USER'S MANUAL
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT
HEAD OFFICE: MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 TELEX: J24532 CABLE MELCO TOKYO
HIMEJI WORKS: 840, CHIYODA CHO, HIMEJI, JAPAN
USER'S MANUAL
JY992D65301A
(MEE 9704)
Effective JUN. 1997
Specifications are subject
to change without notice.
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT
Foreword
•
This manual contains text, diagrams and explanations which will guide the reader in the correct installation, safe use and
operation of the FX-1PG/FX
2N-1PG pulse generator unit. It should be read and understood before attempting to install or
use the unit.
Further information can be found in the FXPROGRAMMING MANUAL, FX/FX
2N series hardware manuals.
•
If in doubt at any stage during the installation of the FX-1PG/FX2N-1PG pulsegenerator unitalways consult a professional
electrical engineer who is qualified and trained to the localand national standards.
If in doubt about the operation or use of the FX-1PG/FX
2N-1PGpulse generator unit please consult the nearest Mitsubishi
Electric distributor.
•
This manual is subject to change without notice.
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT
Under no circumstances will MITSUBISHI ELECTRIC be liable responsible for any consequential damage that may arise
as a result of the installation or use of thisequipment.
All examples and diagrams shown in this manual are intendedonly as an aid to understandingthe text, not to guarantee
operation. MITSUBISHI ELECTRIC will accept no responsibility for actual use of the product based on these illustrative
examples.
Owing to the very great variety in possible application of this equipment, you must satisfy yourself as to its suitability for
your specific application.
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT
USER’S MANUAL
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT
Manual number: JY992D65301
Manual revision: A
Date: June 1997
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT
i
Guidelines for the safety of the user and protection of the FX-1PG/FX2N-1PG
pulse generator unit
This manual provides information for the installation and use of the FX-1PG/FX2N-1PG pulse generator unit. The manual has
been written to be used by trainedand competent personnel. The definitionof such a person or persons is asfollows;
a) Any engineer who is responsible for the planning, design and construction of automatic equipment using the product
associated with this manualshould be of a competentnature, (trained and qualified to the localand national standards
required to fulfill that role). These engineers should be fully aware of allaspects of safety with regards to automated
equipment.
b) Any commissioning or service engineer must be of a competent nature, trained and qualified to the local and national
standards required to fulfill that job. These engineers should also be trained in the useand maintenance of the
completed product. This includes being completely familiar with all associated documentation for the said product. All
maintenance should be carried out in accordance with established safety practices.
c) All operators of the complianceproduct should be trained to usethat product in a safeand coordinated manner in
compliance to established safety practices. The operators should also be familiar with all documentation which is
connected with the actual operation of the completed equipment.
Note: The term ‘completed equipment’ refers to a third party constructed device which contains oruses the product
associated with this manual.
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT
ii
Note’s on the symbology used in this manual
At various times through out this manual certain symbols will be used tohighlight points of information which are intendedto
ensure the users personal safety and protect the integrity of the equipment. Whenever any of the following symbols are
encountered, its associated note must be read and understood. Each of the symbols used will now be listed with a brief
description of its meaning.
Hardware warnings
1) Indicates that the identified danger WILL causephysical and property damage.
2) Indicates that the identified danger could POSSIBLY cause physical and property damage.
3) Indicates a point of further interest or further explanation.
Software warnings
4) Indicates special care must be taken when using this elementof software.
5) Indicates a special point of which the user of the associatesoftware element should be aware.
6) Indicates a point of interest or further explanation.
