Mitsubishi FX-10GM User manual

FX-10GM POSITIONING CONTROLLER


USER'S GUIDE

Manual number: JY992D68401

Manual revision: A

Date: September 1997

Foreword

• This manual only describes the specifications for FX-10GM positioning controller.

For complete operation, wiring, mounting and programming instructions please refer to the FX-10GM, FX(E)-20GM HARDWARE/PROGRAMMING MANUAL, FX

PROGRAMMING MANUAL and FX SERIES HARDWARE MANUAL.

• Before attempting to install or use the FX-10GM unit this manual and FX-

10GM,FX(E)-20GM HARDWARE/PROGRAMMING MANUAL should be read and understood.

• If in doubt at any stage of the installation of the FX-10GM unit always consult a professional electrical engineer who is qualified and trained to the local and national standards which apply to the installation site.

• If in doubt about the operation or use of the FX-10GM unit please consult the nearest

Mitsubisi Electric distributor.

• This manual is subject to change without notice.

i

FX-10GM POSITIONING CONTROLLER ii


Guidelines for the safety of the user and protection of the FX-10GM unit

This manual provides information for the use of the FX-10GM unit. The manual has been written to be used by trained and competent personnel. The definition of such a person or persons is as follows; a) Any engineer who is responsible for the planning, design and construction of automatic equipment using the product associated 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 regards to automated equipment.

b) Any commissioning or service engineer must be of a competent nature,trained and qualified to the local and national standards required to fulfill that job. These engineers should also be trained in the use and maintenance of the completed product. This includes being completely familiar with all associated documentation for the said product. All maintenance should be carried out in accordance with established safety practices.

c) All operators of the completed equipment should be trained to use that product in a safe and co-ordinated manner in compliance to established safety practices.

The operators should also be familiar with documentation which is connected with the actual operation of the completed equipment.

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

Notes on the symbology used in this manual

At various times through out this manual certain symbols will be used to highlight points of information which are intended to ensure the users personal safety and protect the integrity of equipment. Whenever any of the following symbols are encountered its associated note must be read and understood. Each of the symbols used will now be listed with a brief description of its meaning.

Hardware warnings

Indicates that the identified danger WILL cause physical and property damage.

Indicates that the identified danger could POSSIBLY cause physical and property damage.

Indicates a point of further interest or further explanation.

Software warning

Indicates special care must be taken when using this element of software

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

Indicates a point of interest or further explanation iii


CONTENTS

1. INTRODUCTION ......................................................................................................................................... 1 - 1

1.1

Outline ............................................................................................................................................... 1 - 1

1.2

System Configuration ....................................................................................................................... 1 - 2

1.2.1

Nomenclature .......................................................................................................................... 1 - 2

1.2.2

System configuration .............................................................................................................. 1 - 3

1.3

External Dimensions ......................................................................................................................... 1 - 4

2. SPECIFICATIONS ...................................................................................................................................... 2 - 1

2.1

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

2.2

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

2.2.1

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

2.2.2

Service power supply .............................................................................................................. 2 - 2

2.3

Performance specifications .............................................................................................................. 2 - 2

2.4

I/O Specifications .............................................................................................................................. 2 - 4

2.4.1

Input specifications ................................................................................................................. 2 - 4

2.4.2

Output specifications .............................................................................................................. 2 - 5

2.5

Optional Units .................................................................................................................................... 2 - 6 iv

FX-10GM POSITIONING CONTROLLER INTRODUCTION 1

1.

INTRODUCTION

This section explains the outline of the positioning unit and the related peripheral units.

In description, the FX-10GM may be abbreviated as "10GM".

For complete operation, wiring, mounting and programming instructions please refer t o t h e F X - 1 0 G M , F X ( E ) - 2 0 G M H A R D W A R E / P R O G R A M I N G M A N U A L , F X


1.1

Outline

The FX-10GM positioning unit is the pulse chain output type, and enables the positioning control of the stepping motor or the servo motor via the drive unit.

Number of control axes

1

Positioning languages

Dedicated language

+

Sequence language

Number of output pulses

Connection to Programmable controller

1 to 200 kPPS

Connected to FX/FX2C or performs

independently

Number of control axes

FX-10GM: For one axis.

