Mitsubishi Electric MELSEC iQ-F FX5-20PG Hardware Manual

JY997D74101B

Side

B

Side

JAPANESE

A

Side

ENGLISH

B

MELSEC iQ-F FX5-20PG-

Hardware Manual

Manual Number JY997D74101

Revision B

Date October 2018

This manual describes the part names, dimensions, installation, and
specifications of the product. Before use, read this manual and manuals of
relevant products fully to acquire proficiency in handling and operating the
product. Make sure to learn all the product information, safety information, and
precautions.
And, 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.
Registration:
The company name and the product name to be described in this manual are the
registered trademarks or trademarks of each company.

Effective October 2018
Specifications are subject to change without notice.

Safety Precautions

This manual classifies the safety precautions into two categories:

Depending on the circumstances, procedures indicated by may also
cause severe injury.
It is important to follow all precautions for personal safety.

Associated Manual

How to obtain manuals

For the necessary product manuals or documents, consult with your local
Mitsubishi Electric representative.

Applicable standards

FX5-20PG- complies with the EC Directive (EMC Directive) and UL standards
(UL, cUL). Further information can be found in the following manual.

Regarding the standards that relate to the CPU module, please refer to either the
product catalog or consult with your local Mitsubishi Electric representative.

Attention

This product is designed for use in industrial applications.

and .

Manual name Manual No. Description

MELSEC iQ-F FX5
User's Manual
(Positioning Control

- Intelligent function
module)

MELSEC iQ-F FX5U
User's Manual
(Hardware)

MELSEC iQ-F FX5UC
User's Manual
(Hardware)

© 2017 MITSUBISHI ELECTRIC CORPORATION

(Read these precautions before use.)

Indicates that incorrect handling may cause hazardous
conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous
conditions, resulting in minor or moderate injury or
property damage.

SH-081805ENG Explains positioning module.

JY997D55301

JY997D61401

(Positioning Control - Intelligent function module)

Explains FX5U CPU module
specification details for I/O, wiring,
installation, and maintenance.

Explains FX5UC CPU module
specification details for I/O, wiring,
installation, and maintenance.

→ MELSEC iQ-F FX5 User's Manual

1. Outline

FX5-20PG- 2-axis pulse train positioning module (hereinafter referred to as FX5­20PG-) is an intelligent function module for high speed, high precision positioning
with servo motors or stepping motors via drive units.

1.1 Incorporated Items

Check that the following product and items are included in the package:

Product FX5-20PG- 2 axis pulse train positioning module

FX2NC-100MPCB power cable: (1 m, three wire)

Included Items

Dust proof protection sheet (1 sheet)

Hardware manual [Japanese /English] (This manual)

Hardware manual [Chinese]

1.2 External Dimensions, Part Names

[4]

[1]

16

[11]

2-4.5 Mounting holes

50

[12]

[5]

[6]

[7]

80 (Mounting hole pitch)

AX1 

POWER

AX2 

RUN 
ERROR 

AX1 

POWER

AX2 

RUN 
ERROR 

AX1 

POWER

AX2 

RUN 
ERROR 

AX1 

POWER

AX2 

RUN 
ERROR 

AX1 

POWER

AX2 

RUN 
ERROR 

90

MASS (Weight): Approx. 0.2 kg
Outer painting color: Munsell 0.6B7.6/0.2

*1

[3]

[2]

[1] Connector for external devic es
[2] Extension cabl e

[3] Differential driver common terminal
[4] Direct mounting hole: 2 ho les of φ4.5 (mounting screw: M4 screw)
[5] Axis displa y LED (AX1, AX2)
[6] Operation status displ ay LEDs
[7] Extension conne ctor (for next module)
[8] Name plate
[9] DIN rail mounting groove (DIN rail: DIN 46277, 35 mm wide)
[10] DIN rail mounting hook
[11] Pullout tab
[12] Power connector

*1 FX5-20PG-D only

1.3 Indications of LEDs

: OFF, : ON, : Flashing (Flashing interval ON: 200 ms/OFF: 200 ms)

