Mitsubishi FX2N-10GM, FX2N-20GM Programming Manual

HARDWARE / PROGRAMMING MANUAL

FX2N-10GM, FX2N-20GM

FX/E Series Positioning Controllers

Foreword

• This manual contains text, diagrams and explanations which will guide the reader in the correct installation an d op eration of the com munication facilities of F X For pr ogr am ming instructio ns pl ease refer to the E-20T P OP ERATION MANUAL and FX-P CSKIT-GM-EE SOFTWARE MANUAL.

• Before attempting to install or use the communication facilities of FX2N-10GM, FX2N-20GM unit this manual should be read and understood.

-10GM, FX2N-20GM unit.

• If in doubt at any stage of the installation of the communication facilities of FX FX

-20GM units always consult a professional electr ical engineer w ho is qualified and

trained to the local and national standards which apply to the installation site.

• If in doubt about the operation or use of the communication facilities of FX

-10GM, FX2N-

20GM units please consult the nearest Mitsubishi Electric distributor.

• This manual is subject to change without notice.

-10GM,

FX Series Positioning Controllers

-10GM, FX

-20GM

Hardware / Programming Manual

Manual number : JY992D77801 Manual revision : B Date : February 2000

FX Series Positioning Controllers

FAX BACK

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iii

FX Series Positioning Controllers

Guidelines for the Safety of the User and Protection of the FX2N-10GM, FX2N20GM unit

This manual provides information for the use of the FX2N-10GM, FX2N-20GM Units. The manual has been written to be used by trained and competent personnel. The definition of such a person or persons is as follows;

a) Any engineer who is responsible for the planning, design and construction of automatic

equipment using the product associated w ith this manual should be of a com petent nature, trained and qualified to the loc al and national sta ndards required to fulfill that role. These engineers should be fully aware of all aspects of safety with regards to automated equipment.

b) Any commissioning or service engineer must be of a competent nature, tr ained and qual-

ified to the local and national standards required to fulfill that job. These engineers should also be trained in the use and maintenance of the completed product. This includes being completely f amili ar with all ass ociated docume ntation for the said product. All maintenance should be carried out in accordance with established safety practices.

c) All operators of the completed equipment should be trained to use that product in a safe

and coordinated manner in compliance to established safety practices. The operators should also be familiar with documentation which is connected with the actual operation of the completed equipment.

Note :

Note: the term ‘completed equipment’ refers to a third party constructed device which contains or uses the product associated with this manual.

Notes on the Symbols Used in this Manual

At various times through out this manual cer tain s ymbols will be used to highlight p oints of information which are intended to ensure the users personal safety and protect the integrity of equipment. Whenever any of the following symbols are encountered its associated note must be read and understood. Each of the symbols used will no w be lis ted with a brief description of its meaning.

Hardware Warnings

1) Indicates that the identified danger

2) Indicates that the identified danger could

WILL

cause physical and property damage.

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 element of software.

5) Indicates a special point which the user of the associate software element should be aware of.

6) Indicates a point of interest or further explanation.

FX Series Positioning Controllers

• 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 this equipment.

• All exampl es and diagr ams shown in thi s manual are intended onl y as an aid to understanding the text, not to guarantee operation. Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustra tive e xamples.

• Owing to the very great variety in possible application of this equipment, you must satisfy yourself as to its suitability for your specific application.

1. Introduction............................................................................................1-1

1.1 Introduction Procedure and Reference Manuals............................................... ..1-1

1.2 Outline of Product................................................................................................1-2

1.3 Outline dimensions................... ............... .. ................ ............... ................ .. .........1-3

1.4 Product composition............................................................................................1-4

1.4.1 Part names................................................................................................................1-4

1.4.2 Installation method ....................................................................................................1-5

1.4.3 MANU/AUTO selector switch ....................................................................................1-5

1.4.4 Connecting the PLC main unit...................................................................................1-7

1.4.5 System configuration and I/O assignment.................................................................1-8

1.4.6 Status indication ......................................................................................................1-11

1.4.7 I/O connector...........................................................................................................1-12

1.5 System Configuration .......... ................ ............... .. ................ ............... .. ............1-1 6

1.6 Pin Assignment and Connection Diagram of Each Cable.................................1-18

1.7 Terminal Blo c k........ ............... ................ ............... .. ................ ............... ... .........1-24

1.7.1 Outside dimensions.................................................................................................1-24

1.7.2 I/O specifications of terminal block (AC input type).................................................1-25

1.7.3 Output specifications of terminal block....................................................................1-25

1.7.4 Internal connection diagram of terminal block.........................................................1-26

1.7.5 Terminal block layout ......... ...... ............................................. ....... ...... ....... ...... ........1-31

2. Specifications ......................................... ........................ ............ ........... 2-1

2.1 Power Supply Specifications ...............................................................................2-1

2.2 General Specifications.........................................................................................2-1

2.3 Performan ce S p e ci fic a t io n s...... .. .. ............... ................ .. ................ ............... .. .....2-1

2.4 Input Specification ...............................................................................................2-4

2.5 Output Specification ............................................................................................2-6

3. Wiring ....................................................................................................3-1

3.1 Wiring of Power Supply.......................................................................................3-1

3.2 Wiring of I/O.........................................................................................................3-5

3.2.1 Example of wiring of input .........................................................................................3-5

3.2.2 Output connection example....................................................................................... 3-8

3.2.3 Operation input wiring .............................................................................................3-10

3.2.4 Drive system/mechanical system I/O wiring............................................................3-11

3.2.5 Manual pulse generator wiring ................................................................................3-12

3.2.6 Absolute position (ABS) detection wiring ................................................................3-13

3.2.7 I/O connection example...........................................................................................3-14

4. Parameters............................................................................................4-1

4.1 Notes on Parameters in General.........................................................................4-1

4.2 Parameter List ..................................................................................................... 4-3

4.3 Positioning Parameters .......................................................................................4-8

4.3.1 Positioning Parameters .............................................................................................4-8

4.3.2 I/O Control Parameters ...........................................................................................4-23

4.3.3 System Parameters.................................................................................................4-32

vii

5. Program format .....................................................................................5-1

5.1 Positioning program.............................................................................................5-1

5.2 Subtask program .................................................................................................5-3

5.3 Instruction List and Execution Time.................................... .................................5-5

5.3.1 Instruction list ............................................................................................................5-5