Positioning languages

Both dedicated positioning language (cod instructions) and sequence language (basic instructions and application instructions).

The languages are compatible among the FX-10GM.

Number of output pulses

High-speed pulse output from 1 PPS to 200 kPPS maximum.

Programmable controller connected

The FX-10GM can be connected to the FX/FX

2C

Series programmable controller to read or write the positioning data. Each unit can also be used independently.

1-1


1.2

System Configuration

1.2.1

Nomenclature

This section explains the names of the terminals and the connectors provided in the

FX-10GM.

When the top cover is removed

Power supply terminals

Mounting hole.2- 5.5 DIN rail

Not used when the unit is mounted to a DIN rail

Operation indicator LEDs

I/O output status indicator LEDs

Connector for the FX/FX 2C

Series programmable controller

Connector for an extension unit/block for the programmable controller

Connector for programming

Enlarged view of the lower left side

CN1:Connector for I/Os CN2:Connector for drive unit

1-2


1.2.2

System configuration

This section explains the system configuration and I/O assignment of the FX-10GM.

•

Independent operation

The FX-10GM can operate independently because it is equipped with a power supply of 24V DC, CPU, operation inputs, mechanical inputs and drive unit inputs/ outputs as described on the next page.

• The FX-10GM can be connected to external I/O devices because it is equipped with 4 input points (X0 to X3) and 6 output points (Y0 to Y5) as general purpose

I/Os. When the I/O points are insufficient, use a programmable controller as described below.

•

Connecting a programmable controller

Applicable programmable controller: FX or FX

2C

Series

The FX-10GM is treated as a special unit of the programmable controller. Eight special units (such as the analog I/O unit, the high-speed counter, etc.) including the FX-10GM can be connected to a programmable controller.

Programmable controller

Special units No.0

Special units No.1

X00 X17 (X00 X03) X20 X27 (X00 X03)

Input unit described on the next page

L N

`bWT `QUSu

24+

COM X0

RUN X1

X2

X3

X4

X5

X6

X7

X10

X11

X12

X13

X14

X15

X16

X17

SG

0

1

2

3 COM 5

COM 4

7 COM

6 COM

1

POWER

RUN

BATT.V

PROG-E

CPU-E

PULL

0

1

3

B

2

3

POWER

A

0

1

2

4

5

6

7

6

7

4

5

3

B

0

1

2

3

0

1

2

POWER

A

4

5

6

7

6

7

4

5

TRANSISTOR BLOCK

Terminal block

Y0

COM1 Y1

Y2

Y3

Y4

COM2 Y5

Y6

Y7

Y10 Y12

COM3 Y11 Y13

Y14

COM4 Y15

Y16

Y17

24-

24+

0

1

2

3 COM

COM 4

5 7 COM

6 COM

1

•

•

Y00 Y17 (Y00 Y05) Y20 Y37 (Y00 Y05)

Peripheral units for the programmable controller

Various programming tools

Data access unit

Output unit described on the next page

Peripheral units for the FX-10GM

• E-20TP teaching panel

• FX-PCS-KIT-GM-EE software kit for personal computer

• I/O assignment

The FX-10GM is treated as a special unit of the programmable controller. The special unit Nos. 0 to 7 are automatically assigned to each of the special units from the unit closest to the programmable controller (The No. assigned here is regarded as the unit No. specified in the FROM/TO instruction.)

No I/Os of the programmable controller are assigned, and the general purpose I/

Os of the FX-10GM are controlled by the 10GM.

Note

For details of the I/O assignment in the programmable controller, refer to the FX SERIES

HARDWARE MANUAL. The number of extension blocks connected after the 10GM is limited. See section 2.2.2.

1-3


•

Units for general I/O connection

For the general I/Os of the positioning unit and the extension I/Os of the programmable controller the following external units can be connected.

1) Various input switches

The various input switches such as a push-button switch, limit switch, sensor, etc. can be connected.

2) Manual pulse generator

A p u l s e g e n e r a t o r c a n b e connected to each axis, or one p u l s e g e n e r a t o r c a n b e connected to both axes and switched between them. The manual pulse generators used must be an open collector output type.