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT
iii
CONTENTS
1. INTRODUCTION ....................................... 1-1
1.1 Introduction........................................ 1-1
2. OUTSIDE DIMENSIONS ................................... 2-1
2.1 Outside Dimensions ................................... 2-1
3. TERMINAL ARRANGEMENT ................................ 3-1
3.1 Terminal Arrangement and LED Indication ........................ 3-1
4. SPECIFICATIONS ...................................... 4-1
4.1 Specifications ....................................... 4-1
5. BFM LIST ........................................... 5-1
5.1BFMList ......................................... 5-1
5.2 System of Units and Parameter Setting ......................... 5-3
5.3 Speed Data and Position Data .............................. 5-6
5.4 Position Data, Home Position and
Current Position ........................................ 5-9
5.5 Operation Command ................................... 5-10
5.6 Status and Error Codes .................................. 5-13
6. OUTLINE OF OPERATION MODES ............................. 6-1
6.1 JOG Operation and Machine Home Position Return Operation ............. 6-1
6.1.1DOG Switch ....................................... 6-2
6.1.2Overshoot Detection Home Return Positioning Method ................ 6-3
6.1.3Undershoot Detection Home Return Positioning Method ................ 6-4
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT
iv
6.1.4Home Position Return Operation ............................6-5
6.2 Single-Speed Positioning Operation and Interrupt Single-Speed Positioning Operation . 6-6
6.3 Two-Speed Positioning Operation and External Command Positioning Operation ....6-7
6.4 Variable Speed Operation and Duplicated Specifications for Various Operation Modes . 6-8
6.5 Connection of DOG and STOP Inputs and Handling of Limit Switches for Limit Detection 6-9
6.6 Various Operation Modes and Buffer Memory Setting ..................6-11
7. OUTLINE OF FROM/TO INSTRUCTION (PC) ........................7-1
7.1 FROM/TO Instruction ...................................7-1
8. I/O SPECIFICATIONS .....................................8-1
8.1 I/O Specifications .....................................8-1
9. EXTERNAL CONNECTION EXAMPLES ...........................9-1
9.1 Example of Connection Between FX-1PG and Stepper Motor ..............9-1
9.2 Example of Connection Between FX
2N-1PG and Stepper Motor .............9-3
9.3 Example of External Connection (MR-C Servo Amplifier) .................9-5
9.4 Example of External Connection (MR-J Servo Amplifier) .................9-7
9.5 Example of External Connection (MR-J2 Servo Amplifier) ................9-9
9.6 Example of External Connection (MR-H Servo Amplifier) .................9-11
10.PROGRAM EXAMPLES ...................................10-1
10.1Program Examples ....................................10-1
11.DIAGNOSTICS ........................................11-1
11.1Preliminary Checks and Error Indication .........................11-1
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT
v
MEMO
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT
vi
1. INTRODUCTION
1.1 Introduction
•
The FX-1PG/FX2N-1PG pulse generator unit (hereinafter referred to as “PGU”) performs simple positioning of an
independentaxis (not interpolation control betweenmultiple axes) bysupplying a prescribedquantity of pulses (100 kPPS
maximum) to drive amplifiers for servo or stepper motors.
•
The FX-1PG is attached as an extension to the FX/FX2C series programmable controller (hereinafter referred to as “PC”),
and the FX
2N-1PG is attached as an extension to the FX2N series PC. Each PGU functions as a special block which
transfers data with the PC using the FROM/TO instructions, and occupies 8 points of inputs or outputs. Up to 8 PGU
units can be connected to single PC so operation forindependent 8 axes can be realized.
•
The PGU provides connection terminals for positioning operations that require high-velocity responses as wellas those
used for pulse train outputs. Other general I/O operations are controlledvia the PC.
•
Because all the program for positioning control are executed in the PC, the PGU does not require dedicated teaching
panel, etc. As the programming tools for the PC, thefollowing devices are available without modification.
➀ FX-10P-E and FX-20P-E
➁ General-purpose personal computer (IBM)
•
Various data access units as follows can be connected to the PC to set or display the positioningdata.