5.3.2 Instruction execution time and startup time...............................................................5-7

5.4 General Rules for Positioning Control Instructions...................... ........................5-9

5.4.1 m code instruction format ..........................................................................................5-9

5.4.2 Continuous paths (FX

5.4.3 Multistep operation using continuous paths (FX

5.5 Instruction format...............................................................................................5-16

5.6 Drive Control Instructions ..................................................................................5-19

5.6.1 cod 00 (DRV): High speed positioning ....................................................................5-19

5.6.2 cod 01 (LIN): Linear interpolation positioning..........................................................5-21

5.6.3 cod 02 (CW), cod 03 (CCW): Circular interpolation with center point specification.. 5-23

5.6.4 cod 04 (TIM): Stabilization time...............................................................................5-26

5.6.5 cod 09 (CHK): Servo end check..............................................................................5-27

5.6.6 cod 28 (DRVZ): Machine zero return ......................................................................5-28

5.6.7 cod 29 (SETR): Electrical zero point setting............................................................5-29

5.6.8 cod 30 (DRVR): Electrical zero return.....................................................................5-29

5.6.9 cod 31 (INT): Interrupt stop (ignoring the remaining distance)................................5-30

5.6.10 cod 71 (SINT): Interrupt jog feed (one-step speed).................................................5-32

5.6.11 cod 72 (DINT): Interrupt jog feed (two-step speed).................................................5-33

5.6.12 cod 73 (MOVC): Travel compensation....................................................................5-35

5.6.13 cod 74 (CNTC): Center point compensation,

cod 75 (RADC): Radius compensation ...................................................................5-36

5.6.14 cod 76 (CANC): Compensation cancel ...................................................................5-37

5.6.15 cod 90 (ABS): Absolute address, cod 91 (INC): Incremental address ....................5-38

5.6.16 cod 92 (SET): Present value change ......................................................................5-39

5.7 Common Items in Sequence Control Instructions.............................. ...............5-40

5.7.1 Difference in operation by PLC ...............................................................................5-40

5.7.2 Applicable devices...................................................................................................5-41

5.7.3 Bit devices...............................................................................................................5-42

5.7.4 Data length and instruction execution format ..........................................................5-43

5.7.5 Indexing of devices................................ ....... ...... ...... ....... ...... ....... ...... .....................5-43

5.8 Basic sequence instructions............................ .. ........................ ........................5-44

5.9 Application instruction format ............................................................................5-45

5.10 Description on Sequence Application Instructions ............................................5-47

5.10.1 FNC00 (CJ): Conditional jump ................................................................................5-47

5.10.2 FNC00 (CJN): Conditional jump not........................................................................5-47

5.10.3 FNC02 (CALL): Subroutine call, FNC03 (RET): Subroutine return.........................5-48

5.10.4 FNC04 (JMP): Unconditional jump..........................................................................5-48

5.10.5 FNC05 (BRET): Bus return .....................................................................................5-49

5.10.6 FNC08 (RPT): Start of repeat, FNC09 (RPE): End of repeat..................................5-50

5.10.7 FNC10 (CMP): Comparison ....................................................................................5-52

5.10.8 FNC11 (ZCP): Zone comparison.............................................................................5-52

5.10.9 FNC12 (MOV): Transfer ..........................................................................................5-53

5.10.10FNC13 (MMOV): Magnification transfer .................................................................5-53

5.10.11FNC14 (RMOV): Reduction transfer....................................................................... 5-54

5.10.12FNC18 (BCD): BCD conversion .............................................................................5-55

5.10.13FNC19 (BIN): BIN conversion.................................................................................5-55

5.10.14FNC20 (ADD): Addition, FNC21 (SUB): Subtraction..............................................5-56

5.10.15FNC22 (MUL): Multiplication...................................................................................5-57

5.10.16FNC23 (DIV): Division ............................................................................................5-57

5.10.17FNC24 (INC): Increment, FNC25 (DEC): Decrement.............................................5-58

-20GM)..............................................................................5-10

-10GM)......................................5-13

viii

5.10.18FNC26 (WAND): Logical product, FNC27 (WOR): Logical sum,

FNC28 (WXOR): Logical equivalence............................ ...... ....... ...... .....................5-58

5.10.19FNC29 (NEG): Complement...................................................................................5-59

5.10.20FNC72 (EXT): Time-sharing reading of digital switches.........................................5-60

5.10.21FNC74 (SEGL): 7-segment time sharing display....................................................5-62

5.10.22FNC90 (OUT): Output.............................................................................................5-65

5.10.23FNC92 (XAB), FNC93 (YAB): Absolute position detection.....................................5-66

6. Special auxiliary relays and Special data registers ...............................6-1

6.1 General description .......... ........................ ........................ ...................................6-1

6.2 Special auxiliary relays list...................................................................................6-3

6.3 Special data registers list.....................................................................................6-6

7. Communication with Programmable Controller.....................................7-1

7.1 Outline .................................................................................................................7-1

7.2 Buffer Memorie s ....... .. ................ ............... .. ................ ............... ................ .. .......7-2

7.2.1 Configuration of the buffer memories .............................................................. ..........7-2

7.2.2 Assignment of buffer memories.................................................................................7-4

7.3 Program exam ple ................ .. ................ .. ............... ................ ............... ... ...........7-6

7.3.1 Specifying the program No........................................................................................7-6

7.3.2 Operation commands (start/stop)..............................................................................7-7

7.3.3 Reading the present value ........................................................................................7-8

7.3.4 Setting the travel and the operation speed................................................................7-9

7.3.5 Reading m codes ....................................................................................................7-10

7.3.6 Reading / Changing the parameters .......................................................................7-12

7.4 Positioning using the table method (FX2N-10GM).............................................7-13

7.4.1 Outline of the table function..................................................................................... 7-13

7.4.2 Declaration of table method ....................................................................................7-13

7.4.3 Assignment of table data.........................................................................................7-14

7.4.4 Setting of table data ................................................................................................7-15

8. Operation, Maintenance and Inspection................................................8-1

8.1 Before Starting Operation....................................................................................8-1

8.1.1 System design...........................................................................................................8-1