General input/extension input

1) Input from the digital switch

-

1 2 3 4 5 6

• Up to 6 digits are possible with the FX-

10GM. Use with a programmable controller for more digits.

Various data settings can be fetched through connections that save wiring, either by a direct connection method or by multiplexing input/outputs.

General output/extension output

1) Auxiliary equipment control output

The ON/OFF control outputs for various auxiliary equipment are generated by M code signals (2-digit

BCD) or a direct program.

2) Seven-segment display

10

0

60

70

3) Interrupt input

T h e i n p u t f r o m t h e manual pulse generator can be used as control i n p u t f o r i n t e r r u p t positioning control by switching the line.

The following data can be set using direct specification instructions.

• Target position • Speed

• Center coordinates of circular arc

• Radius of circular arc

• Various parameters and control constants

Various setting data and statuses, and present value, can be displayed through connections that save wiring, either by a direct connection method or by multiplexing outputs.

a) Current position display:

8 digits maximum for each axis.

b) The line No. being executed, the set speed, the present dwell value, various parameters and the status can be read and displayed.

• Up to 2 digits are possible with the

FX-10GM. Use with a programmable controller for more digits.

The positioning control command inputs and the drive unit connection are enabled via dedicated I/O.

1-4


Units for dedicated I/O connection

1) Operation system inputs

• Automatic start command

• Single-step operation command

• Stop command

• Zero return command

2) Mechanical system inputs

• Forward rotation limit

• Reverse rotation limit

• Near-point dog signal

3) Drive unit

• Zero point signal

• Servo ready

• Servo end

• Forward/reverse rotation pulse sample

• Clear signal

• Absolute position detection signal etc.

• Manual forward rotation command

• Manual reverse rotation command

• Manual/automatic selection

1-5


1.3

External Dimensions

START

STOP

ZRN

FWD

RVS

DOG

LSF

LSR

Y0

Y1

Y2

Y3

X0

X1

X2

X3

Y4

Y5

POWER

READY

ERROR

CPU-E

MANU

SVRDY

SVEND

PGO

FP

RP

CLR

FX-10GM

PULL

40

50

2- 5.5

Mounting hole

INTRODUCTION 1

95

10

Width: 35mm

DIN rail mounting groove

Weight : Approx. 0.4 kg

Accessory : Extention cable,

No. labels for special function unit or block

1-6

FX-10GM POSITIONING CONTROLLER SPECIFICATIONS 2

2.

SPECIFICATIONS

For complefe operation wiring, mounting and programming instructions please refer to the FX-10GM, FX(E)-20GM HARDWARE/PROGRAMMING MANUAL, FX


2.1

General Specifications

Ambient temperature Operating: 0 to +55 Storage: -20 to +70

Ambient humidity Operating: 35 to 85%RH, non condensing.

Vibration resistance

Conforms to JIS C0911: 10 to 55Hz, 0.5mm, (2G maximum) *1 2 hours in

3 axis directions.

Shock resistance Conforms to JIS C0912: 10G three times in 3 axis directions.

By noise simulator with noise voltage 1,000Vp-p, noise width 1 µs and

Noise resistance

cycle 30 to 100Hz.

Withstand voltage 500V AC for 1 minute

Insulating resistance 5M Ω or more by 500V DC Megger.

Grounding

Between all terminals and ground.

Class 3 grounding (with strong power system is not allowed.) *2

Ambient atmosphere Free from corrosive gas and excessive dust.

*1 0.5G when mounted to a DIN rail.

*2

Positioning unit

Other unit

Class 3 grounding

Positioning unit

Other unit

Positioning unit

Other unit

Dedicated grounding

(best recommendation)

Joint grounding

(acceptable)

Common grounding

(unacceptable)

2.2

Power Supply Specifications

2.2.1

Power Supply Specifications

Item

Rated voltage

Allowable voltage range

Allowable momentary power interruption time

Power consumption

Specifications

24V DC

-15% to +10%

Continues operation against momentary power interruption of

5 msec or less.

5W

2-1


2.2.2

Service power supply

•

•

•

•

The drive power supply of the FX-10GM is 24V DC. There is no 24V DC service power supply for an external unit.

When a programmable controller is used, extension blocks can be connected.

The maximum total input and output points for non powered extension blocks is

48.

