Mitsubishi FX3U-20SSC-H User Manual

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FX3U-20SSC-H

USER'S MANUAL

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.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage.

Depending on the circumstances, procedures indicated by may also cause severe injury. It is important to follow all precautions for personal safety. Store this manual in a safe place so that it can be taken out and read whenever necessary. Always forward it to the end user.

1. DESIGN PRECAUTIONS

• Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure. Otherwise, malfunctions may cause serious accidents.

1) Most importantly, have the following: an emergency stop circuit, a protection circuit, an interlock circuit for

opposite movements (such as normal vs. reverse rotation), and an interlock circuit (to prevent damage to the equipment at the upper and lower positioning limits).

2) Note that when the PLC CPU detects an error, such as a watchdog timer error, during self-diagnosis, all outputs

are turned off. Also, when an error that cannot be detected by the PLC CPU occurs in an input/output control block, output control may be disabled. External circuits and mechanisms should be designed to ensure safe machinery operation in such a case.

3) Note that when an error occurs in a relay, triac or transistor output device, the output could be held either on or

off. For output signals that may lead to serious accidents, external circuits and mechanisms should be designed to ensure safe machinery operation in such a case.

• At Forward/Reverse rotation limits, make sure to wire the contacts with NC, negative-logic. Wiring contacts with NO, positive-logic may cause serious accidents.

• Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise:

1) Do not bundle the main circuit line together with or lay it close to the main circuit, high-voltage line or load line.

Otherwise, noise disturbance and/or surge induction are likely to take place. As a guideline, lay the control line at least 100mm (3.94") or more away from the main circuit or high-voltage lines.

2) Ground the shield wire or shield of the shielded cable at one point on the PLC. However, do not ground them at

the same point as the high-voltage lines.

• Install module so that excessive force will not be applied to the built-in programming port, input connectors, power connectors or optical connectors. Failure to do so may result in wire damage/breakage or PLC failure.

Reference

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Reference

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2. INSTALLATION 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.

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Reference

Safety Precautions

(Read these precautions before use.)

• Connect the extension cables, peripheral device cables and input cables securely to their designated connectors. Loose connections may cause malfunctions.

• Use the product within the generic environment specifications described in section 3.1 of this manual. Never use the product in areas with excessive dust, oily smoke, conductive dusts, corrosive gas (salt air, Cl2, H2S, SO2 or NO2), flammable gas, vibration or impacts, or expose it to high temperature, condensation, or rain and wind. If the product is used in such conditions, electric shock, fire, malfunctions, deterioration or damage may occur.

• Do not touch the conductive parts of the product directly. Doing so may cause device failures or malfunctions.

• Install the product securely using a DIN rail or mounting screws.

• Install the product on a flat surface. If the mounting surface is rough, undue force will be applied to the PC board, thereby causing nonconformities.

• When drilling screw holes or wiring, make sure that cutting and wiring debris do not enter the ventilation slits. Failure to do so may cause fire, equipment failures or malfunctions.

• Be sure to remove the dust proof sheet from the ventilation port of product when installation work is completed. Failure to do so may cause fire, equipment failures or malfunctions.

• Make sure to attach the top cover, before turning on the power or initiating operation after installation or wiring work. Failure to do so may cause electric shock.

3. 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.

• Connect the DC power supply wiring to the dedicated terminals described in the manual. If an AC power supply is connected to a DC input terminal or DC power supply terminal, the product will burn out.

• Perform class D grounding (grounding resistance: 100Ω or less) to the grounding terminal on the 20SSC-H with a wire as thick as possible. Do not use common grounding with heavy electrical systems (refer to subsection 5.2.2).

• Make sure to attach the top cover, before turning on the power or initiating operation after installation or wiring work. Failure to do so may cause electric shock.

• Connect the inputs of the 20SSC-H to the dedicated connectors described in the manual. If an AC power supply is connected to a DC input terminal or DC power supply terminal, the product will burn out.

• Do not wire vacant terminals externally. Doing so may damage the product.

• When drilling screw holes or wiring, make sure that cutting and wiring debris do not enter the ventilation slits. Failure to do so may cause fire, equipment failures or malfunctions.

• Make sure to properly wire to the FX Series terminal blocks in accordance with the following precautions. Failure to do so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions, or damage to the product.

- The disposal size of the cable end should follow the dimensions described in the manual of the PLC main unit.

- Tightening torque should follow the specifications in the manual of the PLC main unit.

• Do not wire or bundle the SSCNET III cables together with or lay them near a main circuit cable, high-voltage line, or load lines separate from the PLC. As a guideline, lay the SSCNET III cables at least 100mm (3.94") or more away from power lines. Failure to do so may cause surge induction and/or noise disturbance.

• Optical fiber end face defects that are caused from contaminants may deteriorate the signal transmission rate and cause malfunction. When removing the SSCNET III cabling from the 20SSC-H port, make sure to attach the protective caps to the cable connectors and ports.

• Do not remove the SSCNET III cable from its port while the power is ON for the 20SSC-H or Servo Amp. Do not look directly into the optical fiber cable ends or SSCNET III ports, as doing so may cause eye damage. (The laser for SSCNET III communication complies with Class 1 as defined in JISC6802 and IEC60825-1)

• When handling the SSCNET III cables, do not expose them to strong impact, lateral pressure, excessive pulling tension, abrupt bending or twisting. Failure to do so may crack the glass fiber and cause signal transmission loss. Note that a short SSCNET III cable is highly susceptible to twisting.

• Make sure to use the SSCNET III cable within the allowable temperature range (as shown in subsection 5.1.1). Do not expose the SSCNET III cabling to fire or excessive heat. Avoid contact with high temperature components such as the servo amplifier radiator, regenerative brake and servo motor.

• Do not force the SSCNET III cable into a bend radius smaller than the minimum allowable bend radius. (Refer to subsection 5.4.1 Precautions for the SSCNET III cable wiring.)

Reference

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Safety Precautions

(Read these precautions before use.)

• Put the SSCNET III cable in the duct or fix the cable at the closest part to the 20SSC-H with bundle material in order to prevent SSCNET III cable from putting its own weight on SSCNET III connector. When laying cable, the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. Also, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material. When using adhesive tape to bundle, use flame-resistant acetate cloth adhesive tape (e.g. 570F by Teraoka Seisakusho Co., Ltd.).

• Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A cables away from vinyl tape because the optical characteristic may be affected. Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating plasticizer and they do not affect the optical characteristic of SSCNET III cable. However, some wire sheaths and cable ties,

which contain migrating plasticizer (phthalate ester), may affect MR-J3BUS M and MR-J3BUS M-A cables.

In addition, MR-J3BUS M-B cable is not affected by plasticizer.

• Exposing the SSCNET III cable to solvent/oil may deteriorate the optical fiber and alter its mechanical characteristics. When using the SSCNET III cable near solvent/oil, take protective measures to shield the SSCNET III cable.

• When storing the SSCNET III cable, attach the protective cap to the 20SSC-H connector port for dust protection

• Do not remove the protective cap from the 20SSC-H connector port until just before connecting the SSCNET III cable. Attach the protective cap to the 20SSC-H connector port after removing the SSCNET III cable to protect the internal optical device from exposure to dust.

• Keep the protective cap and protective tubing clean, and always store them in the provided plastic bag when removing them from the hardware devices.

• When replacing the 20SSC-H, or when sending the product to a local distributor for repair, make sure to attach the protective cap to the 20SSC-H connector port. Failure to do so may damage the internal optical device and require optical device replacement.

Reference

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4. STARTUP AND MAINTENANCE PRECAUTIONS

• Do not touch any terminal while the PLC's power is on. Doing so may cause electric shock or malfunctions.