➀ FX-10DU-E and FX-20DU-E
➁ FX-25DU-E, FX-30DU-E, FX-40DU-ES, FX-40DU-TK-ES and FX-50DU-TK(S)-E
1
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT INTRODUCTION
1-1
Various
programming tools
Various data
access units
FX
/FX2C/FX2N
FROM
TO
Series PC
Control I/O
PGU FX-1PG/
FX
2N
-1PG
Pulse train
High-velocity I/O
Control
panel
Machine
Drive
amplifier
Servo motor
or
stepper motor
2
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT OUTSIDE DIMENSIONS
2-1
2. OUTSIDE DIMENSIONS
2.1 Outside Dimensions
FX-1PG
Weight: Approx. 0.3 kg(0.66 lbs)
Terminal screw: M3.5
Terminal screw tightening torque:
0.5 to 0.8 N⋅m (5 to 8 kgf⋅cm)
Applicable terminals:
Accessories: No. labels forspecial modules
Dimenssions : mm (inch)
•
The PGU is installed to the right side of a
main unit or an extension unit of an
FX/FX
2C Series PC or of an other extension block. The PGU can be installed using a DIN rail (DIN 46277, Width: 35 mm)
or directly installed using M4 screws.
(For the details, refer to the handy manual packed together with the main unit.)
2
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT OUTSIDE DIMENSIONS
2-1
SG PG0-
STOP
DOG
S/S PG0+
140(5.51)
125(4.92) Mounting holes
Attachment groove
35mm Wide
DIN 46277 rail
10(0.39)
1PG
POWER
STOP
DOG
PG0
FP
RP
CLR
ERR
POWER
STOP
DOG
PG0
FP
RP
CLR
ERR
VL
FP0VL
FPVH RP
COM0
RP0
CLR
COM1
6.8(0.27)
or less
6.8(0.27)
or less
For M3.5
Mounting holes
35(1.38)
95(3.74)
45(1.77)
FX2N-1PG
Weight: Approx. 0.2 kg(0.44 lbs)
Terminal screw: M3
Terminal screw tightening torque:
0.5 to 0.8 N⋅m (5 to 8 kg⋅cm)
Applicable terminals:
Accessories: No. labels forspecial modules
Dimenssions : mm (inch)
•
The PGU is installed to the right side of a main unit or an extension unit of an FX2N Series PC or of an other extension
block. The PGU can be installed using a DIN rail (DIN 46277, Width: 35 mm) or directly installed using M4 screws. (For
the details, refer to the handy manual packed togetherwith the main unit.)
2
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT OUTSIDE DIMENSIONS
2-2
S
T
O
P
F
P
POWER
P
D
O
G
O
G
C
R
P
L
R
uhm
6.2(0.24)
E
R
R
or less
6.2(0.24)
or less
90(3.51)
80(3.12)
Attachment groove
35mm Wide
DIN 46277 rail
1PG
POWER
VIN
FP
PG0-
COM1
S/S
S/S
COM0
RP
PG0+
CLR
STOP
DOG
For M3
9(0.35)
87(3.39)
4(0.16)
43(1.68)
3
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT TERMINAL ARRANGEMENT
3-1
3. TERMINAL ARRANGEMENT
3.1 Terminal Arrangement and LED Indication
FX-1PG FX2N-1PG
<LED allocation>
Common between FX-1PG and FX2N-1PG
POWER
Indicates power status of PGU.
Lighted when 5 V is supplied from PC.
STOP
Lighted when stop command is entered.
Lighted by either STOP terminal or BFM #25 b1.
DOG
Lighted when DOG input is entered.
PG0
Lighted when zero point signal is entered.
FP
Flashes when forward
pulse is output.
Output format can be
modified using BFM #3
b8.
RP
Flashes when reverse
pulse is output.
CLR
Lighted when CLR signal is output.
ERR
Flashes when error has occurred. Start
command is not accepted when error has
occurred.
3
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT TERMINAL ARRANGEMENT
3-1
VIN
FP
PG0-
COM1
S/S
S/S
COM0
RP
PG0+
CLR
STOP
DOG
1PG
POWER
STOP
DOG
PG0
FP
RP
CLR
ERR
SG
DOG
PGO-
VH
VL FP
RP
CLR
STOP
S/S
PGO+
VL
FP0
COM0
RP
COM1
1PG
POWER
< Terminal allocation >
FX-1PG FX2N-1PG Function
SG -
Signal ground. Short-circuit it toSG terminal of PC.
STOP
DECELERATION STOP input.