FX5-20PG- status LED display Indication

Power OFF

Normal operation
(RUN LED is ON,
ERROR LED is OFF)

Operation failure

[8]

Power OFF

Axes stopped
Axes on standby

Axes in operation

Minor error

Moderate error

Unit: mm

[9]

[10]

8

83

FX5-20PG- status LED display Indication

Operation failure

1.4 Signal Layouts

The signal layout of the FX5-20PG- connector for external devices is as follows:

1.4.1 40-pin connectors

B20

B19

B18

B17

B16

B15

B14

B13

B12

B11

B10

B9

B8

B7

B6

B5

B4

B3

B2

B1

*1 The signal layouts of FX5-20PG-D are as follows.

Pin No.

For further information on signal, refer to the following manual.

MELSEC iQ-F FX5 User's Manual (Positioning Control - Intelligent function module)

→

1.4.2 Differential driver common terminal (FX5-20PG-D only)

AX1 

POWER

AX2 

RUN 
ERROR 

Axis 2 (AX2)

Pin No.

A20

B20

A19

B19

A18

B18

A17

B17

A16

B16

A15

B15

A14

B14

A13

B13

A12

B12

A11

B11

A10

B10

A9

B9

A8

B8

A7

B7

A6

B6

A5

B5

A4

B4

A3

B3

A2

B2

A1

B1

Axis 2 (AX2)

Signal

B18 PULSE R- A18 PULSE R-

B17 PULSE R+ A17 PULSE R+

B16 PULSE F- A16 PULSE F-

B15 PULSE F+ A15 PULSE F+

Differential driver
common terminal

Error (Initial not completed)

Axis 1 (AX1)

Signal

PULSER B-

PULSER A-

PULSE COM*1A18

PULSE R

PULSE COM*1A16

PULSE F

CLRCOM

CLEAR

RDYCOM

READY

PG0COM

PG05

PG024

COM

COM

CHG

STOP

DOG

RLS

FLS

Pin No.

A20

PULSER B+

A19

PULSER A+

A17

A15

A14

A13

A12

A11

A10

PULSE COM

PULSE R

PULSE COM

PULSE F

A9

A8

A7

A6

A5

A4

A3

A2

A1

*1

*1

Axis 1 (AX1)

Pin No.

Signal

PLS COM (Differential driver common)

Signal

CLRCOM

CLEAR

RDYCOM

READY

PG0COM

PG05

PG024

COM

COM

CHG

STOP

DOG

RLS

FLS

Signal

2. Installation

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.

• Use the product within the generic environment specifications described in the
User's Manual (Hardware) for the CPU module to be used.
Never use the product in areas with excessive dust, oily smoke, conductive dusts,
corrosive gas (salt air, Cl
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.

INSTALLATION
PRECAUTIONS

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

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

2, H2S, SO2 or NO2), flammable gas, vibration or

INSTALLATION
PRECAUTIONS

• The dust proof sheet should be affixed to the ventilation slits before
installation and wiring work to block foreign objects such as cutting and
wiring debris. However, when the inst allation work is complete d, make sure
to remove the sheet to provide adequate ventilation.
Failure to do so may cause fire, equipment failures or malfunctions.

• 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.

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

• Connect the extension cables securely to their designated connectors.

Loose connections may cause malfunctions.

For further information on mounting, refer to the following manual.

*1

*1

3. Wiring

*1

WIRING PRECAUTIONS

*1

• 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.

• The temperature rating of the cable should be 80 or more.

• Make sure to properly wire to the spring clamp terminal block in accordance

with the following precautions.
Failure to do so may cause electric shock, equipment failu res, a shortcircuit,
wire breakage, malfunctions, or damage to the product.

- The disposal size of the cable end shoul d follow the dimensions described
in the manual.

- Twist the ends of stranded wires and make sure that there are no loose
wires.

- Do not solder-plate the electric wire ends.

- Do not connect more than the specified number of wires or electric wires
of unspecified size.

WIRING PRECAUTIONS

• Securely connect the connector to the module. Poor contact may cause
malfunction.