8.1.2 Preliminary inspection (Turn OFF the power.)...........................................................8-1

8.1.3 Program check

(Turn ON the power, and set the positioning unit to the MANU mode.)...................8-1

8.1.4 Incremental/absolute drive method ...........................................................................8-2

8.1.5 Direction of motor rotation .........................................................................................8-3

8.1.6 Connection of limit switches......................................................................................8-3

8.1.7 Each signal fetch timing ............................................................................................8-5

8.1.8 Pulse output waveform..............................................................................................8-6

8.2 Diversifie d Ope ra t io n s ....... ............... ... ............... ............... ... ............... ................ 8-7

8.2.1 Zero return................................................................................................................. 8-7

8.2.2 JOG operation.........................................................................................................8-14

8.2.3 Teaching.................................................................................................................. 8-15

8.2.4 Single step operation............................................................................................... 8-16

8.2.5 Automatic operation ................................................................................................8-17

9. Program Examples................................................................................9-1

9.1 Configuration of Model System ...........................................................................9-1

9.2 Setting of Parameters..........................................................................................9-2

9.2.1 Command pulse frequency and maximum operation speed .....................................9-2

9.2.2 System of units..........................................................................................................9-3

9.2.3 Pulse rate and feed rate ............................................................................................9-3

9.2.4 Setting of parameters ................................................................................................9-5

9.3 Independent 2-Axis Position Control Operation (Independent Operation)..........9-6

9.3.1 Constant-quantity feed (FX2N-10GM, FX2N-20GM) ..................................................9-6

9.3.2 Positioning by constant quantity of reciprocating motion (FX

-10GM, FX2N-20GM)........................................................................................9-7

9.3.3 Repetitious operation (FX

9.3.4 Positioning operation in which movement quantity is variable (FX

-10GM, FX2N-20GM)......................................................................................9-10

9.3.5 Interrupt stop (FX

-10GM, FX2N-20GM) .......................................... ....... ...... ....... .9 -11

9.3.6 Interrupt stop at 1-step speed (FX

9.3.7 Interrupt stop at 2-step speed (FX

9.3.8 Operation at multi-step speed (independent operation)..........................................9-14

9.4 Simultaneous 2-Axis Position Control Operation (FX2N-10GM)........................9-16

9.4.1 Positioning by constant quantity of reciprocating motion (FX2N-20GM)..................9-16

9.4.2 Linear interpolation (FX

9.4.3 Circular interpolation (true circle) (FX

9.4.4 Interrupt stop (FX

-20GM).....................................................................................9-20

9.4.5 Continuous pass operation (FX

9.5 Combination with PLC (FX2N-64MT).................................................................9-23

9.5.1 Quantitative positioning (FX2N-10GM, FX2N-20GM).................... ...... ....... ...... ....... . 9-23

9.5.2 Positioning in which movement quantity is variable (FX

9.5.3 Positioning by table method ....................................................................................9-28

-10GM, FX2N-20GM).....................................................9-9

-10GM, FX2N-20GM)......................................9-12

-10GM, FX2N-20GM)......................................9-13

-20GM) ...........................................................................9-18

-20GM)......................................................9-19

-20GM)...............................................................9-21

-10GM, FX2N-20GM) ....9-25

10.Troubleshooting..................................................................................10-1

10.1 Troubleshooting usi ng LEDs ................................. ............................................10-1

10.2 Error Code List ............ ................................................................... ...................10-4

10.2.1 Confirmation of error ...............................................................................................10-4

10.2.2 Error resetting method.............................................................................................10-4

10.2.3 Error code list ..........................................................................................................10-5

11.Maintenance.......................................................................................11-1

12.Appendix ............................................................................................12-1

12.1 Instruction list.....................................................................................................12-1

12.2 Parameter recording..........................................................................................12-3

12.3 Program re c o rdin g.... .. .. ................ ............... ... ............... ................ .. ............... ...12-5

12.4 Table information list .........................................................................................12-6

FX Series Positioning Controllers

1. Introduction

1.1 Introduction Procedure and Reference Manuals

Introduction procedure

Purchase of product

Introduction 1

Confirmation of accessories

After purchasing the

product, make sure at first that all accessories are packed together.

Confirmation of product

Connect the power supply,

and make sure based on the LED lighting status that the product is normally operating. Perform JOG+ and JOG-

operations using a peripheral unit (such as E20TP), and make sure pulses are normally output.

Installation and wiring

Install and wire the product.

After finishing wiring, check

it. At this time, you can check the wiring between the positioning unit and the motor amplifier by performing JOG operation (from a connected input or peripheral unit).

The FX Power cable

FX2N-100MPCB 1 cable FX PC connection cable

FX2N-GM-5EC 1 cable LED lighting status

POWER LED: Lit READY-x LED: Lit READY-y LED: Lit Other LEDs: Extinguished

During JOG+ ON The READY (READY-x or READY-y) LED for the specified axis is extinguished, and the FP LED is flashing at a high speed (so looks like being lit). During JOG-ON The READY (READY-x or READY-y) LED for the specified axis is extinguished, and the RP LED is flashing at a high speed (so looks like being lit).

For operating procedures of peripheral units, refer to corresponding operation manuals.

Correctly perform wiring in accordance with "3. Wiring" in this manual. For an operation which may cause danger, perform wiring so that the unit conservatively operates when the power is shut down. Set interlock to positions which should not be driven at the same time.

-10GM/20GM is packed together with the following accessories.

-100BPCB (only in FX2N-20GM)

Loading of program

Load a positioning program from a peripheral unit, and adjust the operation.

For creation of programs and description on instructions, refer to "5.

Expression in Program" in this manual. For operating procedures of peripheral units, refer to corresponding

operation manuals. If an error occurs, refer to "10. Troubleshooting" in this manual.

1-1

FX Series Positioning Controllers Introduction 1

Reference manuals

1) E-20TP Operation Manual This manual describes inputs, monitoring and tests of programs using the E-20TP.

2) FX-PCS-KIT-GM-EE Operation Manual This manual describ es inputs, monitoring and tests of programs usin g a personal computer and the FX-PCS-KIT-GM-EE.