Can function as stop command input in external command operation mode.
DOG
Offers following different functions depending on operation mode.
• Machine homeposition return operation: NEAR POINT SIGNAL input
• Interrupt single-speed operation: INTERRUPT input
• External command operation: DECELERATION START input
S/S
24V DC power terminal for STOP input and DOG input
Connected to sensor power supply of PC or external power supply.
PG0+
Power terminal for zero point signal
Connected to servo amplifier or external power supply (5 to 24V DC,20 mA or less)
PG0-
Enters zero point signal from drive unit or servo amplifier.
Response pulse width: 4 µs or more
VH -
Power terminal for pulse output (supplied from servo amplifier or external unit)
24V DC±10% Current consumption: 15 mA
VL -
Power terminal for pulse output (supplied from servo amplifier or external unit)
5 to 15V DC Current consumption: 20 mA
- VIN
Power terminal for pulse output (supplied from servo amplifier or external unit)
5 to 24V DC, 35 mA or less
FP0 -
Pull-up resistance. Connected to VH or VL.
FP
Pulse output terminal. 100 kPPS, 20 mA or less (5 to 24VDC)
COM0
Common terminal for pulse output
RP
Pulse output terminal. 100 kPPS, 20 mA or less (5 to 24VDC)
RP0 -
Pull-up resistance. Connected to VH or VL.
COM1
Common terminal for CLR output
CLR
Output for clearing deviation counter. 5 to 24VDC, 20 mA or less Output pulse
width: 20 ms(Output when return to home position is completed or LIMIT SWITCH
input is given.)
●
Spare terminal. Shall not be used a relay terminal.
3
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT TERMINAL ARRANGEMENT
3-2
4
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT Specifications
4-1
4. SPECIFICATIONS
4.1 Specifications
< Environmental specifications >
The environmental specifications are equivalent to those of the main unit ofthe FX PC.
(For the details, refer to the handy manual packed together with the main unit.)
4
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT Specifications
4-1
< Performance specifications >
Item Specifications
Drive power supply
➀ +24V (for input signals) : 24V DC ±10% Current consumption: 40 mA or less
Supplied from external power supply or 24+ output of PC.
➁ +5V (for internal control) : 5V DC, 55mA Supplied from PC via extension cable.
➂ For pulse output : Supplied from servo amplifier.
External 5V power supply is required when stepper motor is used.
Number of I/O points
occupied
8 input or output points of PC foreach PGU
Number of control axes 1 (A single PC can control independent 8 axes maximum.)
Command speed
● Operations are enabled at pulse speed of 10 PPS to 100 kPPS.
● Command unit can be selected among pulse/s. cm/min, 10 deg/min and inch/min.
Setting pulse
● 0 to ±999.999
● Absolute position specification or relative travel specification can be selected.
● Command unit can be selected among pulse, µm, mdeg and 10
-4
inch.
● Multiplication of 10
0
, 101,102or 103can be set for position data.
Pulse output format
Forward (FP) and reverse (RP) pulse or pulse (PLS) with direction (DIR) can be selected.
Open collector and transistor output. 5 to 24V DC, 20 mA orless
External I/O
● Photocoupler insulation and LED operation indication are offered for every point.
● 3 input points: (STOP/DOG) 24V DC, 7 mA and (PG0*1) 24V DC, 20 mA
(For details, refer to Section 8.1.)
● 3 output points (FP/RP/CLR): 5 to 24V DC, 20 mA orless (For details, refer to Section 8.1.)
Communication with PC
16-bit RAM (without battery backup) buffer memories (BFMs) #0 to #31 are builtin PGU.
Data communication with PC is performed using FROM/TO instructions.
32-bit data is processed by combining two BFMs. (For details, see to Section 5.1.)
*1 One zero point signal PG0 is entered by flowing the current fromthe PG0+ terminal to the PG0− terminal.
4
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT Specifications
4-2
5
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT BFM LIST
5-1
5. BFM LIST
5.1 BFM List
*1 Unit is µm/R, mdeg/R or 10-4inch/R.