• Before cleaning or retightening terminals, cut off all phases of the power supply externally. Failure to do so may cause electric shock.

• Before modifying or disrupting the program in operation or running the PLC, carefully read through this manual and the associated manuals and ensure the safety of the operation. An operation error may damage the machinery or cause accidents.

• Before operating the Zero-return/JOG or testing of the positioning data, carefully read through this manual and the associated manuals and ensure the safety of the operation. An operation error may damage the machinery or cause accidents.

• Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative.

• Turn off the power to the PLC before connecting or disconnecting any extension cable. Failure to do so may cause equipment failures or malfunctions.

• Turn off the power to the PLC before attaching or detaching the following devices. Failure to do so may cause equipment failures or malfunctions.

- Peripheral devices, expansion boards, and special adapters

- Extension units/blocks and FX Series terminal blocks.

Reference

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Reference

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5. DISPOSAL PRECAUTIONS

• Please contact a certified electronic waste disposal company for the environmentally safe recycling and disposal of your device.

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Safety Precautions

(Read these precautions before use.)

6. TRANSPORTATION AND STORAGE PRECAUTIONS

• The PLC is a precision instrument. During transportation, avoid impacts larger than those specified in the general specifications of the PLC main unit manual. Failure to do so may cause failures in the PLC. After transportation, verify the operations of the PLC.

Reference

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FX3U-20SSC-H Positioning Block User's Manual

FX3U-20SSC-H

User’s Manual

Manual number JY997D21301

Manual revision J

Date 11/2011

Foreword

This manual describes the FX3U-20SSC-H Positioning Block and should be read and understood before attempting to install or operate the hardware. Store this manual in a safe place so that you can take it out and read it whenever necessary. Always forward it to the end user.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

FX3U-20SSC-H Positioning Block User's Manual

Outline Precautions

• This manual provides information for the use of the FX3U-20SSC-H Positioning Block. The manual has been written to be used by trained and competent personnel. The definition of such a person or persons is as follows;

1) Any engineer who is responsible for the planning, design and construction of automatic equipment using

the product associated with this manual should be of a competent nature, trained and qualified to the local and national standards required to fulfill that role. These engineers should be fully aware of all aspects of safety with aspects regarding to automated equipment.

2) Any commissioning or maintenance engineer must be of a competent nature, trained and qualified to the

local and national standards required to fulfill the job. These engineers should also be trained in the use and maintenance of the completed product. This includes being familiar with all associated manuals and documentation for the product. All maintenance should be carried out in accordance with established safety practices.

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

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

Note: The term 'completed equipment' refers to a third party constructed device that contains or uses the

product associated with this manual.

• This product has been manufactured as a general-purpose part for general industries, and has not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.

• Before using the product for special purposes such as nuclear power, electric power, aerospace, medicine or passenger movement vehicles, consult with Mitsubishi Electric.

• This product has been manufactured under strict quality control. However when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions into the system.

• When combining this product with other products, please confirm the standards and codes of regulation to which the user should follow. Moreover, please confirm the compatibility of this product with the system, machines, and apparatuses to be used.

• If there is doubt at any stage during installation of the product, always consult a professional electrical engineer who is qualified and trained in the local and national standards. If there is doubt about the operation or use, please consult your local Mitsubishi Electric representative.

• Since the examples within this manual, technical bulletin, catalog, etc. are used as reference; please use it after confirming the function and safety of the equipment and system. Mitsubishi Electric will not accept responsibility for actual use of the product based on these illustrative examples.

• The content, specification etc. of this manual may be changed for improvement without notice.

• The information in this manual has been carefully checked and is believed to be accurate; however, if you notice any doubtful point, error, etc., please contact your local Mitsubishi Electric representative.

Registration

•Microsoft® and Windows® are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.

• The company name and the product name to be described in this manual are the registered trademarks or trademarks of each company.

FX3U-20SSC-H Positioning Block User's Manual

SAFETY PRECAUTIONS .................................................................................................. (1)

Standards................................................................................................................................... 9

Certification of UL, cUL standards ....................................................................................................... 9

Compliance with EC directive (CE Marking) ........................................................................................ 9

Functions and Use of the Manual .......................................................................................... 11

Associated Manuals................................................................................................................ 12

Generic Names and Abbreviations Used in the Manual ...................................................... 14

Reading the Manual ................................................................................................................ 16

1. Introduction 17

1.1 Outline........................................................................................................................................... 17

1.2 External Dimensions and Part Names .......................................................................................... 18

1.3 Power and Status LED.................................................................................................................. 19

2. System Configuration 20

Table of Contents

2.1 General Configuration................................................................................................................... 20

2.2 Connection with PLC..................................................................................................................... 21

2.3 Applicable PLC.............................................................................................................................. 21

3. Specifications 22

3.1 General Specifications .................................................................................................................. 22

3.2 Power Supply Specification........................................................................................................... 23

3.3 Performance Specification ............................................................................................................ 23

3.4 Input Specifications ....................................................................................................................... 24

3.4.1 Input specifications........................................................................................................................24

3.4.2 Internal input circuit .......................................................................................................................24

3.5 Pin Configuration........................................................................................................................... 25

3.5.1 Input connector.............................................................................................................................. 25

3.5.2 Power supply connector ................................................................................................................ 25

4. Installation 26

4.1 DIN rail Mounting .......................................................................................................................... 27

4.2 Direct Mounting............................................................................................................................. 27

5. Wiring 28

5.1 Cable to Be Used, Applicable Connector and Wire Size ..............................................................29

5.1.1 SSCNET III cable .......................................................................................................................... 29

5.1.2 Power supply cable .......................................................................................................................29

5.1.3 Input cable and terminal block....................................................................................................... 30

5.2 Power Supply Wiring..................................................................................................................... 31

5.2.1 Power supply wiring.......................................................................................................................31

5.2.2 Grounding...................................................................................................................................... 31

5.3 Input Wiring ................................................................................................................................... 32

5.3.1 Sink input wiring ............................................................................................................................ 32

5.3.2 Source input wiring........................................................................................................................32

5.4 Connecting the SSCNET III Cabling .............................................................................................33

5.4.1 Cautions for installing the SSCNET III cabling ..............................................................................33

5.4.2 Cautions for SSCNET III cable wiring............................................................................................ 34

FX3U-20SSC-H Positioning Block User's Manual

6. Memory Configuration and Data Operation 35

6.1 Memory Configuration and Role ................................................................................................... 36

6.1.1 Memory configuration.................................................................................................................... 36

6.1.2 Data type and role ......................................................................................................................... 37

6.2 Data Transfer Process .................................................................................................................. 38

6.2.1 Data transfer processing among the PLC, 20SSC-H and servo amplifier..................................... 38

6.2.2 Data transfer processing between FX Configurator-FP and 20SSC-H ......................................... 39

6.2.3 Transfer (writing) servo parameters to servo amplifier..................................................................40

7. Before Starting Positioning Operation 42

7.1 Note on Setting Parameters.......................................................................................................... 43

7.1.1 Types of parameter setting method............................................................................................... 44

7.1.2 Setting parameters [FX Configurator-FP] [Recommended]........................................................... 45

7.1.3 Initializing parameters [FX Configurator-FP] ................................................................................. 48

7.1.4 Setting parameters from flash memory [Sequence program]........................................................50

7.1.5 Setting parameters from the buffer memory [sequence program] (Ver. 1.10 or later)................... 58

7.1.6 Initializing parameters [sequence program]...................................................................................67

7.1.7 Updating positioning parameters [sequence program]..................................................................70

7.1.8 Updating some servo parameters [sequence program] ................................................................73

7.1.9 Saving parameters and table information to flash memory [sequence program] .......................... 76

7.2 Outline of Positioning Operation ................................................................................................... 79