3) FX-PCS-VPS/WIN-E SOFTW ARE MANUAL This manual describ es inputs, monitoring and tests of programs usin g a personal computer and the FX-PCS-VPS/WIN-E.

Each of the above manuals is packe d together with the corresponding unit. Or you can acquire only man ual s b y as ki ng a dealer f rom which you hav e purchase d the

-10GM/20GM.

1.2 Outline of Product

The positioning unit FX2N-10GM and the positioning unit FX2N-20GM (hereafter referred to as "FX

-10GM", "FX2N-20GM" or "positioning unit" when indicating the both models) are special

units to output pulse tr ains. The positioning unit allo ws y ou to cont r ol positioni ng using a steppi ng motor or servo motor via a drive unit.

1) Number of control axes (The number of axes indicates the number of controlled motors.) One FX (The FX

-10GM can control one axis. One FX2N-20GM can control two axes.

-20GM is equipped with linear/circular interpolation functions.)

2) Positioning language The positioning unit is equipped with a dedicated positioning language (cod instructions) and sequence language (basic instructions and application instructions). The FX

-10GM can perform position control using programs saved in the PLC main unit

without using the dedicated positioning language. (This is called the table method.)

3) Manual pulse generator Manual feed is enabled when a general-purpose manual pulse generator (open collector type) is connected.

4) Absolute position (ABS) detection Returning to the zero point at every startup can be saved when a servo amplifier equipped with absolute position (ABS) detection fun ction is connected.

5) Connected PLC Positioning data can be read/written when an FX When an FX

Series PLC is connected, an FX

2NC

Series PLC is connected.

2N/2NC

-CNV-IF is required.

2NC

Also the positioning unit can independentl y operate without any PLCs.

1-2

FX Series Positioning Controllers Introduction 1

1.3 Outline dimensions

FX2N-10GM

87(3.43)

POWER READY ERROR CPU-E

60(2.36)

AUTO

MANU

FX -10GM

2N START STOP ZRN

SVRDY

FWD

SVEND

RVS

PGO

DOG

FP RP

LSF

CLR

LSR X0 X1 X2 X3 Y0 Y1 Y2 Y3 Y4 Y5

90(3.54)

(0.51)

74(2.91)

Dimensions: mm(inch) Weight: 0.3kg

13(0.51)

Power supply cable

-20GM

87(3.43)

74(2.91)

Dimensions: mm(inch) Weight: 0.4kg

(0.51)

POWER READY-x READY-y ERROR-x ERROR-y BATT CPU-E

Power supply cable

AUTO

MANU

86(3.39)

START X

X0 X1

STOP

ZRN

FWD

RVS

DOG

LSF

LSR

7 Y0

START Y

Y0 Y1

STOP

1 Y2

ZRN

2 Y3

FWD

3 Y4

RVS

Y4 Y5

DOG

5 Y6

LSF

LSR

FX -20GM

SVRDY Y

SVRDY-X

SVEND

PG0

CLR

90(3.54)

(0.51)

1-3

FX Series Positioning Controllers Introduction 1

1.4 Product composition

1.4.1 Part names

The name and description of each part of the FX

➀➃

➂➁

POWER

AUTO

READY ERROR CPU-E

MANU

FX -10GM

2N START STOP ZRN

SVRDY

FWD

SVEND

RVS

PGO FP

DOG

LSF LSR

CLR X0 X1 X2 X3 Y0 Y1 Y2 Y3 Y4 Y5

➉

➈

➇

➆

➅

Hook for DIN rail installation

➆

Connector for motor amplifier: CON2

➇

Connector for I/O: CON1

➈

Connector for power supply

➉

Connector for PLC

➅

➀

Operation indicator LED

➁

MANU/AUTO switch

➂

Connector for programming tool

➃

I/O display

➄

Connector for PLC extension block

-10GM are explained below.

➄

Accessories Power supply cable

2NC

FX Connection cable FX

-100MPCB 1

-GM-5EC 1

The name and description of each part of the FX

POWER READY-x READY-y ERROR-x ERROR-y BATT CPU-E

d) e)c)b)

AUTO

X0 1

MANU

X2 3

X3 X4

X4 5

X5 6

X6 7

X7 Y0

Y0 1

Y1 2

Y2 3

Y3 Y4

Y4 5

Y5 6

Y6 7

-20GM are explained below.

START X

SVRDY-X

STOP

SVEND

ZRN

PG0

FWD

RVS

DOG

CLR LSF LSR START Y STOP ZRN FWD RVS DOG LSF LSR

h)g)

FX -20GM

SVRDY Y SVEND PG0 FP RP CLR

Accessories Power supply cable

2NC

FX FX

-100MPCB 1

2NC

-100BPCB 1

Connection cable

r) n)o) m)p)

h)q)

-5EC 1

a)Battery (Refer to Section 11.) k)Connector for PLC extension block b)Operation indicator LED l) Hook for DIN rail installation c)MANU/A UTO switch m)Connector for y axi s motor amplif ier: CON4 d)Connector for programming tool n)Connector for x axis motor amplifier: CON3 e)General-purpose I/O display o)Connector for input equipment: CON2 f) Display for equipment inputs p)Connector for power supply g)x axis status display q)Connector for general-purpose I/O: CON1 h)Lock to fix extension block of FX

-20GM r) Connector for memory board

i) y axis status display s)Connector for PLC j) Connector fo r FX

-20GM extension block

1-4

FX Series Positioning Controllers Introduction 1

When attached to DIN rail

When directly attached (at shipment)

Extension block

1.4.2 Installation method

The positioning unit can be directly attached to a DIN rail DIN46277 (width: 35 mm). When removing the positioning unit, slightly pul l out the DIN rail hook. When the DIN rail hook is pulled out b y one more step, it can be loc ked in the open status.

When using an extension block for the FX

Series together with the FX2N-20GM,

2NC

push out the mounting hook in the arrow direction shown in the figure on the r ight, when attaching it to the DIN rail. (An extension block cannot be connected to the FX

-10GM.)