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

- Do not bundle the power line and communication cables together with or
lay them close to the main circuit, high-voltage line, load line or power line.
As a guideline, lay the power line, control line and communication cables
at least 100 mm away from the main circuit, high-voltage line, load line or
power line.

3.1 Applicable Connector

Use the following 40 pin connectors.

Typ e Model

Soldering type
connector
(straight type)

Crimping type
connector
(straight type)

Soldering type
connector
(dual purpose
(straight/oblique)
type)

*1 Use wire with a sheath outside diameter of 1.3 mm or less when the 40 pins

are used. Select appropriate cables according to the current value used.

→ MELSEC iQ-F FX5U User's Manual (Hardware)

→ MELSEC iQ-F FX5UC User's Manual (Hardware)

Suitable wiring

Size Typ e Material

0.088 to

2

0.3 mm

*1

A6CON1

A6CON2

A6CON4

*1

(AWG28

to 22)

0.088 to

0.24 mm
(AWG28

to 24)

0.088 to

0.3 mm
(AWG28

to 22)

2

Strand

wire

2

3.2 Differential Driver Common Terminal

3.2.1 Suitable wiring

No. of wire per terminal One wire

Single wire, Strand wire
(Material: Copper wire)

Wire

Ferrules with insulation sleeve

size

Ferrules without insulation sleeve

Temperature rating 80 or more

AWG24 to 16 (0.2 to 1.5 mm

AWG23 to 19 (0.25 to 0.75 mm

AWG23 to 16 (0.25 to 1.5mm2)

Copper

wire

Temperature

rating

80 or

more

2

)

2

)

3.2.2 Wire end treatment

Strip the cable about 10 mm from the tip to connect a wire ferrule at the stripped
area. Failure to do so may result in electric shock or short circuit between adjacent
terminals because the conductive part. If the wire strip length is too short, it may
result in the poor contact to the spring clamp terminal part.
When using a wire ferrule with an insulating sleeve, choose a wire with proper
cable sheath referring to the above outside dimensions, otherwise the wire cannot
be inserted easily

- Strand wire/single wire

10 mm

Check the shape of the wire insertion opening with the following chart, and use
the smaller wire ferrule than the described size. Also, insert the wire with care so
that the wire ferrule is in proper orientation. Failure to do so may cause the bite of
the terminal and the damage of the terminal block.
The following table shows wire ferrules and tools for wire ferrules compatible.

Shape of the wire
insertion opening

2.4 mm

1.5 mm

The following table shows wire ferrules and its associated tools compatible with
the terminal block. The shape of the wire ferrule differs depending on the crimp
tool to be used, use the reference product. If the product other than referenced
products is used, the wire ferrule cannot be removed. Sufficiently confirm that the
wire ferrule can be removed before use.

<Reference product>

Manufacturer Sleeve Ferrules model

PHOENIX
CONTACT

GmbH & Co. KG

3.2.3 Connecting a cable

• When ferrules with insulation sleeve are used
Insert a wire with the ferrule with insulation sleeve into the wire insertion
opening and push the wire.

• When stranded wires and solid wires are used
Push the open/close button of the terminal block with a flathead screwdriver.
While pushing the open/close button, insert the wire into the ins ertion opening
until the wire reaches the back, and then release the open/close button.

Then, pull the wire lightly and check that it is clamped securely.

<Reference>

3.2.4 Disconnection of the cable

Push the open/close button of the wire to be disconnected with a flathead
screwdriver. Pull out the wire with the open/close button pushed.

3.3 Power Connector

For further information on the power supply wiring and power cable, refer to the
following manual.

Manufacturer Model

PHOENIX CONTACT GmbH & Co. KG SZS 0.4×2.5 VDE

- Ferrule with insulation sleeve

Insulation sleeve

2 to 2.8 mm

Sectional shape of a wire ferrule

Terminal

block

When using a tool of the reference
product, the sectional shape becomes
a trapezoid close to a rectangle.