7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit ................................................82

7.3.1 Forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS) [Servo amplifier limit]................ 83

7.3.2 Forward rotation limit 1 (LSF) and reverse rotation limit 1 (LSR) [PLC side limit] ......................... 83

7.3.3 Software limit.................................................................................................................................84

7.4 Handling the STOP command ...................................................................................................... 85

7.5 Sudden stop selection (Ver.1.20 or later)...................................................................................... 88

7.6 Changing During Operation (Operation Speed, Target Address) ................................................. 92

7.6.1 Changing the operation speed with the override function ............................................................. 92

7.6.2 Changing the operation speed with the operation speed change function.................................... 94

7.6.3 Changing target address during operation using target address change function........................ 98

7.7 Acceleration/deceleration time selection (Ver. 1.30 or later)....................................................... 103

7.8 Ring counter setting (Ver.1.10 or later)....................................................................................... 106

7.9 Other functions............................................................................................................................ 110

7.9.1 Servo-ready check function......................................................................................................... 110

7.9.2 Servo end check function ............................................................................................................ 111

7.9.3 Torque limit function .................................................................................................................... 112

7.9.4 Absolute position detection system.............................................................................................114

7.9.5 Servo ON/OFF.............................................................................................................................115

7.9.6 Servo ON/OFF status selection at startup (Ver. 1.30 or later)..................................................... 116

7.9.7 Follow-up function ....................................................................................................................... 117

7.9.8 Simultaneous start function ......................................................................................................... 117

7.9.9 Current address change function ................................................................................................ 118

7.9.10 Zero return interlock function..................................................................................................... 118

7.9.11 Positioning completion signal output waiting time (Ver.1.20 or later)........................................ 119

7.9.12 System reset command (Ver.1.10 or later)................................................................................121

7.9.13 Servo parameter update stop (Ver.1.10 or later)....................................................................... 121

7.10 Precautions for using the user units (mechanical or composite system of units)...................... 122

7.11 Cautions for Positioning Operation ........................................................................................... 124

7.11.1 Overlapped specification of operation mode .............................................................................124

7.11.2 When the travel distance is small .............................................................................................. 124

7.11.3 Setting of interpolation operation, pulse rate and feed rate.......................................................131

7.11.4 Cautions on continuous pass operation ....................................................................................132

7.11.5 Cautions when acceleration/deceleration time is changed during positioning operation .......... 133

Table of Contents

FX3U-20SSC-H Positioning Block User's Manual

8. Manual Control 134

8.1 Mechanical Zero Return Control ................................................................................................. 134

8.1.1 Outline of mechanical zero return control.................................................................................... 134

8.1.2 DOG type mechanical zero return............................................................................................... 135

8.1.3 Data-set type mechanical zero return..........................................................................................138

8.1.4 Stopper type (1) mechanical zero return operation ..................................................................... 139

8.1.5 Stopper type (2) Mechanical zero return operation ..................................................................... 141

8.2 JOG Operation ............................................................................................................................ 143

8.2.1 Outline of JOG operation............................................................................................................. 143

8.2.2 Changing the speed during JOG operation................................................................................. 144

8.3 Manual pulse generator operation .............................................................................................. 146

8.3.1 Outline of manual pulse generator operation ..............................................................................146

8.3.2 Current manual pulse input value................................................................................................ 150

8.3.3 Input frequency of manual pulse generator.................................................................................150

9. Positioning Control 151

9.1 Functions Available with Each Positioning Operation................................................................. 151

9.2 1-speed Positioning Operation.................................................................................................... 152

9.3 Interrupt 1-speed Constant Quantity Feed.................................................................................. 154

9.3.1 Interrupt 1-speed Constant Quantity Feed.................................................................................. 154

9.3.2 Interrupt 1-speed Constant Quantity Feed (Constant position stop mode) ................................. 157

9.4 2-speed Positioning Operation.................................................................................................... 160

9.5 Interrupt 2-speed Constant Quantity Feed.................................................................................. 163

9.6 Interrupt Stop Operation.............................................................................................................. 166

9.7 Variable Speed Operation........................................................................................................... 169

9.8 Multi-Speed Operation ................................................................................................................ 171

9.9 Linear Interpolation Operation..................................................................................................... 174

9.10 Linear Interpolation Operation (Interrupt Stop) .........................................................................177

9.11 Circular Interpolation Operation ................................................................................................ 180

9.11.1 Circular interpolation [center coordinate specification].............................................................. 180

9.11.2 Circular interpolation [radius specification]................................................................................ 183

9.12 Reciprocal movement insutruction (Ver.1.10 or later)............................................................... 186

Table of Contents

10. Table Operation 190

10.1 Outline of Table Operation ........................................................................................................ 190

10.1.1 Applicable positioning operations for table operation ................................................................ 190

10.1.2 Types of table information and number of registered tables ..................................................... 190

10.1.3 Table information setting items.................................................................................................. 191

10.1.4 Table operation execution procedure........................................................................................ 194

10.2 How to Set Table Information.................................................................................................... 195

10.3 Tables and BFM No. Allocation................................................................................................. 198

10.4 Current Position Change........................................................................................................... 199

10.5 Absolute Address Specification................................................................................................. 199

10.6 Relative address specification................................................................................................... 199

10.7 Jump ......................................................................................................................................... 199

10.8 Dwell ......................................................................................................................................... 199

10.9 m code ...................................................................................................................................... 200

10.9.1 After mode................................................................................................................................. 200

10.9.2 With mode ................................................................................................................................. 201

10.10 Continuous Pass Operation .................................................................................................... 202

FX3U-20SSC-H Positioning Block User's Manual

11. Buffer Memory (Parameters & Monitored Data) 204

11.1 Positioning Parameters............................................................................................................. 204

11.1.1 Operation parameters 1 [BFM #14000, BFM #14200] ..............................................................204

11.1.2 Operation parameters 2 [BFM #14002, BFM #14202] ..............................................................206

11.1.3 Pulse rate [BFM #14005, #14004, BFM #14205, #14204]........................................................ 207

11.1.4 Feed rate [BFM #14007, #14006, BFM #14207, #14206].........................................................207

11.1.5 Maximum speed [BFM #14009, #14008, BFM #14209, #14208] ..............................................208

11.1.6 JOG speed [BFM #14013, #14012, BFM #14213, #14212] ...................................................... 208

11.1.7 JOG Instruction evaluation time [BFM #14014, BFM #14214] .................................................. 208

11.1.8 Acceleration time [BFM #14018, BFM #14218]......................................................................... 209

11.1.9 Deceleration time [BFM #14020, BFM #14220] ........................................................................ 209

11.1.10 Interpolation time constant [BFM #14022, BFM #14222] ........................................................ 209

11.1.11 Zero return speed (High Speed) [BFM #14025, #14024, BFM #14225, #14224].................... 210

11.1.12 Zero return speed (Creep) [BFM #14027, #14026, BFM #14227, #14226]............................. 210

11.1.13 Mechanical zero-point address [BFM #14029, #14028, BFM #14229, #14228] ..................... 210

11.1.14 Zero-phase signal count [BFM #14030, BFM #14230]............................................................211

11.1.15 Zero return mode [BFM #14031, BFM #14231]....................................................................... 211

11.1.16 Servo end evaluation time [BFM #14032, BFM #14232]......................................................... 211

11.1.17 Software limit (upper) [BFM #14035, #14034, BFM #14235, #14234]

Software limit (lower) [BFM #14037, #14036, BFM #14237, #14236].................................... 212

11.1.18 Torque limit value [BFM #14038, BFM #14238]...................................................................... 212

11.1.19 Zero return torque limit [BFM #14040, BFM #14240]..............................................................212