*2 Unit is PLS, µm/R, mdeg/R or 10
-4
inch depending on the
system of units set in the BFM #3 b1 andb0.
BFM No.
Higher
16 bits
Lower
16 bits
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6
#0 Pulse rate A 1 to 32,767 PLS/REV (Pulse/Revolution)
#2 #1 Feed rate B 1 to 999,999 *1
#3
STOP
input mode
STOP
input
polarity
Count start
timing
DOG input
polarity
——
Home
position
return
direction
Rotation
direction
Pulse
output
format
—— ——
#5 #4 Maximum speed V
max 10 to 100,000 PPS
#6 Bias speed V
bia 0 to 10,000 PPS
#8 #7 JOG speed V
JOG 10 to 100,000 PPS
#10 #9 Home position return speed (high speed) V
RT 10 to 100,000 PPS
#11 Home position return speed (creep speed) V
CR 10to 10,000 PPS
#12 Number of zero point signals for home position return N 0 to 32,767 PLS
#14 #13
Home position HP 0 to ±999,999 *2
#15 Acceleration/decelerationtime Ta 50 to 5,000 ms
#16 Reserved
#18 #17
Set position (I) P(I) 0to ±999,999 *2
#20 #19 Operating speed (I) V(I) 10 to 100,000 PPS
#22 #21
Set position (II) P(II) 0 to ±999,999 *2
#24 #23 Operating speed (II) V(II) 10 to 100,000 PPS
#25 ——
—— ——
Variable
speed
operation
start
External
command
positioning
start
Two speed
positioning
start
Interrupt
single
speed
positioning
start
Single
speed
positioning
start
Relative /
absolute
position
Home
position
return start
#27 #26 Current position CP Automatic writing -2,147,483,648 to 2,147,483,647
#28 ——
—— —— —— —— —— ——
Positioning
completed
flag
Error flag
Current
position
value
overflow
#29 Error code Error code is automatically written when error has occurred.
#30 Model code “5110"is automatically written.
#31 Reserved
5
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT BFM LIST
5-1
• When the power of the PGUis turned off,
the BFM data is cleared.
When the power of the PGU is turned on,
the initial values are entered to the BFMs.
• The BFMs #0, #1 and #2 areneglected
when the BFM #3 (b1, b0) is set to the
motor system.
• When each BFM is written or read, 16-bit
data shall be written/read in the unitof 16
bits and 32-bit data shall be written/read in
the unit of 32 bits.
< Reading of 32-bit data >
R: For read
W: For write
b5 b4 b3 b2 b1 b0
Initial value: 2,000 PLS/REV
R/W
Initial value: 1,000 PLS/REV
Position data multiplication
10
0
to 10
3
—— ——
System of units
[Motor system, Machine
system, Combined
system]
Initial value: 100,000 PPS
Initial value: 0 PPS
Initial value: 10,000PPS
Initial value: 50,000PPS
Initial value: 1,000 PPS
Initial value: 10 PLS
Initial value: 0
Initial value: 100 ms
——
Initial value: 0
R/W
Initial value: 10 PPS
Initial value: 0
Initial value: 10 PPS
JOG−
operation
JOG+
operation
Reverse
pulse stop
Forward
pulse stop
STOP Error reset
PG0 inputONDOG inputONSTOP input
ON
Home
position
return
completed
Reverse
rotation/
Forward
rotation
Ready
R
——
*3 Only one bit among theBFM #25 b6 to b4and b12 to b8 can be turned on. If two ormore bits among them
are turned on, no operation is performed.
*4 When data iswritten into the BFMs #0, #1,#2, #3, #4, #5,#6 and #15, datais calculated inside the PGU during
the first positioning operation. Tosave this processing time (500 ms maximum).
5
FX-1PG/FX2N-1PG PULSE GENERATOR UNIT BFM LIST
5-2
FROM K 0 K 26 D0 K 1D
32-bit instruction Current position (32-bit data)
FROM K 0 K 26 D0 K 1
16-bit instruction Current position (32-bit data)
......
......
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