1.4.3 MANU/AUTO selector switch

Removal

MANU/AUTO selector switch

POWER READY-x READY-y ERROR-x

ERROR-y BATT CPU-E

Locked hook

AUTO

MANU

Set this switch to "MANU" for manual operati on, or to "AUTO" for automatic operation. Select the MANU mode when writing programs or setting parameters. In the MANU mode, positioning programs and subtask programs stop. When this switch is changed over from "AUTO" to "MANU" dur ing automatic ope ration, the positioning unit performs the current positioning operation, then waits for the END instruction.

1-5

FX Series Positioning Controllers Introduction 1

• Make sure to shut down the power supplies of all phases on the out side before starting installation or wiring. If the power supplies are not shut down, you may get electrical shock or the unit may be damaged.

Caution

• Units should not be installed in areas subject to the following conditions: e xcessive or conductive dust, corrosive or flammable gas, moisture or rain, excessive heat, regular impact shocks or excessive vibration.

• Take special care not to allow debris to fall inside the unit during installation e.g. cut wires, shavings etc. Once installation is complete remove the protective paper band: to prevent overheating.

General notes

• Always ensure that mounted units and blocks are kept as far as possible from high-voltage cables, high- voltage equipment and power equipment.

• Wiring cautions

• Do not run input signals in the same multicore cable as output signals or allow them to share the same wire.

• Do not lay I/O signal cables next to power cables or allow them to share the same trunking duct. Low vol tage cab les should be reliab ly separat ed or insulated with r egard to high voltage cabling.

• Where I/O signals lines are used over an extended distance consideration for voltage drop and noise interference should be made.

1-6

FX Series Positioning Controllers Introduction 1

1.4.4 Connecting the PLC main unit

Connect the PLC main unit and the positioning unit with a PLC connection cable FX 5EC (which is offered as an accessory) or FX

-GM-65EC (which is separately sold).

➀

POWER

RUN

RUN BATT ERROR

STOP

X2 X3 X4 X5 X6 X7 Y7 X10 X11 X12 X13 X14X1X14X14 X15 X16 X17

Y0 Y1 Y2 Y3 Y4 Y5 Y6

Y10 Y11 Y12 Y13 Y14 Y15 Y16 Y17

POWER

AUTO

READY ERROR CPU-E

START STOP

SVRDY

ZRN

MANU

SVEND

FWD

PGO

RVS

DOG LSF

LSR

CLR X0 X1 X2 X3 Y0 Y1 Y2 Y3 Y4 Y5

FX2N-GM-5EC

• Up to eight positioning units can be connected to the FX ing units can be connected to the FX

• When connecting the positioning unit to the FX is required. (When connecting the positioning unit to the FX is not required.)

FX -10GM

POWER

AUTO

READY ERROR CPU-E

MANU

FX -10GM

2N START STOP

SVRDY

ZRN

SVEND

FWD

PGO

RVS DOG

LSF

LSR

CLR X0 X1 X2 X3 Y0 Y1 Y2 Y3 Y4 Y5

Series PLC.

2NC

2N-GM-65EC

Series PLC. Up to four position-

Series PLC, the interface FX

2NC

Series PLC, the interface FX

POWER READY-x READY-y ERROR-x ERROR-y BATT CPU-E

AUTO

MANU

START X

X0 X1

STOP

1 X2

ZRN

FWD

RVS

DOG

LSF

6 X7

LSR

START Y

Y0 Y1

STOP

1 Y2

ZRN

2 Y3

FWD

3 Y4

RVS

Y4 Y5

DOG

5 Y6

LSF

LSR

SVRDY Y

SVRDY-X

SVEND

PG0

CLR

2NC

-GM-

FX -20GM

-CNV-IF

• Only one extension cable FX

-GM-65EC (650 mm) can be used in one system.

• An extension block, extension unit, special block or special unit connected to the connector

shown in the figure above is treated as an extension unit of the PLC main unit. When extending I/O points to the FX vided on the right side of the FX

(I/O points cannot be extended to the FX

-20GM, connect them to an extensi on connector pro-

-20GM.

-10GM.)

• Securely connect cables such as extension cables and memory cassettes to specified

connectors. Imperfect contact may cause malf unction.

• Turn off the power at first, then connect/disconnect the cable such as an e xte nsion cable.

If you connect/disconnec t a cable while the power is supplied, the unit may fail or malfunction.

1-7

FX Series Positioning Controllers Introduction 1

1.4.5 System configuration and I/O assignment

-10GM

The FX

-10GM is equipped with a power supply, a CPU, operation system inputs, mechanical

system inputs and an I/O drive unit. It can also operate inclependantly. The FX

-10GM is equipped with four input points (X0 to X3) and six output points (Y0 to Y5)

for general purpose, and can be connected to external I/O equipment. If I/O points are not sufficient, use the FX At this time, the FX (including FX

-10GM together with an FX2N/

-10GM is treated as a special unit of the PLC. Up to eight special units

Series PLC.

2NC

-10GM, analog I/O and high-speed counter) can be connected to an FX

Series PLC. Up to four special units (including FX2N-10GM, analog I/O and high-sp eed counter) can be connected to an FX

X000 to X017

X3X2X1

OUT

Y10

COM3

X10 X14 X16

Y12

Y11

Y13Y1Y2Y3

14 171510 12 13

1611

1611 1514 1710 12 13

Y14

Y15

COM X4

LX13X15

24+N

Y4Y5Y6

Y000 to Y017

Series PLC.

2NC

(X00 to X03)

Special unit No. 0

POWER

AUTO

READY ERROR CPU-E

MANU

72456130

POWER

RUN

BATT.V

PROG.E

72456130

CPU.E

FX -10GM

2N START STOP

SVRDY

ZRN

SVEND

FWD RVS

PGO

DOG

LSF

LSR

CLR X0 X1 X2 X3 Y0 Y1 Y2 Y3 Y4 Y5

(Y00 to Y05)

X020 to X027

Extension block for PLC main unit

IN 0

1 2 3 4 5 6 7

POWER

IN 0

1 2 3 4 5 6 7

Y020 to Y027

POWER

(X00 to X03)

Special unit No. 1

POWER

AUTO

READY

OUT 0

ERROR

CPU-E

2 3

MANU

4 5 6 7

OUT 0

1 2 3 4 5 6 7

(Y00 to Y05)

FX -10GM

2N START STOP ZRN

SVRDY

FWD

SVEND

RVS

PGO FP

DOG

LSF LSR

CLR X0 X1 X2 X3 Y0 Y1 Y2 Y3 Y4 Y5

I/O assignment shown inside ( ) indicates I/O points in the FX

-10GM.