11.1.20 External input selection [BFM #14044, BFM #14244] ............................................................. 213

11.1.21 Ring counter upper limit value [BFM #14101, #14100, BFM #14301, #14300].......................213

11.1.22 Sudden stop deceleration time [BFM #14102, BFM #14302].................................................. 213

11.1.23 Sudden stop interpolation time constant [BFM #14104, BFM #14304] ................................... 214

11.1.24 Positioning completion signal output waiting time [BFM #14106, BFM #14306]..................... 214

11.1.25 Acceleration time 2 [BFM #14108, BFM #14308].................................................................... 214

11.1.26 Deceleration time 2 [BFM #14110, BFM #14310] ................................................................... 215

11.2 Servo Parameters ..................................................................................................................... 216

11.2.1 Servo parameters (Basic settings) ............................................................................................ 216

11.2.2 Servo parameters (Gain/Filter settings)..................................................................................... 219

11.2.3 Servo parameters (Advanced setting)....................................................................................... 222

11.2.4 Servo parameters (I/O setting) .................................................................................................. 224

11.3 Monitor Data.............................................................................................................................. 226

11.3.1 Current address (User) [BFM #1, #0, BFM #101, #100]............................................................ 226

11.3.2 Current address (Pulse) [BFM #3, #2, BFM #103, #102] .......................................................... 226

11.3.3 Torque limit storing value [BFM #5, #4, BFM #105, #104] ........................................................ 227

11.3.4 Error BFM numbers [BFM #6, BFM #106]................................................................................. 227

11.3.5 Terminal Information [BFM #7, BFM #107] ............................................................................... 227

11.3.6 Servo terminal information [BFM #8, BFM #108] ...................................................................... 227

11.3.7 m code [BFM #9, BFM #109]..................................................................................................... 227

11.3.8 Current value of operation speed [BFM #11, #10, BFM #111, #110]........................................228

11.3.9 Current pulses input by manual pulse generator [BFM #13, #12, BFM #113, #112]................. 228

11.3.10 Frequency of pulses input by manual pulse generator [BFM #15, #14, BFM #115, #114]...... 228

11.3.11 Table numbers in execution [BFM #16, BFM #116] ................................................................ 228

11.3.12 Version information [BFM #17]................................................................................................ 228

11.3.13 Real current address (User) [BFM #21, #20, BFM #121, #120].............................................. 229

11.3.14 Real current address (Pulse) [BFM #23, #22, BFM #123, #122]............................................. 229

11.3.15 Received target address [BFM #25, #24, BFM #125, #124] ...................................................229

11.3.16 Received target speed [BFM #27, #26, BFM #127, #126] ......................................................229

11.3.17 Status information [BFM #28, BFM #128] ............................................................................... 230

11.3.18 Error code [BFM #29, BFM #129]............................................................................................ 231

11.3.19 Model code [BFM #30] ............................................................................................................ 232

11.3.20 Status information 2 [BFM #32, BFM #132] ........................................................................... 232

11.3.21 Current address when an interrupt occurs (INT0) [BFM #35, #34, BFM #135, #134],

Current address when an interrupt occurs (INT1) [BFM #37, #36, BFM #137, #136] ............ 232

11.3.22 Deviation counter value [BFM #51, #50, BFM #151, #150]..................................................... 232

11.3.23 Motor speed [BFM #53, #52, BFM #153, #152] ......................................................................233

11.3.24 Motor current value [BFM #54, BFM #154] ............................................................................. 233

11.3.25 Servo amplifier software number [BFM #61 to #56, BFM #161 to #156]................................. 233

11.3.26 Servo parameter error numbers [BFM #62, BFM #162].......................................................... 234

Table of Contents

FX3U-20SSC-H Positioning Block User's Manual

11.3.27 Servo status [BFM #64, #63, BFM #164, #163] ......................................................................234

11.3.28 Regenerative load ratio [BFM #65, BFM #165] ....................................................................... 235

11.3.29 Effective load torque [BFM #66, BFM #166]............................................................................ 235

11.3.30 Peak torque ratio [BFM #67, BFM #167].................................................................................235

11.3.31 Servo warning code [BFM #68, BFM #168]............................................................................. 235

11.3.32 Motor feedback position [BFM #71, #70, BFM #171, #170] ....................................................235

11.3.33 Servo status 2 [BFM #72, BFM #172] .....................................................................................236

11.3.34 Flash memory write count [BFM #91, #90]..............................................................................236

11.4 Control Data ..............................................................................................................................237

11.4.1 Target address 1 [BFM #501, #500, BFM #601, #600] ............................................................. 237

11.4.2 Operation speed 1 [BFM #503, #502, BFM #603, #602]...........................................................237

11.4.3 Target address 2 [BFM #505, #504, BFM #605, #604] ............................................................. 238

11.4.4 Operation speed 2 [BFM #507, #506, BFM #607, #606]...........................................................238

11.4.5 Override setting [BFM #508, BFM #608]...................................................................................238

11.4.6 Torque output setting value [BFM #510, BFM #610]................................................................. 238

11.4.7 Speed change value [BFM #513, #512, BFM #613, #612]........................................................ 239

11.4.8 Target position change value (Address) [BFM #515, #514, BFM #615, #614].......................... 239

11.4.9 Target position change value (Speed) [BFM #517, #516, BFM #617, #616] ............................239

11.4.10 Operation command 1 [BFM #518, BFM #618]....................................................................... 239

11.4.11 Operation command 2 [BFM #519, BFM #619]....................................................................... 241

11.4.12 Operation pattern selection [BFM #520, BFM #620] ............................................................... 242

11.4.13 Table operation start number [BFM #521, BFM #621] ............................................................ 244

11.4.14 Control command enable/disable [BFM #522] ........................................................................ 244

11.4.15 Control command [BFM #523].................................................................................................244

11.4.16 Manual pulse generator input magnification (numerator)

[BFM #525, #524, BFM #625, #624].......................................................................................245

11.4.17 Manual pulse generator input magnification (denominator)

[BFM #527, #526, BFM #627, #626].......................................................................................245

11.4.18 Manual pulse generator response [BFM #528, BFM #628].................................................... 245

11.4.19 Manual pulse generator input selection [BFM #529]............................................................... 246

11.4.20 Ring operation rotation direction for absolute address............................................................ 246

11.5 Table Information ...................................................................................................................... 247

Table of Contents

12. Program Example 250

12.1 Reading/Writing Buffer Memory................................................................................................ 251

12.1.1 Assigned unit number................................................................................................................ 251

12.1.2 How to read/write from/to buffer memory .................................................................................. 251

12.2 Device Assignments.................................................................................................................. 256

12.3 Explanation of Operation........................................................................................................... 257

12.3.1 Mechanical zero return.............................................................................................................. 258

12.3.2 JOG operation ........................................................................................................................... 258

12.3.3 1-speed positioning operation ................................................................................................... 259

12.3.4 Multi-speed operation [table operation (individual)]................................................................... 259

12.3.5 Circular interpolation operation [table operation (simultaneous)] ..............................................261

12.4 Sequence Program ................................................................................................................... 261

13. Diagnostics 268

13.1 Check LEDs .............................................................................................................................. 269

13.1.1 Check LEDs............................................................................................................................... 269

13.1.2 Input LED state indications........................................................................................................ 269

13.2 Check Error Code .....................................................................................................................270

13.2.1 Checking errors ......................................................................................................................... 270

13.2.2 How to reset an error.................................................................................................................270

13.2.3 Error code list [BFM #29 (X-axis), BFM #129 (Y-axis)] .............................................................271

13.2.4 Servo warning list [BFM #68 (X-axis), BFM #168 (Y-axis)] ....................................................... 276

13.3 Diagnostics on the PLC Main Unit ............................................................................................ 278

13.3.1 POWER LED [on/flashing/off].................................................................................................... 278

13.3.2 BATT LED [on/off] ..................................................................................................................... 278

13.3.3 ERROR LED [on/flashing/off] .................................................................................................... 279

FX3U-20SSC-H Positioning Block User's Manual

Appendix A: LIST OF PARAMETERS AND DATA 280

Appendix A-1 Monitor Data List ................................................................................................ 280

Appendix A-2 Control Data Table ............................................................................................. 282

Appendix A-3 Table Information List......................................................................................... 284

Appendix A-4 Positioning parameters List ................................................................................ 286

Appendix A-5 Servo Parameters List........................................................................................ 288

Appendix B: Version Information 291

Appendix B-1 Version Information ............................................................................................ 291

Appendix B-1-1 Version check method ................................................................................................ 291

Appendix B-1-2 Version Upgrade History............................................................................................. 291

Warranty................................................................................................................................. 294

Revised History ..................................................................................................................... 295

Table of Contents

FX3U-20SSC-H Positioning Block User's Manual

Standards

Certification of UL, cUL standards

The following product has UL and cUL certification.