The capacity of the 5V DC power supply for special extension blocks (such as the FX-2DA/4AD analog block, the FX-1HC high-speed counter, etc.) is 100 mA.

When more than 48 I/O points are needed or when the capacity of the 5 V power supply is insufficient, use powered extension units.

2.3

Performance Specifications

Item

Number of control axes 1

Specifications

Applicable programmable controller

Bus connection with FX/FX2C Series PC, Number of I/O points occuupied:8 points

Program memory 3.8k step EEPROM built in

Positioning units

(incremental / absolute)

Cumulative address

Speed commands

Command units:0.001,0.01,0.1mm(deg),0.1inch

or 1,10,100,1000PLS

Max. command value: ±999,999(indirectly specified:32 bits)

±2,147,483,647pulses

200kPPS max.,153,000cm/min

Automatic trapezoidal pattern acceleration / deceleration

Zero return

Absolute position detection

Manual or automatic dog type machine zero return (with the dog search function). Automatic electrical zero return in accordance with the electrical zero position setting is possible.

When using the MR-H or the MR-J2A servo motor, simple absolute pposition detection is possible.

2-2


Control inputs

Item

Operation system mechanical system

Servo system

Specifications

MANU (manual), FED (manual forward rotation), RVS

(manual reverse rotation), ZRN (machine zero return),

START (automatic start), STOP (stop), manual pulse generator (2kPPS max.), single-step operation input

(depending on parameter settings)

Dog (near-point signal), LSF (forward rotation limit), LSR

(reverse rotation limit), interrupts:4 points

SVRDY (servo ready), SVEND (servo end),

PG0 (zero-point signal)

General purpose

General purpose:X0 to X3

Servo system

Control outputs General purpose

Program Nos.

Positioning

Indexes

RF (forward rotation pulse), RF (reverse rotation pulse),

CLR (counter clear)

General purpose: Y0 to Y5

Ox00 to Ox99, O100 (subtask program)

Cod No. system (used with instruction cods), 13 types

Instructions

Application

M codes maintask

Subtask m00 (WAIT) program stop and m02 (END) m01,m03 to m99 can be used as required (SFTER mode, WITH mode) m100 (WAIT) and m102 (END) can be used

System setting 9 types

Parameters

Positioning

I/O control

27 types

18 types

Self-diagnosis

Inputs

Outputs

Auxilliary relays

Diagnosis is enabled by the display of parameter errors, program errors and exernal errors with error code Noos.

X0 to X3, X375 to X377

Y0 to Y5

M0 to M511 (general purpose)

Devices

Sequence

Pointers

Data registers

(16 bit)

11 types: LD, LDI, AND, ANI, OR, ORI, ANB, ORB, SET,

RST, NOP

FNC No. system, 29 types

M9000 to M9175 (special purpose)

P0 to P127

D0 to D1999 (general purpose)

D4000 to D6999 (file)

D9000 to D9313 (special purpose)

V0 to V7 (16 bit)

Z0 to Z7 (32 bit)

Programming tool

E-20TP teaching panel FX-PCS-KIT-GM-EE

Program (reading / writing, insertion / deletion), parameters (reading / writing), operation monitor, testing (jog, machine zero return,

Personal computer (PC-AT)

2-3


2.4

I/O Specifications

2.4.1

Input Specifications

Input circuit configuration

3.3k

COM

1

24V

SPECIFICATIONS 2

COMm

5 24V

3.3k

Input

2

Photocoupler

MANU,START,STOP,ZRN,FWD,

RVS,LSF,LSR

SVRDY, SVEND

Group 1

Input signal names

Group 2 DOG PG0

Group 3 General inputs (X00 to X03) 

Group 4

Circuit isolation

Manual pulse generator, interrupt inputs

By photocoupler By photocoupler



Operation indication LED is lit while input is ON.

Signal voltage

24V DC ±10%

(internal power supply)

LED is lit while input is ON.

5 to 24V DC ±10%

Input current

Input ON current

7 mA / 24V DC

4.5 mA or more

7 mA / 24V DC

(PG0 11.5 mA / 24V DC)

0.6 mA or more

(PG0 1.5 mA or more)

Input OFF current 1.5 mA or less

Signal format Contact input or NPN open collector transistor input.