I/O assignment The FX

-10GM units are treated a s special units o f the PLC. From the one nearest to the

PLC, the special unit Nos. 0 to 7 are automatically assigned to the connected special units. (This special unit No. is used the by FROM/TO instructions.) Separate from I/O points in the PLC, and general-purpose I/O points in the FX controlled as I/O points in the FX

For the details of assignment of I/O points in the PLC, refer to the FX

-10GM. (One PLC occupies eight I/O points.)

2N/2NC

Series Hardware

-10GM are

manuals.

1-8

FX Series Positioning Controllers Introduction 1

FX2N-20GM

The FX

-20GM is equipped with a power supply, CPU, operation system inputs, mechanical

system inputs and an I/O drive unit. It can also operate independently. The FX

-20GM is equipped with eight input points (X00 to X07) and eight output points (Y00

to Y07) for general purpose, and can be connected to external I/O equipment. If I/O points are not sufficient, extension blocks for the FX can be connected as an extension of the FX The FX PLC via the FX the FX The FX

-20GM can be connected to trans istor outpu t type or TRIAC output type FX

-CNV-IF. (The FX2N-20GM cannot be connected to an extension block for

2NC

Series PLC or a relay output type extension block for the FX2N Series.)

-20GM can be used together with an FX2N/

20GM is treated as a special unit of the FX FX

-20GM, analog I/O and high-speed counter) can be connected to the FX2N Series PLC.

Up to four special units (including FX connected to the FX

Series PLC.

2NC

Either when independently using the FX

-20GM, analog I/O and high-speed coun ter) can be

sure that the simultaneous ON ratio is 50% or les s in the I/O e xtension ar ea of the FX

When independently using the FX2N-20GM

POWER READY-x READY-y ERROR-x ERROR-y BATT CPU-E

X00 to X07

AUTO

MANU

X010 to

X027

FX -20GM

START X

STOP

1 X2

ZRN

FWD

RVS

X4 X5

DOG

LSF

LSR

START Y

STOP

ZRN

FWD

3 Y4

RVS

Y4 Y5

DOG

5 Y6

LSF

LSR

SVRDY Y

SVRDY-X

SVEND

PG0

CLR

POWER

X0 X1 X2 X3 X4 X5 X6 X7 X0 X1 X2 X3 X4 X5 X6 X7

POWER

Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7 Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7

X030 to

X047

POWER

X0 X1 X2 X3 X4 X5 X6 X7 X0 X1 X2 X3 X4 X5 X6 X7

Series PLC’s (excluding the relay output type)

2N/2NC

-20GM.

Series

2NC

Series PLC. At this time, the FX2N-

2NC

2N/2NC

PLC. Up to eight special units (including

-20GM or connecting it to the PLC main unit, make

-20GM.

Y00 to Y07

Y027

When connecting the FX2N-20GM to the PLC main unit

Y010 to

X000 to X017

X3X2X1

OUT

Y10

COM3

X10 X14 X16

Y12

Y11

Y13Y1Y2Y3

72 456130

14 171510 12 13

1611

POWER

RUN

BATT.V

PROG.E

72 456130

CPU.E

1611 1514 1710 12 13

Y14

Y15

COM X4

LX13X15

24+N

Y4Y5Y6

Y000 to Y017

X020 to X027 (X00 to X07)

POWER

IN 0

1 2 3 4 5 6 7

IN 0

1 2 3 4 5 6 7

POWER

OUT 0

1 2 3 4 5 6 7

Y020 to Y027

I/O assignment shown inside ( ) indicates I/O points in the FX

Special unit No. 0

POWER

AUTO

READY-x READY-y ERROR-x ERROR-y BATT CPU-E

START X STOP

MANU

ZRN

FWD

RVS

X4 X5

DOG

LSF

LSR

START Y

STOP

ZRN

FWD

3 Y4

RVS

Y4 Y5

DOG

5 Y6

LSF

LSR

(Y00 to Y07)

-10GM.

FX -20GM

SVRDY Y

SVRDY-X

SVEND

PG0

CLR

1-9

FX Series Positioning Controllers Introduction 1

I/O assignment

When independently using the FX In addition to 16 I/O poi nts (8 i nput points and 8 outpu t points) built in to the FX

-20GM:

-20GM, up to

48 I/O points can be added. (Accordingly, up to 64 points in total are available.) Extended inputs and extended outputs are separately assigned from the one nearest to the FX

When connecting the FX FX

-20GM units are treated as special units of t he PLC. From the one nearest to the PLC, the

-20GM to the PLC main unit:

-20GM unit.

special unit Nos. 0 to 7 ar e au tomatica ll y assi gned to t he conn ecte d special unit s . ( This spec ial unit No. is used the by FROM/TO instructions.) Separate from I/O points in the PLC, general-purpose I/O points in the FX trolled as I/O points in the FX

For the details of assignment of I/O points in the PLC, refer to the FX

-20GM. (One PLC occupies eight I/O points.)

2N/2NC

-20GM are con-

Series Hardware

manuals.

I/O extension connector: The FX

-20GM can be connected to an FX

Series extension block (excluding the relay

2NC

output type) to extend general-purpose I/O points. (Or the FX output type via the FX

-20GM can be connected to an FX2N Series extension b loc k of t ransi stor or TRIAC

-CNV-IF to extend general-purpose I/O points. The number of exten-

2NC

sion points should be up to 48. The simultaneous ON ratio should be 50% or less.) Remove the extension connector cover from the right side of the FX and fit claws on an extension block into mounting hole in the FX

-20GM. Pull up hooks,

-20GM for connection. Then, pull down the hooks to fix the extension block. Connect an extension block to another extension block i n the same way.

-20GM

Hook

Extension block

1-10

FX Series Positioning Controllers Introduction 1

1.4.6 Status indication

LEDs provided on the positioning unit i ndicate the status of the unit.

