Mitsubishi FX3U-20SSC-H User manual

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Mitsubishi FX3U-20SSC-H User manual | Manualzz

FX

3U

-20SSC-H

USER'S MANUAL

Safety Precautions

(Read these precautions before using.)

Before installing, operating, maintenance or inspecting this product, thoroughly read and understand this manual and the associated manuals. Also pay careful attention to handle the module properly and safety.

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 circumstances, procedures indicated by

In any case, it is important to follow the directions for usage.

may also be linked to serious results.

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.

1. DESIGN PRECAUTIONS

Reference

• Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even when external power supply trouble or PLC failure occurs.

Otherwise, malfunctions or output failures may result in an accident.

1) An emergency stop circuit, a protection circuit, an interlock circuit for opposite movements, such as normal and reverse rotations, and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the PLC.

2) When the PLC CPU detects an error, such as a watch dog timer error, during self-diagnosis, all outputs are turned off. When an error that cannot be detected by the PLC CPU occurs in an input/output control block, output control may be disabled.

Design external circuits and mechanisms to ensure safe operations of the machine in such a case.

3) When some sort of error occurs in a relay, triac or transistor of the output unit, output may be kept on or off.

For output signals that may lead to serious accidents, design external circuits and mechanisms to ensure safe operations of the machine in such cases.

• At forward/reverse rotation limits wiring, make sure to wire in negative logic and use NC contact. Setting in positive logic and using NC-contact can cause serious accidents.

19

38

Reference

• Observe the following items. Failure to do so may cause incorrect data-writing by noise to PLCs and result the PLC failure, machine damage or an accident.

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

Noise and Surge induction interfere with the system operation.

Keep a safe distance of least 100 mm (3.94") from the above lines during wiring.

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

• Install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and I/O connectors.

Failure to do so may result in wire breakage or failure of the PLC.

2. INSTALLATION PRECAUTIONS

19

25

32

38

• Make sure to cut off all phases of the power supply externally before starting the installation or wiring work.

Failure to do so may cause electric shock.

Reference

23

(1)

Safety Precautions

(Read these precautions before using.)

Reference

• Fit the extension cables, peripheral device connecting cables, input/output cables and battery connecting cable securely to the designated connectors.

Contact failures may cause malfunctions.

• Use the product in the environment within the generic specifications described in section 3.1 of this manual.

Never use the product in areas with dust, oily smoke, conductive dusts, corrosive gas (salt air, Cl

2

, H

2

S, SO

2

or

NO

2

), flammable gas, vibration or impacts, or expose it to high temperature, condensation, or wind and rain.

If the product is used in such a place described, electrical shock, fire, malfunctions, damage, or deterioration may be caused.

• Do not touch the conductive parts of the product directly, thus avoiding failure 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, cutting chips or wire chips should not enter ventilation slits. such an accident may cause fire, failures or malfunctions.

• Be sure to remove the dust proof sheet from the PLC's ventilation port when the installation work is completed.

Failure to do so could cause fires, equipment failures, and malfunctions.

• Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work.

Failure to do so may cause electric shock.

3. WIRING PRECAUTIONS

23

• Make sure to cut off all phases of the power supply externally before starting the installation or wiring work.

Failure to do so may cause electric shock.

Reference

25

Reference

• Connect the DC power supply wiring to the dedicated terminals described in this manual.

If an AC power supply is connected to a DC input/output terminal or DC power supply terminal, the PLC will be burnt out.

• Perform class D grounding (grounding resistance: 100. or less) to the grounding terminal in the 20SSC-H with a wire as thick as possible. Do not connect the grounding terminal at the same point as a heavy electrical system

(refer to subsection 5.2.2).

• Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work.

Failure to do so may cause electric shock.

• Cables and wires for input to the 20SSC-H must be connected to their corresponding dedicated connectors as described in this manual. For example, if you connect an AC power cable to a DC input connector, they will burn out.

• Do not wire vacant terminals externally.

Doing so may damage the product.

• When drilling screw holes or wiring, cutting chips or wire chips should not enter ventilation slits. such an accident may cause fire, failures or malfunctions.

• Properly perform wiring to the FX Series terminal blocks following the precautions below in order to prevent electrical shock, short-circuit, breakage of wire, or damage to the product:

The disposal size of the cable end should follow the dimensions described in this manual.

Tightening torque should be between 0.5 to 0.8 N

• m.

• Do not wire or bundle the SSCNET III cable with the main circuit cable, power cable and/or other such load carrying cables other than those for the PLC. Separate these cables at least 100mm (3.94") from each other.

Noise and Surge induction interfere with the system operation.

• When pulling out SSCNET III cable from the connector, be sure to put the cap on SSCNET III connector.

If the SSCNET III end face is dirty, optical transmission is interrupted and it may cause malfunctions.

• Do not see directly the light generated from SSCNET III connector of servo amplifier or 20SSC-H.

When the light gets into the eyes, it causes discomformity in the eyes.

(The light source of SSCNET III corresponds to class1 defined in JISC6802 or IEC60825-1.)

• If SSCNET III cable is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available.

SSCNET III cable should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted.

• Make sure to use SSCNET III cable within the range of operating temperature (refer to subsection 5.1.1) described in this manual.

The optical cable and code part melts down if being left near the fire or high temperature. Therefore, do not make it touched the part which becomes high temperature, such as radiator or regenerative brake option of servo amplifier, or servomotor.

25

(2)

Safety Precautions

(Read these precautions before using.)

Reference

• Make sure to lay SSCNET III cable with greater radius than the minimum bend radius. (Refer to the Section 5.4.1

Precautions for SSCNET III cable wiring.)