Group 1 Approx. 0.5 msec Approx. 3 msec

Response time

Group 2 Approx. 3 msec

Group 3 Approx. 0.1 msec

Group 4 Approx. 3 msec

*1

*1

0.3 mA or less

(PG0 0.5 mA or less)

Approx. 3 µsec





*1

*2

The selection of general purpose inputs, manual pulse generator inputs or interrupt inputs in the parameter settings automatically adjusts the input filters. The maximum response frequency for the manual pulse generator is 2 kPPS.

*2 When using a stepping motor, short-circuit [ST1] and [ST2] terminals to each other to reduce the PG0 resistance from 3.3 k

Ω

to 1 k

Ω

.

The input current also changes.

PG0 4.9 mA/5V DC ON at 1.5 mA or less

OFF at 0.5 mA or less

2-4


2.4.2

Output specifications

Item Positioning unit drive output Positioning unit general purpose output

Output circuit configuration

50V

COMn

5 24V

Output

Load

50V

COM1

5 24V

Output

Load

Output signal names FP (FP0), RP (RP0),CLR X00 ~ X05

Circuit isolation By photocoupler

Operation indication LED is lit while output is ON.

External power supply

5 to 24V DC ±10%

20 mA or less Load current

Open circuit leak current

Output ON voltage

Response time

0.1 mA / 24V DC or less

0.5V max.

(1.5V max. for CLR)

For pulse outputs FP (FP0) and

RP (RP0): 200 kPPS max.

Pulse output width of CLR signal:

Approx. 20 msec

By photocoupler

LED is lit while output is ON.

5 to 24V DC ±10%

50 mA or less

0.1 mA / 24V DC or less

0.5V max.

0.2 msec max. for both

OFF → ON and ON → OFF.

2-5


2.5

Optional Units

When an I/O connector of the positioning unit is connected to a terminal block, the following cables are convenient.

Optional cables

The following optional cables are available to connect the positioning unit.

Positioning unit

16-points 16-points

Terminal block

FX-10GM

CON1

FX(E-20GM)

CON1

CON2

FX-16E-150CAB type cable (1.5m)



FX-16E-150CAB-R type cable (1.5m)



FX-16E-500CAB-S type cable (5.0m)

Flat cable with connector at both ends.

Round multi-cored cable with connector at both ends.

If no terminal block is used, the cable can be cut off at one end.

Connector Separate wires

at one end.

Applicable connectors

The specifications for connector cables made by the user and for the connectors to be used when connecting additional equipment are indicated below.

1) When making a cable

① Flat cables

Wire size: AWG28 (0.1 mm

2

)

1.27 pitch, 20 cores

Example of pressure displacement con-

• nectors (female)

HIF3BA-20D-2.54R

• FRC5-A020-3TOS

Hirose Denki

Daiichi Denshi

• FRC2-A020-30S Daiichi Denshi

② Separate wires

Wire size: AWG22 to 20 (0.3 to 0.5 mm

2

)

Solderless contacts: HU-411S (0.3 mm

2

)

Daiichi Denshi

HU-411SA (0.5 mm

2

)

Daiichi Denshi

Housing: HU-200S2-001 Daiichi Denshi

* Depending on the variation in sheath thickness, it may be difficult to accommodate the wires in the housing.

UL-1061 wires are recommended.

2) When connecting additional equipment

The destination side connectors to which

M i t s u b i s h i ' s o p t i o n a l c a b l e s c a n b e connected include the following models.

• HIF3BA-20PA-2.54DSA Hirose Denki

• FRC5-C20S53T-OL Daiichi Denshi

• FRC2-C20S13-OL Daiichi Denshi

The internal connectors of the positioning unit and extension blocks are equivalent to the models indicated above.

2-6

Mitsubishi FX-10GM User manual

FX-10GM POSITIONING CONTROLLER

USER'S GUIDE

CONTENTS

1.

INTRODUCTION

1.1

Outline

1.2

System Configuration

1.3

External Dimensions

2.

SPECIFICATIONS

2.1

General Specifications

2.2

Power Supply Specifications

2.3

Performance Specifications

2.4

I/O Specifications

2.5

Optional Units

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