Table 1.1: Status indication

LED FX2N-10GM FX2N-20GM

Lit while power is normally supplied.If this LED is not lit even while power is supplied,

POWER

READY

READY-X

READY-Y

ERROR

ERROR- X

ERROR-Y

BATT

CPU-E

supply voltage may be abnormal or power circuit may be abnormal caused by invasion of conductive foreign objects, etc.

Lit while FX

-10GM is ready for receiving

diversified operation commands. Extinguished while positioning is being



performed (that is, while pulses are being output) or an error is present.

Lit while X axis of FX

-20GM is ready for

receiving diversified operation commands.



Extinguished while positioning is performed by X axis (that is, while pulses are being output) or an error is present.

Lit while Y axis of FX

-20GM is ready for

receiving diversified operation commands.



Extinguished while positioning is performed by Y axis (that is, while pulses are being output) or an error is present.

Lit or flashing when an error has occurred during positioning operation. You can read error code on a peripheral



unit to check contents of error.

Lit or flashing when an error has occurred



during positioning operation by X axis. You can read error code on a peripheral unit to check contents of error.

Lit or flashing when an error has occurred



during positioning operation by Y axis. You can read error code on a peripheral unit to check contents of error.



Lit while power is turned on if battery voltage is low.

Lit when a watch dog timer error has occurred. [Estimated causes are invasion of conductive foreign objets, abnormal noise or low battery voltage (only in FX

-20GM).]

1-11

FX Series Positioning Controllers Introduction 1

1.4.7 I/O connector

-10GM

CLR

FP VIN VIN

ST1

CON2

SVEND COM2 PG0 COM4

RP VIN VIN COM5 ST2

START

STOP

ZRN FWD RVS DOG LSF LSR

COM1

CON1

X0 X1

X2 X3 Y0

Notch

Y1 Y2 Y3 COM1 Y5

SVRDY

COM2

COM3

COM5

All terminals with identical names are shorted internally. (Ex. COM1-COM1, VIN-VIN, etc.) Do not wire " y " termin als. Refer to the FX

-10GM, FX2N-20GM HARDWARE PROGRAMMING MANUAL for wiring

information.

-20GM

COM6

CLR

COM7

FP VIN VIN

COM9

ST3

CON4

(Y axis)

SVEND COM6 PG0 COM8

VIN

VIN COM9 ST4

Y00

Y01 Y02 Y03 Y04 Y05 Y06 Y07

COM1

CON1

X00 X01 X02 X03 X04 X05 X06 X07 COM1

Notch

Y axis

START

STOP

ZRN FWD RVS DOG LSF LSR

COM1

CON2

X axis

START STOP ZRN FWD RVS DOG LSF LSR COM1

SVRDY

COM2

CLR

COM3

FP VIN VIN

COM5

ST1

CON3

(X axis)

SVEND COM2 PG0 COM4

RP VIN VIN COM5 ST2

SVRDY

All terminals with identical names are shorted internally. (Ex. COM1-COM1, VIN-VIN, etc.) Do not wire " y " termin als.

The pin assignment shown above indicates connectors of the positioning unit. When you create an I/O cabl e b y yourself , "▲" on the connector of the cable is regarded as pin No. 20. Pay rigid attention to the positions of "▲" and notches.

• P er form Class 3 grounding with an electric wire of 2 mm

or more to the ground terminal in the positioning unit. However, never perform common grounding with a strong pow er system.

1-12

FX Series Positioning Controllers Introduction 1

Signals in connectors

Table 1.2: Signals in connectors

FX2N-10GM FX2N-20GM

Connector Pin No. Connector Pin No.

1 (Y)

11(X)

2 (Y)

12(X)

3 (Y)

13(X)

CON2

CON1

CON2

9,19

CON1

4 (Y)

14(X)

5 (Y)

15(X)

6(Y)

16(X)

7 (Y)

17(X)

8 (Y)

18(X)

9 (Y)

19(X)

9 (Y)

19(X)

Abbreviation

Automatic operation start input

START

In ready status (while pulses are not output) in AUTO mode, when START signal turns ON from OFF, start command is set and operation starts. This signal is reset by stop command, m00 or m02.

Stop input When STOP signal turns ON from OFF, stop command is

STOP

set and operation stops. Priority is given to STOP signal over START, FWD and RVS signals. Stop operation varies depending on setting (0 to 7) of PARA. 23.

Mechanical zero point return start input (manual) When ZRN signal turns ON from OFF, zero point return

ZRN

command is set and machine starts to return to zero point. ZRN signal is reset when return to zero point is finished or stop command is given.

Normal rotation input (manual) When FWD signal turns ON, positioning unit generates a

FWD

forward pulse of minimum command unit. When FWD signal remains ON for 0.1 sec or more, positioning unit generates continuous forward pulses.

Reverse rotation input (manual) When RVS signal turns ON, positioning unit generates a

RVS

backward pulse of minimum command unit. When RVS signal remains ON for 0.1 sec or more, positioning unit generates continuous backward pulses.

DOG Dog (near point signal) input

LSF Normal rotation stroke end

LSR Reverse rotation stroke end

COM1 Common

Function/application

1-13

FX Series Positioning Controllers Introduction 1

Table 1.2: Signals in connectors

FX2N-10GM FX2N-20GM

Connector Pin No. Connector Pin No.

11 12 12 X1 13 13 X2 14 14 X3

  

CON1

CON2



10 5 Y1 15 1 Y2 16 2 Y3 17 3 Y4 18 4 Y5 20 6 Y6

 

2,12 CON3 2,12 COM2 Common of SVRDY and SVEND signals (X axis)

3 4 CON3 4 COM3 Common of CLR signal (X axis)

7,8,

17,18

9,19

10 10 ST1

11 13 13 PG0 Receives zero point signal.

14 CON3 14 COM4 Common of PG0 (X axis) 16

20 CON3 20 ST2

  

CON1

CON3 CON4

CON3

CON3 CON4

CON4

7,8,

17,18

9,19 COM5 Common of FP and RP signals (X axis)

2,12 COM6 Common of SVRDY and SVEND signals (Y axis)

Abbreviation

11 X0 General-purpose inputs

Through parameters, these pins can be assigned to inputs of digital switch, m code OFF command, manual pulse generator, absolute position (ABS) detection data, step mode, etc.