UL, cUL File number :E95239 Models: MELSEC FX3U series manufactured

from June 1st, 2006 FX3U-20SSC-H

Compliance with EC directive (CE Marking)

This document does not guarantee that a mechanical system including this product will comply with the following standards. Compliance to EMC directive and LVD directive for the entire mechanical module should be checked by the user / manufacturer. For more details please contact the local Mitsubishi Electric sales site.

Requirement for Compliance with EMC directive

Standards

The following products have shown compliance through direct testing (of the identified standards below) and design analysis (through the creation of a technical construction file) to the European Directive for Electromagnetic Compatibility (2004/108/EC) when used as directed by the appropriate documentation.

Attention

• This product is designed for use in industrial applications.

Note

• Manufactured by: Mitsubishi Electric Corporation 2-7-3 Marunouchi, Chiyoda-ku, Tokyo, 100-8310 Japan

• Manufactured at: Mitsubishi Electric Corporation Himeji Works 840 Chiyoda-machi, Himeji, Hyogo, 670-8677 Japan

• Authorized Representative in the European Community: Mitsubishi Electric Europe B.V. Gothaer Str. 8, 40880 Ratingen, Germany

Type: Programmable Controller (Open Type Equipment) Models: MELSEC FX

from December 1st, 2005 FX3U-20SSC-H

EN61131-2:2007 Programmable controllers

- Equipment requirements and tests

3U series manufactured

Standard Remark

Compliance with all relevant aspects of the standard.

EMI

• Radiated Emission

• Conducted Emission

EMS

• Radiated electromagnetic field

• Fast transient burst

• Electrostatic discharge

• High-energy surge

• Voltage drops and interruptions

• Conducted RF

• Power frequency magnetic field

FX3U-20SSC-H Positioning Block User's Manual

Caution to conform with EC Directives

Attach the ferrite cores to the power supply and the input cables (20SSC-H side). Attach the ferrite core approximately 200 mm or less from connector on the 20SSC-H side.

20SSC-H

Ferrite cores

200 mm (0.78") or less

1 turn

Standards

• The ferrite core should use the following equivalent product:

- Power supply cable (needs at least 1 turn)

Model name: ZCAT2035-0930

(Manufactureed by TDK co., Ltd.)

- Input cable

Model name: ZCAT3035-1330

(Manufactureed by TDK co., Ltd.)

Power supply cable

Input cable

External equipment

FX3U-20SSC-H Positioning Block User's Manual

Functions and Use of the Manual

PLC

Functions and Use of the Manual

Series

3UC

Series

FX Configurator-FP

Regarding wiring and installation of PLC:

Hardware manual

User's Manual - Hardware Edition

How to install/use the device

Operation Manual

Supplied Manual

-20SSC-H

MOTOR-Y

MOTOR-X

START

DOG

DOG INT0

INT0

INT1

A B

Supplied Manual

Additional Manual

FX3U-20SSC-H

Regarding specification and parts names

X-READY Y-READY X-ERROR Y-ERROR

POWER

Installation Manual

This Manual

Operating instructions and program examples

User's Manual

Additional Manual

Shows how to use FX3U-20SSC-H positioning special function block and details on example programs.

Supplied Manual

Servo amplifer, Servo motor

Obtain the instruction manual of the servo motor to be connected to your system. This manual will be needed to set the parameters for the servo amplifer or write to the servo amplifer.

FX3U-20SSC-H Positioning Block User's Manual

Associated Manuals

For a detailed explanation of the FX3U-20SSC-H positioning block, refer to this manual. For the operation of FX Configurator-FP, or hardware information and instructions on the PLC main unit, refer to the respective manuals.

~ Refer to these manuals

Refer to the appropriate equipment manual For a detailed explanation, refer to an additional manual

Title of manual

Manual for the Main Module

FX3U Series PLCs Main Unit

Supplied

Manual

Additional

Manual

FX3UC Series PLCs Main Unit

Supplied

Manual

Supplied

Manual

Supplied

Manual

Additional

Manual

Programming for FX3G/FX3U/FX3UC Series

Additional

Manual

Additional

Manual

Additional

Manual

Additional

Manual

Additional

Manual

FX3U Series Hardware Manual

3U Series

User’s Manual

- Hardware Edition

FX3UC (D,DS,DSS) Series Hardware Manual

FX3UC-32MT-LT Hardware Manual (Only Japanese document)

FX3UC-32MT-LT-2 Hardware Manual

FX3UC Series User’s Manual

- Hardware Edition

FX3G/FX3U/FX3UC Series Programming Manual

- Basic & Applied Instruction Edition

MELSEC-Q/L/F Structured Programming Manual (Fundamentals)

FXCPU Structured Programming Manual [Device & Common]

FXCPU Structured Programming Manual [Basic & Applied Instruction]

FXCPU Structured Programming Manual [Application Functions]

Document

number

JY997D18801

JY997D16501

JY997D28601

JY997D12701

JY997D31601

JY997D28701

JY997D16601

SH-080782

JY997D26001

JY997D34701

JY997D34801

Associated Manuals

Description Model code

Describes FX3U Series PLC specification for I/O, wiring and installation extracted from the FX3U User’s Manual - Hardware Edition. For details, refer to FX3U Series User’s Manual Hardware Edition.

Describes FX3U Series PLC specification details for I/O, wiring, installation and maintenance.

Describes FX3UC (D,DS,DSS) PLC Series PLC specification for I/O, wiring and installation extracted from the FX3UC User's Manual - Hardware Edition. For details, refer to FX3UC Series User's Manual Hardware Edition

Describes FX specification for I/O, wiring and installation extracted from the FX3UC User's Manual - Hardware Edition. For details, refer to FX3UC Series User's Manual Hardware Edition

Describes FX3UC-32MT-LT-2 PLC Series PLC specification for I/O, wiring and installation extracted from the FX3UC User's Manual - Hardware Edition. For details, refer to FX3UC Series User's Manual Hardware Edition

Describes FX3UC Series PLC specification details for I/O, wiring, installation and maintenance.

Describes FX3G/FX3U/FX3UC Series PLC programming for basic/ applied instructions and devices.

Programming methods, specifications, functions, etc. required to create structured programs.

Devices, parameters, etc. provided in structured projects of GX Works2.

Sequence instructions provided in structured projects of GX Works2.

Application functions provided in structured projects of GX Works2.