AI 0.25-8 YE 0.25 mm

Ferrules

AI 0.34-8 TQ

with

insulation

insulation

AI 0.5-8 WH 0.5 mm

sleeve

AI 0.75-8 GY 0.75 mm

A 0,25-7 0.25 mm

Ferrules

without

sleeve

A 0,34-7

A 0,5-8 0.5 mm

A 0,75-8 0.75 mm

AI 1.0-8 1.0 mm

AI 1.5-7

(Positioning Control - Intelligent function module)

→ MELSEC iQ-F FX5 User's Manual

14 mm

Suitable

wiring size

0.3, 0.34 mm

0.3, 0.34 mm

1.25, 1.5 mm

Contact area

(Crimp area)

8 mm

2

2

2

2

2

2

2

2

2

2

Crimp tool

CRIMPFOX 6

(Green)

( Black)

( Red )

3.4 Grounding

Ground the PLC as stated below.

• Perform class D grounding. (Grounding resistance: 100 Ω or less)

• Ground the PLC independently if possible.

If the PLC cannot be grounded independently, perform the "Shared grounding"
shown below. For details, refer to the following manual.

→ MELSEC iQ-F FX5U User's Manual (Hardware)

→ MELSEC iQ-F FX5UC User's Manual (Hardware)

Other

PLC

equipment

Independent grounding

(Best condition)

• Bring the grounding point close to the PLC as much as possible so that the ground
cable can be shortened.

Other

PLC

equipment

Shared grounding

(Good condition)

Other

PLC

equipment

Common grounding

(Not allowed)

4. Specification

DESIGN PRECAUTIONS

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

- Most importantly, set up 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).

- Note that when the CPU module 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 CPU module 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.

- Note that the output current of the 24 V DC service power sup ply varies
depending on the model and the absence/presence of extension modules. If an
overload occurs, the voltage automatically drops, inputs in the PLC are
disabled, and all outputs are turned off. External circuits and mechanisms
should be designed to ensure safe machinery operation in such a case.

- Note that when an error occurs in a relay, transistor or triac of an output circuit,
the output might stay 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, posi tive-logic may cause serious accidents.

•

In an output circuit, when a load current exceeding the current rating or an
overcurrent caused by a load short-circuit flows fo r a long time, it may cause smoke
and fire. To prevent this, configure an external safety circuit, such as a fuse.

DESIGN PRECAUTIONS

• Simultaneously turn on and off the power supplies of the CPU module and
extension modules.

STARTUP AND MAINTENANCE
PRECAUTIONS

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

• Do not drop the product or exert strong impact to it. Doing so may cause damage.

DISPOSAL PRECAUTIONS

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

TRANSPORTATION
PRECAUTIONS

• The product is a precision instrument. During transportation, avoid impacts larger
than those specified in the general specifications by using dedicated packaging
boxes and shock-absorbing palettes.
Failure to do so may cause failures in the product. After transportation, verify
operation of the product and check for damage of the mounting part, etc.

4.1 Applicable CPU Module

Model name Applicability

FX5U CPU module Ver. 1.050 or later

FX5UC CPU module

*1 FX5-CNV-IFC or FX5-C1PS-5V is necessary to connect FX5-20PG-P to the

FX5UC CPU module.

4.2 Applicable Software Package

Software

GX Works3 Ver. 1.035M or later Ver. 1.050C or later

4.3 General Specifications

The items other than the following are equivalent to those of the CPU module.
For the general specification, refer to the following manual.

Items Specifications

Dielectric withstand
voltage

Insulation resistance

*1

Ver. 1.050 or later

FX5-20PG-P FX5-20PG-D

→ MELSEC iQ-F FX5U User's Manual (Hardware)

→ MELSEC iQ-F FX5UC User's Manual (Hardware)

500 V AC for 1 minute

10 MΩ or higher by 500 V DC
insulation resistance tester

Applicability

Between all terminals and
ground terminal

4.4 Power Supply Specifications

Specifications

FX5-20PG-P FX5-20PG-D

External
power
supply

Items

Power supply voltage 24 V DC +20%, -15%

Allowable instantaneous
power failure time

Current consumption 120 mA 165 mA

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

4.5 Performance Specifications

Items

Number of control axes 2 axes

Pulse output form Transistor Differential driver

Interpolation function 2-axis linear interpolation, 2-axis circular interpolation