15 X4 16 X5 17 X6

18 X7

7Y7 8Y8

1SVRDY

3 CLR Outputs deviation counter clear signal.

6 FP Normal rotation pulse output

VIN Input (5 V, 24 V) for po wer for FP and RP

SVEND

16 RP Reverse rotation pulse output

4 COM7 Common of CLR signal (Y axis)

9 COM9 Common of FP and RP signals (Y axis) 10 ST3 14 COM8 Common of PG0 signal (Y axis) 20 ST4

When STEP input set by a parameter turns on, step mode is selected, and program execution proceeds to next line in accordance with "OFF → ON" of start command. Step operation is disabled until command in current line is completed.

General-purpose outputs Through parameters, these pins can be assigned to outputs of digit changeover of digital switch, ready signal, m code, absolute position (ABS) detection control signal, etc.

Receives READY signal (which indicates that preparation for operation is completed) from servo amplifier.

Short-circuit ST1 and ST2 when connecting PG0 to 5 V power supply.

Receives INP (positioning completion) signal from servo amplifier.

Short-circuit ST1 and ST2 when connecting PG0 to 5 V power supply.

Short-circuit ST3 and ST4 when connecting PG0 to 5 V power supply.

Function/application

1-14

FX Series Positioning Controllers Introduction 1

*1:In the table 1.2, "(X)" indicates assignment for the X axis, and "(Y)" indica tes ass ignment for

the Y axis.

-10GM......CON1:Connector dedicated to I/O

CON2: Connector to connect a drive unit

-20GM......CON1: Connector dedicated to I/O

CON2: Connector dedicated to I/O CON3: Connector to connect a drive unit (for the X axis) CON4: Connector to connect a drive unit (for the Y axis)

Description of two or more pin Nos. shown in the "Pin No." column such as COM1, COM2 and VIN indicates that such pins are short-circuited inside.

• While the FX

-20GM is performing simultaneous 2-axis operation, step mode command,

start command, stop command and m code OFF command are effective to the both axes even if such a command is given to only either the X or Y axis.

1-15

FX Series Positioning Controllers Introduction 1

1.5 System Configuration

The figure below shows the syst em con fi guration to use the positioning unit.

Programming tool E-20TP-E (E-20TP-E-SET0 sold separately)

Connection cable

FX-232AW(C) (packed together with

Personal computer

RS-232C cable

FX-PCS-KIT-GM-EE)

RS-422 cable

FX2N-10GM

-20GM

Servo amplifier/drive unit (manufactured by Mitsubishi or for general-purpose)

Connection cable

General-purpose I/O equipment/ terminal block

Motor (manufactured by Mitsubishi or for general-purpose)

*1:Software for personal computer

FX-PCS-KIT-GM-EE :Applicable personal computer PC-AT compatible machine.

Applicable OS MS-DOS.

FX-PCS-VPS/WIN-E :Applicable OS Windows 95. Windows 98 Windows NT4.0.

Connection cables and terminal blocks

Cable to connect E-20TP-E E-20TP-CAB0 (3 m, packed together wit h E-20TP-E-SET0) FX-20P-CAB0 (1.5 m, sold separately)

RS-232C cable to connect personal computer F

-232CAB (25 pins ↔ 25 pins) (packed together with FX-PCS-KIT-GM-EE)

-232CAB-2 (half-pitch 14 pins ↔ 25 pins) (sold separately)

RS-422 cable to connect personal computer (packed together with FX-PCS-KIT-GM-EE) FX-422CAB0

Cable to connect servo amplifie r/drive unit (sold separat ely) Cable to connect MR-C E-GMC-200CAB (2 m) Cable to connect MR-J E-GMJ-200CAB (2 m) Cable to connect MR-J2 E-GMJ2-200CAB1A (2 m) Cable to connect MR-H E-GMH-200CAB (2 m) Cable to connect general-purpose drive unit E-GM-200CAB (2 m) (relayed by terminal block FX-16E-TB)

1-16

FX Series Positioning Controllers Introduction 1

Connection cable to connect general-purpose I/O equipment/terminal block (sold separately) FX-16E-150CAB: Flat cable with connector on each end (1.5 m) FX-16E-300CAB: Flat cable with connector on each end (3.0 m) FX-16E-500CAB: Flat cable with connector on each end (5.0 m) FX-16E-150CAB-R: Round multi-core cable with connector on each end (1.5 m) FX-16E-300CAB-R: Round multi-core cable with connector on each end (3.0 m) FX-16E-500CAB-R: Round multi-core cable with connector on each end (5.0 m) FX-16E-500CAB-S: Cable with connect o r on only one end (5.0 m)

Terminal block (sold separately) For positioni ng unit/extension block:

FX-16E-TB, FX-32E-TB

For extension block (cannot be connected to positioning unit) :

FX-16EY…-TB (… = R, S or T), FX-16EYT-H-TB

1-17

FX Series Positioning Controllers Introduction 1

1.6 Pin Assignment and Connection Diagram of Each Cable

Connection cable FX-20P-CAB0

3 4

1 2

MINI-DIN 8-pin male connector

RS-232C connection cable F

113

MINI-DIN 25-pin male connector

RS-232C connection cable F

D-SUB 9-pin female connector

c d e f g h i j

-232CAB

c d e g h i

-232CAB-1

d e i j f g h

c d e g h i

c d e f g h i

c d e f g h i j

3 4

1 2

MINI-DIN 8-pin male connector

113

MINI-DIN 25-pin male connector

113

MINI-DIN 25-pin male connector

RS-232C connection cable F

Half-pitch 14-pin connector

-232CAB-2

c k d f

11 14 12 13

d e

g h i

113

MINI-DIN 25-pin male connector

1-18

+ 244 hidden pages

Mitsubishi FX2N-10GM, FX2N-20GM Programming Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Introduction

1.1 Introduction Procedure and Reference Manuals

1.2 Outline of Product

1.3 Outline dimensions

1.4 Product composition

1.4.1 Part names

1.4.2 Installation method

1.4.3 MANU/AUTO selector switch

1.4.4 Connecting the PLC main unit

1.4.5 System configuration and I/O assignment

1.4.6 Status indication

1.4.7 I/O connector

1.5 System Configuration

1.6 Pin Assignment and Connection Diagram of Each Cable