3UC-32MT-LT PLC Series PLC

09R516

09R519

09R517

13JW06

09R925

09R926

09R927

FX3U-20SSC-H Positioning Block User's Manual

Associated Manuals

Title of manual

Manuals for FX3U-20SSC-H Positioning Block

Supplied

Manual

Additional

Manual

Supplied

Manual

AC Servo Related Manual

Additional

Manual

Additional

Manual

Additional

Manual

Additional

Manual

FX3U-20SSC-H Installation Manual

3U-20SSC-H

User's Manual

FX Configurator-FP Operation Manual

MR-J3- B Instruction Manual

MR-J3W- B Instruction Manual

MR-J3- B Safety Instruction Manual

EMC Installation Guidelines

Document

number

Describes FX3U-20SSC-H positioning block

JY997D21101

JY997D21301 Describes FX3U-20SSC-H Positioning block details. 09R622

JY997D21801

SH-030051

SH-030073

SH-030084

IB67339

specification for I/O, power supply extracted from the FX3U-20SSC-H User’s Manual. For details, refer to FX3U-20SSC-H User's Manual.

Describes operation details of FX Configurator-FP Configuration Software.

Explains parameters and the detailed specifications

for MR-J3- B servo amplifier.

Explains parameters and the detailed specifications

for MR-J3W- B servo amplifier.

Explains parameters and the detailed specifications

for MR-J3- BS servo amplifier.

Explains installation procedures to conform with EMC Directives and fabrication method of control board.

Description Model code

09R916

FX3U-20SSC-H Positioning Block User's Manual

Generic Names and Abbreviations Used in the Manual

Generic name or abbreviation Description

PLC

FX3U series Generic name for FX3U Series PLC

FX3U PLC or main unit Generic name for FX3U Series PLC main unit

FX3UC series Generic name for FX3UC Series PLC

FX3UC PLC or main unit Generic name for FX3UC Series PLC main unit

Expansion board

Generic name for expansion board

Expansion board

Special adapter

Special function unit/block

Special function unit/block or Special extension unit

Special function unit Generic name for special function unit

Special function block

Positioning special function block or 20SSC-H

Optional unit

FX Series terminal block FX-16E-TB, FX-32E-TB

Input/output cable or Input cable

Input/output connector FX2C-I/O-CON, FX2C-I/O-CON-S, FX2C-I/O-CON-SA

Power cable FX2NC-100MPCB, FX2NC-100BPCB, FX2NC-10BPCB1

Peripheral unit

Peripheral unit Generic name for programming software and indicator

Programming tool

Programming tool Generic name for programming software

Programming software Generic name for programming software

GX Works2

GX Developer

Configuration software

Configuration software or FX Configurator-FP

Indicator

GOT1000 series Generic name for GT15, GT11 and GT10

Servo motor/servo amplifier

Servo motor

Servo amplifier Generic name for servo amplifier corresponding to SSCNET III

MR-J3- B series Generic name for MELSERVO-J3- B series

MR-J3W- B series Generic name for MELSERVO-J3W- B series

MR-J3- BS series Generic name for MELSERVO-J3- BS series

The number of connectable units, however, depends on the type of main 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.

Generic name for high-speed input/output special adapter, communication special adapter, and analog special adapter The number of connectable units, however, depends on the type of main 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.

Generic name for special function unit and special function block The number of connectable units, however, depends on the type of main 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.

Generic name for special function block The number of connectable units, however, depends on the type of main 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.

Abbreviated name for FX

FX-16E-500CAB-S, FX-16E- CAB, FX-16E- CAB-R

represents 150, 300, or 500.

Generic name for SW DNC-GXW2-J/SW DNC-GXW2-E programming software package

Generic name for SW D5C-GPPW-J/SW D5C-GPPW-E programming software package

Abbreviated name for FX Configurator-FP Configuration software

Generic name for servo motor or stepping motor Including servo amplifier corresponding to SSCNET III.

3U-20SSC-H

FX3U-20SSC-H Positioning Block User's Manual

Generic name or abbreviation Description

Other unit

Manual pulse generator Generic name for manual pulse generator (prepared by user)

Manual

FX3U hardware Edition FX3U Series User's Manual - Hardware Edition

FX3UC hardware Edition FX3UC Series User's Manual - Hardware Edition

Programming manual FX3G/FX3U/FX3UC Series Programming Manual - Basic and Applied Instructions Edition

Communication control Edition FX Series User's Manual - Data Communication Edition

Analog control Edition FX3G/FX3U /FX3UC Series User's Manual - Analog Control Edition

Positioning control Edition FX3G/FX3U/FX3UC Series User's Manual - Positioning Control Edition

Generic Names and Abbreviations Used in the Manual

FX3U-20SSC-H Positioning Block User's Manual

Reading the Manual

Shows the manual title.

This area shows the manual title for the current page.

Shows the title of the chapter and the title

of the section.

This area shows the title of the chapter and the title of the section for the current page.

Indexes the chapter number.

The right side of each page indexes the chapter number for the page currently opened.

The above is different from the actual page, as it is provided for explanation only.

Shows the reference.

The " " mark indicates a reference destination and reference manual.

FX3U-20SSC-H Positioning Block User's Manual

1. Introduction

1.1 Outline

The FX3U-20SSC-H type positioning block (hereinafter referred to as 20SSC-H) is a special function block applicable to SSCNET III. 20SSC-H can perform positioning control by servo motor via an SSCNET III applied servo amplifier.

1. 2-axis control is possible

One 20SSC-H controls 2 axes. 20SSC-H applies the 1-speed positioning and interrupt 1-speed constant quantity feed operations for constant quantity feed control, and also the linear interpolation and circular interpolation operations.

1 Introduction

1.1 Outline

→ For positioning control, refer to Chapter 9

configuration

Connection

Introduction

System

Exmample

2. Connection to servo amplifier by SSCNET III is possible

• The 20SSC-H connects directly to the MELSERVO (our company's servo amplifier: MR-J3- B, MR-J3W-

B*1, MR-J3- BS*2) via SSCNET III.

*1. The MR-J3W- B can be connected within the functional range of the MR-J3- B.

*2. The MR-J3- BS can be connected to the 20SSC-H later than Ver.1.40.

However, it does not support the fully closed loop system.

• Connection using the SSCNET III cable between the 20SSC-H and the servo amplifier reduces wiring. (Maximum length is 50m.)

• With SSCNET III cables (optical communication), connections are less susceptible to electromagnetic noise, etc. from the servo amplifier.

• Setting the servo parameters on the 20SSC-H side and writing/reading the servo parameters to/from the servo amplifier using SSCNET III is possible.

• Current values and error descriptions from the servo amplifier can be checked with the buffer memories of the 20SSC-H.

3. Easy application of absolute position detection system

• The servo amplifier with absolute position detection enables the absolute positioning detection system.

• Once the zero position is established, the zero return operation at power startup is not necessary.

• The absolute position system allows establishment of the zero position by the data set type zero return. In this case, wiring for near-point DOG, etc. is not required.

4. Easy maintenance

Various data such as positioning data, parameters, etc. can be saved to the flash memory (ROM) in the 20SSC-H. This allows the data to be saved without a battery.

and data

control

Installation

Wiring

Memory

configuration

Before starting

positioning

Manual control

5. Connectable PLC

• The connected FX3U or FX3UC PLC reads/writes the positioning data from/to the 20SSC-H.

• For connection to the FX3UC PLC, the FX2NC-CNV-IF or FX3UC-1PS-5V is needed.

Control

Positioning

Table Operation

FX3U-20SSC-H Positioning Block User's Manual

1.2 External Dimensions and Part Names

2- 4.5 Mounting hole

[1]

[2]

[3]

MOTOR-Y

X-READY

START

Y-RE ADY

DOG INT0 INT1

A B

X-ERROR

INT0

Y-ERR OR

INT1

POWER

1 Introduction

1.2 External Dimensions and Part Names

[7]

90(3.55")

[4]

[5]

80(3.15") (Mounting hole pitch)

4(0.16")

55(2.17")

87(3.43")

9(0.36")

[6]

[10]

Unit: MASS(Weight): Accessory:

mm (inches)

0.3kg (0.66 lbs)

- Special Unit/Block No. label

2NC-100MPCB Power supply cable [1m (3’3")]

- FX

- Dust proof protection sheet

[1] Direct mounting hole:2 holes of φ 4.5 (0.18") (mounting screw: M4 screw)

[2] Status LEDs

[3] POWER LED (green)

[4] Extension cable

[5] Input connector

[6] Power supply connector

[7] DIN rail mounting groove (DIN rail: DIN46277)

[8] Name plate

[9] DIN rail mounting hook

[10] SSCNET III connector

[8]

[9]

→ Refer to Section 1.3

FX3U-20SSC-H Positioning Block User's Manual

1.3 Power and Status LED

LED display Color Status Description

POWER Green

X-READY Y-READY

X-ERROR Y-ERROR

X-START Y-START

X-DOG Y-DOG

X-INT0 Y-INT0 X-INT1 Y-INT1

X- φ A Y- φ A

X- φ B Y- φ B

Green

Red

OFF Power is not being supplied from the external power supply or the PLC

ON Power is being supplied from the external power supply or the PLC

OFF Error is occurring or positioning is being executed on the X/Y axis

ON Various operation commands are acceptable on the X/Y axis

OFF X/Y axis is operating normally

Flicker Error is occurring on the X/Y axis

ON CPU error is occurring on the X/Y axis

OFF Start input OFF

ON Start input ON

OFF DOG input OFF

ON DOG input ON

OFF Interrupt input OFF

ON Interrupt input ON

OFF Manual pulse generator A-phase input OFF

ON Manual pulse generator A-phase input ON

OFF Manual pulse generator B-phase input OFF

ON Manual pulse generator B-phase input ON

1 Introduction

1.3 Power and Status LED

configuration

Connection

Introduction

System

Exmample

Installation

and data

control

Wiring

Memory

configuration

Before starting

positioning

Manual control

Control

Positioning

Table Operation

FX3U-20SSC-H Positioning Block User's Manual

2. System Configuration

2.1 General Configuration

2 System Configuration

2.1 General Configuration

GX Developer FX Configurator-FP (PC)

FX3U/FX3UC PLC

Ladder

LS for forward rotation limit (X-axis, Y-axis)

LS for reverse rotation limit (X-axis, Y-axis)

STOP switch (X-axis, Y-axis)

20SSC-H

Monitor data

Control data

Positioning parameter

Servo parameter

Table information

FROM/TO

instruction, etc.

FX-16E-TB Terminal block

START input (X-axis, Y-axis) DOG input (X-axis, Y-axis) Interrupt input (X-axis, Y-axis) Manual pulse generator A/B-phase division input (X-axis, Y-axis)

FX-16E-150CAB(-R)

Connector-attached flat cable for connecting terminal block with FX programmable logic controller

SSCNET III cable

Servo amplifier

(MR-J3- B)

Servo amplifier

(MR-J3- B)

MR Configurator(PC)

Emergency stop input signal Upper limit signal

Lower limit signal DOG signal

Emergency stop input signal Upper limit signal

Lower limit signal DOG signal

Component list

Part name Model name Remarks

Positioning block FX3U-20SSC-H -

PLC FX3U/FX3UC PLC -

GX Works2

GX Developer

PC software

Servo amplifier

SSCNET III cable

Terminal block FX-16E-TB -

I/O cable

FX Configurator-FP

MR Configurator Servo amplifier set-up software

MR-J3- B, MR-J3W- B*2, MR-J3- BS

Inside panel standard code : MR-J3BUS M : 015/03/05/1/3(Cable length: in meters)

Outside panel standard cable : MR-J3BUS M-A : 5/10/20(Cable length:in meters)

Long distance cable : MR-J3BUS M-B : 30/40/50(Cable length:in meters)

FX-16E- CAB

FX-16E- CAB-R

PLC programming software

Setting/Monitoring software for setting or monitoring the servo parameters, positioning parameters and table information

: 150/300/500

Cable length 150:1.5m, 300:3m, 500:5m

*1. Connection via the FA transparent function of the GOT1000 (only the GT15 and GT11 Series) is

enabled in FX Configurator-FP Ver. 1.30 or later.

*2. The MR-J3W- B can be connected within the functional range of the MR-J3- B.

*3. The MR-J3- BS can be connected to the 20SSC-H later than Ver.1.40.

However, it does not support the fully closed loop system.

FX3U-20SSC-H Positioning Block User's Manual

2.2 Connection with PLC

20SSC-H connects with PLC via extension cable. The 20SSC-H is handled as a special extension block of the PLC. The unit number of the 20SSC-H is

automatically assigned No.0 to No.7 unit. (This unit number is used for the designation of a FROM/TO instruction.) For details on assignment of the I/O number and unit number of the PLC, refer to the following manual corresponding to the connected PLC.

*1. When connecting to the FX3UC-32MT-LT(-2), the unit number is No. 1 to No. 7.

FX3U Series PLC

starting from the special function unit/block closest to the PLC main

3U-

FX 20SSC-H

MOTOR-X

MOTOR-Y

START

X-READY

DOG

Y-READY

INT0

X-ERROR

INT0 INT1

INT1

Y-ERROR

POWER

3U-

FX 20SSC-H

MOTOR-X

MOTOR-Y

START

DOG

DOG INT0

INT0 INT1

INT1

X-READY Y-READY X-ERROR Y-ERROR

POWER

2 System Configuration

2.2 Connection with PLC

→ FX3U Hardware Edition

→ FX3UC Hardware Edition

configuration

Connection

Introduction

System

Example

Installation

FX3UC Series PLC

3U-

20SSC-H

MOTOR-X START

DOG INT0 INT1

A B

2NC-CNV-IF

MOTOR-Y

START DOG INT0 INT1 A B

X-READY Y-READY X-ERROR Y-ERROR

POWER

FX3U20SSC-H

MOTOR-Y

MOTOR-X

START

DOG

DOG INT0

INT0 INT1

INT1

X-READY Y-READY X-ERROR Y-ERROR

POWER

• The maximum number of 20SSC-H connectable to one PLC shows below.

Connected PLC

FX3U Series PLC 8 units

FX3UC (D,DS,DSS) 8 units

FX3UC Series PLC

FX3UC-32MT-LT, FX3UC-32MT-LT-2 7 units

Maximum number of

connectable units

*2. An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the 20SSC-H with the FX3UC PLC.

• The optional FX0N-65EC (FX0N-30EC) and FX2N-CNV-BC are necessary to lengthen the extension cable.

• The number of I/O points occupied by the 20SSC-H is eight. Be sure that the total of the number of I/O points (occupied I/O points) of the main unit, power extension unit and extension block and the number of points occupied by the special function block does not exceed the maximum number of I/O points of the PLC. For the maximum number of I/O points of the PLC, refer to the following manual.

→ FX3U Hardware Edition

→ FX3UC Hardware Edition

and data

control

Wiring

Memory

configuration

Before starting

positioning

Manual control

2.3 Applicable PLC

Model name Applicability

FX3U Series PLC Ver. 2.20 (from the first product) and later

FX3UC (D,DS,DSS) Series PLC

FX3UC Series PLC

The version number can be checked by monitoring the last three digits of D8001.

*3. An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the 20SSC-H with the FX3UC PLC.