Control method

Control unit mm, inch, degree, pulse

Positioning data 600 data/axis

Maximum connection
distance between servos

Number of write
accesses to flash ROM

Number of occupied
I/O points

4.6 Input Specifications

4.6.1 Drive unit READY signal (READY), Stop signal (STOP), Upper limit signal (FLS), Lower limit signal (RLS)

Items Specifications

Signal voltage 24 V DC

Input current 5 mA

ON current 3.5 mA or more

OFF current 1.7 mA or less

Signal format

Response time 4 ms or less

Insulation of circuit Photo-coupler insulation

Indication of operation

PTP (Point To Point) control, path control (line and arc
can be set), speed control, speed-position switching
control, position-speed switching control

2 m 10 m

100000 times maximum

8 points

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

None (Operation check via buffer memory is possible.)

4.6.2 Zero signal (PG05/PG024)

Items

Signal voltage 5 V DC 24 V DC

Input current 5 mA

ON current 2 mA or more 3 mA or more

OFF current 0.5 mA or less 0.2 mA or less

Signal format NPN open collector transistor

Response time 1 ms or less

Insulation of circuit Photo-coupler insulation

Indication of operation

4.6.3 Manual pulse generator A phase (PULSER A)/ Manual pulse generator B phase (PULSER B)

Items Specifications

Signal voltage 5 V DC

Input current 14 mA

ON current 2 mA or more

OFF current 0.2 mA or less

Signal format NPN open collector transistor

Response frequency 100 kH z

Insulation of circuit Photo-coupler insulation

Indication of operation

None (Operation check via buffer memory is possible.)

None (Operation check via buffer memory is possible.)

4.6.4 Near-point dog signal (DOG)

Items Specifications

Signal voltage 24 V DC

Input current 5 mA

ON current 3.5 mA or more

OFF current 1.7 mA or less

Specifications

FX5-20PG-P FX5-20PG-D

Specifications

PG05 PG024

Items Specifications

Signal format

Response time 1 ms or less

Insulation of circuit Photo-coupler insulation

Indication of operation

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

None (Operation check via buffer memory is possibl e.)

4.6.5 External command signal (CHG)

Items Specifications

Signal voltage 24 V DC

Input current 5 mA

ON current 2.7 mA or more

OFF current 0.8 mA or less

Signal format

Response time 20 μs

Insulation of circuit Photo-coupler insulation

Indication of operation

4.7 Output Specifications

4.7.1 Deviation counter clear signal (CLEAR)

Items Specifications

Pulse output form Transistor

Signal output time 1 to 65535 ms

Rated load voltage 5 to 24 V DC

Max. load current 100 mA

Output ON voltage 1.5 V or less

Indication of operation

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

None
(Operation check via buffer memory is possible.)

None (Operation check via buffer memory is possibl e.)

4.7.2 Pulse output (PULSE R/ PULSE F) [FX5-20PG-P]

Items Specifications

Pulse output form Transistor

Output form

Output frequency 1 pps to 200 kpps

Rated load voltage 5 to 24 V DC

Max. load current 50 mA

Output ON voltage 1.0 V or less

Indication of operation

4.7.3 Pulse output (PULSE R+/PULSE F+) [FX5-20PG-D]

Specification of a differential driver (equivalent to AM26C31).

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.

Warranty

Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the grat is warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

Loss in opport unity, lost profits inc urred to the user by Failures of Mitsubishi p roducts.

(2)
(3)

Special damages and secondary damages w hether foreseeable or not, compensa tion for
accidents, and compensation for damages to products other than Mitsubishi products.

(4) Replacement by the user, maintenance of on-site equipment, start-up test run

and other tasks.

PULSE/SIGN mode, CW/CCW mode,
A phase/B phase (multiple of 4),
A phase/B phase (multiple of 1)

None (Operation check via buffer memory is possibl e.)

For safe use

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 in the system.

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN