3 Absolute Position Detection (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side. Note that the limit switches on the PLC side should be activated slightly earlier than the limit switches on the servo amplifier side.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Example Connection Appendix 2. MELSERVO-J2 (-Super) Series Appendix 2-3 Absolute Position Detection (Transistor Output) 2.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Appendix 3. MELSERVO-H Series Example Connection Appendix 3-1 Main Unit (Transistor Output) A Common Items Appendix 3. MELSERVO-H Series B Appendix 3-1 Main Unit (Transistor Output) Appendix 3-1-1 Sink Input and Sink Output Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Example Connection Appendix 3. MELSERVO-H Series Appendix 3-2 Absolute Position Detection (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *1. *2. Near-point signal (DOG) *3. To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-1 Main Unit (Transistor Output) A Common Items Appendix 4. MELSERVO-C Series B Appendix 4-1 Main Unit (Transistor Output) Built-in Positioning Functions To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 4-1-1 Sink Input and Sink Output Apx. FX3U-32MT/ES Example Connection 1.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Example Connection *1. Appendix 4-1 Main Unit (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2. Near-point signal (DOG) *3. Set the servo amplifier parameter No.21 to "020". *4. To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-1 Main Unit (Transistor Output) A Common Items 2. FX3UC PLC FX3UC-32MT/D 24V DC Class-D grounding*1 COM X000 Zero Point signal(PG0) X004 X010 CN1 OP B MR-C
A Series servo amplifier Built-in Positioning Functions Photocoupler 4 Servo ready (RD) DOG*2 RD 3 Example Connection X014 Apx.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-2 High-Speed Output Special Adapter Appendix 4-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Example Connection To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side. Note that the limit switches on the PLC side should be activated slightly earlier than the limit switches on the servo amplifier side.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Example Connection Appendix 4-2 High-Speed Output Special Adapter MEMO Apx. - 22 Appendix 4.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Warranty Warranty Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
FX3G/FX3U/FX3UC PLC User's Manual - Positioning Control Edition Revised History Revised History ii Date Revision Description 7/2005 A First Edition 2/2006 B • The transistor output for FX3U Series was added. - A.Common items (Subsection 1.2.1 and 1.2.2, Section 2.1 and Subsection 3.1.1). - B.Built-in positioning function (Section 1.1, Subsection 1.5.2 and 1.5.3, Section 2.3, Subsection 2.5.1, Section 4.9, Subsection 6.3.1, 8.2.1 and 8.3.1, Section 9.1 and 10.1).
USER'S MANUAL - Positioning Control Edition FX3G/FX3U/FX3UC SERIES PROGRAMMABLE CONTROLLERS HEAD OFFICE: TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN HIMEJI WORKS: 840, CHIYODA CHO, HIMEJI, JAPAN MODEL FX3U-U-POS-E MODEL CODE 09R620 JY997D16801E (MEE) Effective March 2009 Specifications are subject to change without notice.