FX3UC-32MT-LT, FX3UC-32MT-LT-2

Ver. 2.20 (from products manufactured in May, 2005) and later

Control

Positioning

Table Operation

FX3U-20SSC-H Positioning Block User's Manual

3. Specifications

DESIGN PRECAUTIONS

1) Most importantly, have the following: an emergency stop circuit, a protection circuit, an interlock circuit for opposite movements

(such as normal vs. reverse rotation), and an interlock circuit (to prevent damage to the equipment at the upper and lower positioning limits).

2) Note that when the PLC CPU detects an error, such as a watchdog timer error, during self-diagnosis, all outputs are turned off.

Also, when an error that cannot be detected by the PLC CPU occurs in an input/output control block, output control may be disabled. External circuits and mechanisms should be designed to ensure safe machinery operation in such a case.

3) Note that when an error occurs in a relay, triac or transistor output device, the output could be held either on or off.

For output signals that may lead to serious accidents, external circuits and mechanisms should be designed to ensure safe machinery operation in such a case.

• At Forward/Reverse rotation limits, make sure to wire the contacts with NC, negative-logic. Wiring contacts with NO, positive-logic may cause serious accidents.

3 Specifications

3.1 General Specifications

DESIGN PRECAUTIONS

• Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise:

1) Do not bundle the main circuit line together with or lay it close to the main circuit, high-voltage line or load line. Otherwise, noise

disturbance and/or surge induction are likely to take place. As a guideline, lay the control line at least 100mm (3.94") or more away from the main circuit or high-voltage lines.

2) Ground the shield wire or shield of the shielded cable at one point on the PLC. However, do not ground them at the same point as

the high-voltage lines.

DISPOSAL PRECAUTIONS

• Please contact a certified electronic waste disposal company for the environmentally safe recycling and disposal of your device.

TRANSPORTATION AND STORAGE PRECAUTIONS

3.1 General Specifications

For items not listed below, specifications are equivalent to those of the PLC main unit. For general specifications, refer to the manual of the PLC main unit.

Item Specification

Dielectric withstand voltage 500V AC for one minute

Insulation resistance 5MΩ or more by 500V DC Megger

→ Refer to FX3U Hardware Edition

→ Refer to FX3UC Hardware Edition

Between all terminals and ground terminal

FX3U-20SSC-H Positioning Block User's Manual

3.2 Power Supply Specification

Item Specification

Power supply voltage 24V DC +20% -15% Ripple (p-p) within 5%

External power

supply

Internal power

supply

Permitted instantaneous power failure time

Powerconsumption 5W (220mA /24V DC)

Power fuse 1A

PLC power supply 100mA /5V DC

Operation continues when the instantaneous power failure is shorter than 5ms.

3.3 Performance Specification

Item Specification

Number of control axes 2 axes

Backup

Applicable PLC

No. of occupied I/O points 8 points (input or output, whichever may be counted)

Connectable servo amplifier

Servo bus SSCNET III

Scan cycle 1.77ms

Control input

Parameter

Control data 20 types

Monitor data 35 types

Positioning program

Method Increment/Absolute

Unit

Unit magnification 1, 10, 100, and 1000-fold

Positioning range -2,147,483,648 to 2,147,483,647 PLS

Positioning

Speed command Hz, cm/min, inch/min, 10deg/min

Acceleration/ deceleration process

Starting time 1.6ms or less

Interpolation function

*1. An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the 20SSC-H with the FX3UC PLC.

*2. The MR-J3W- B can be connected within the functional range of the MR-J3- B.

*3. The MR-J3- BS can be connected to the 20SSC-H later than Ver.1.40.

However, it does not support the fully closed loop system.

Positioning parameters, servo parameters, and table information can be saved to flash memory Write count: Maximum 100,000 times

FX3U/FX3UC*1 Series PLC

• A maximum of 8 units/blocks can be connected with the FX3U/FX3UC (D, DS, DSS) Series PLC.

• A maximum of 7 units/blocks can be connected with the FX3UC-32MT-LT(-2) PLC.

MELSERVO-J3- B (Maximum 2 amplifiers can be connected),

MELSERVO-J3W- B*2 (One amplifier can be connected),

MELSERVO-J3- BS*3 (Maximum 2 amplifiers can be connected) Standard cord length : Station to station maximum 20m (65’7") Long distance cord length : Station to station maximum 50m (164’)

Interrupt input : 2 inputs (INT0 and INT1) per axis DOG : 1 input per input axis START input : 1 input per axis Manual pulse generator : 1 input per axis (A/B-phase)

Positioning parameter : 27 types Servo parameter : 61 types

Created by sequence programs (using FROM/TO instruction, etc.) Direct operation (1 for X and Y axes respectively) Table operation (300 tables for X, Y, and XY axes respectively)

PLS, µm, 10-4inch, mdeg

Trapezoidal acceleration/deceleration, S-pattern acceleration/deceleration: 1 to 5,000ms Only trapezoidal acceleration/deceleration is available for interpolation

2-axes linear interpolation, 2-axes circular interpolation

3 Specifications

3.2 Power Supply Specification

configuration

Connection

configuration

and data

positioning

control

Control

Introduction

System

Example

Installation

Wiring

Memory

Before starting

Manual control

Positioning

Table Operation

FX3U-20SSC-H Positioning Block User's Manual

3.4 Input Specifications

3.4.1 Input specifications

Item Specification

X axis interrupt input: X-INT0, X-INT1 Used for interrupt operation

Y axis interrupt input: Y-INT0, Y-INT1 Used for interrupt operation

X axis near-point DOG input: X-DOG Used for zero return

Y axis near-point DOG input: Y-DOG Used for zero return

START command for X axis positioning operation: X-START

START command for Y axis positioning operation: Y-START

Manual pulse generator input for X axis: X- φ A+/X- φ A-, X- φ B+/X- φ B1 edge count at 2-phase 2-count

Manual pulse generator input for Y axis: Y- φ A+/Y- φ A-, Y- φ B+/Y- φ B1 edge count at 2-phase 2-count

External power supply for signals: S/S Connected to power supply for INT0, INT1, DOG and START

No-voltage contact input Sink input: NPN open collector transistor Source input: PNP open collector transistor

Differential line driver (corresponding to AM26LS31)

2-phases pulse 100KHz or less (Duty 50%)

24V DC +20% -15%

64mA or less

Input signal name

Group 1

Group 2

Group 3

Group 1

Group 2

Group 3

Operation display LED ON at input ON

Signal voltage 24V DC +20% -15% (Power is supplied from S/S terminal) Input current 7.0mA ± 1mA /24V DC

ON current 4.5mA or more

OFF current 1.5mA or less

Signal form

Response time Hardware filter 1ms or less

Circuit insulation Photo-coupler insulation

Operation display LED ON at input ON

Signal voltage 3 to 5.25V DC

Input current 3.0 to 8.5mA

ON current 3.0mA or more

OFF current 0.5mA or less

Signal form

Response frequency

Circuit insulation Photo-coupler insulation

Power supply voltage

Consumption current

3 Specifications

3.4 Input Specifications

3.4.2 Internal input circuit

For the internal input circuit diagram, refer to the following.

→ For the internal input circuit diagram, refer to Section 5.3

+ 274 hidden pages

Mitsubishi FX3U-20SSC-H User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Precautions

Manual number JY997D21301

Table of Contents

Standards

Certification of UL, cUL standards

Compliance with EC directive (CE Marking)

Functions and Use of the Manual

Associated Manuals

Generic Names and Abbreviations Used in the Manual

Reading the Manual

1. Introduction

1.1 Outline

1.2 External Dimensions and Part Names

1.3 Power and Status LED

2. System Configuration

2.1 General Configuration

2.2 Connection with PLC

2.3 Applicable PLC

3. Specifications

3.1 General Specifications

3.3 Performance Specification

3.2 Power Supply Specification

3.4.1 Input specifications

3.4 Input Specifications

3.4.2 Internal input circuit