• Fix the optical cable at the closest part to the connector with bundle material in order to prevent SSCNET III cable from putting its own weight on SSCNET III connector.

• Never use vinyl tape for optical cord. Plasticizing material in vinyl tape goes into optical fiber and lowers the optical characteristic. At worst, it may cause wire breakage. If using adhesive tape for the optical cable laying, the fire resistant acetate cloth adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.

If laying with other wires, do not make the optical cable touched wires or cables made from soft polyvinyl chloride

(PVC), polyethylene resin (PE), teflon (Fluorocarbon resin) or nylon which contains plasticizing material.

• If the adhesion of solvent and oil to the code part of SSCNET III cable may lower the optical characteristic and machine characteristic. If it is used such an environment, be sure to do the protection measures to the optical cord.

• When storing, put a cap on the connector part for preventing the connector edge of SSCNET III from getting dirt, dust and so on.

• SSCNET III connector is put a cap to protect light device inside connector from dust.

For this reason, do not remove a cap until just before mounting SSCNET III cable.

Then, when removing SSCNET III cable, make sure to put a cap.

• Keep the cap for SSCNET III connector and the tube for protecting light code end of SSCNET cable in a plastic bag with a zipper of SSCNET III cable to prevent them from becoming dirty.

• When changing the servo amplifier or 20SSC-H, make sure to put cap on SSCNET III connector. When asking repair of servo amplifier for some troubles, make sure to put a cap on SSCNET III connector.

When the connector is not put a cap, the light device may be damaged at the transit.

In this case, exchange and repair of light device is required.

4. STARTUP AND MAINTENANCE PRECAUTIONS

25

26

Reference

• Do not touch any terminal while the PLC's power is on.

Doing so may cause electrical shock or malfunctions.

• Before cleaning or retightening terminals, externally cut off all phases of the power supply.

Failure to do so may expose you to shock hazard.

• Before modifying the program under operation or performing operation for forcible output, running or stopping, carefully read the manual, and sufficiently ensure the safety.

An operation error may damage the machine or cause accidents.

• To test Zero-return, JOG operation and Positioning data, throughly read this manual, ensure the safe system operation

An operation error may damage the machine or cause accidents.

32

138

153

Reference

• Do not disassemble or modify the PLC.

Doing so may cause failures, malfunctions or fire.

For repair, contact your local Mitsubishi Electric distributor.

• Before connecting or disconnecting any extension cable, turn off power.

Failure to do so may cause unit failure or malfunctions.

• Before attaching or detaching the following devices, turn off power.

Failure to do so may cause device failure or malfunctions.

Peripheral devices, expansion boards and special adapters

I/O extension blocks/units and terminal blocks

5. DISPOSAL PRECAUTIONS

32

138

153

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

Reference

19

(3)

Safety Precautions

(Read these precautions before using.)

6. TRANSPORTATION PRECAUTIONS

• The PLC is precision equipment. During transportation, avoid impacts larger than that is specified in the manual of the PLC main unit. Failure to do so may cause failures in the PLC.

After transportation, check the operations of the PLC.

Reference

19

(4)

FX

3U

-20SSC-H Positioning Block User's Manual

FX

3U

-20SSC-H

User’s Manual

Manual number

Manual revision

Date

JY997D21301

A

12/2005

Foreword

This manual describes FX

3U

-20SSC-H Positioning Block and should be read and understood before attempting to install or operation of software.

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.

© 2005 MITSUBISHI ELECTRIC CORPORATION

1

FX

3U

-20SSC-H Positioning Block User's Manual

Outline Precautions

• This manual provides information for the use of the FX

3U

Series Programmable Controllers. 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 regards to automated equipment.

2) 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.

3) All operators of the completed equipment should be trained to use that product in a safe and coordinated manner in compliance to established safety practices. The operators should also be familiar with documentation which is connected with the actual operation of the completed equipment.

Note: the term 'completed equipment' refers to a third party constructed device which 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 in the system.

• When combining this product with other products, please confirm the standard and the code, or regulations with which the user should follow. Moreover, please confirm the compatibility of this product to the system, machine, and apparatus with which a user is using.

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

• Since the examples indicated by this manual, technical bulletin, catalog, etc. are used as a reference, please use it after confirming the function and safety of the equipment and system. Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples.

• This manual content, specification etc. may be changed without a notice for improvement.

• The information in this manual has been carefully checked and is believed to be accurate; however, if you have noticed a doubtful point, a doubtful error, etc., please contact the nearest Mitsubishi Electric distributor.

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.

2

FX

3U

-20SSC-H Positioning Block User's Manual

Table of Contents

Table of Contents

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

Compliance with EC directive (CE Marking)........................................................................... 8

Functions and Use of This Manual.......................................................................................... 9

Associated Manuals................................................................................................................ 10

Generic Names and Abbreviations Used in Manual ............................................................ 11

Reading of the Manual............................................................................................................ 13

1. Introduction 14

1.1 Outline........................................................................................................................................... 14

1.2 External Dimensions and Part Names .......................................................................................... 15

1.3 Power and Status LED.................................................................................................................. 16

2. System Configuration 17

2.1 General Configuration ................................................................................................................... 17

2.2 Connection with PLC..................................................................................................................... 18

2.3 Applicable PLC.............................................................................................................................. 18

3. Specifications 19

3.1 General Specifications .................................................................................................................. 19

3.2 Power Supply Specification........................................................................................................... 20

3.3 Performance Specification ............................................................................................................ 20

3.4 Input Specifications ....................................................................................................................... 21

3.4.1 Input specifications ........................................................................................................................ 21

3.4.2 Internal input circuit ....................................................................................................................... 21

3.5 Pin Configuration........................................................................................................................... 22

3.5.1 Input connector.............................................................................................................................. 22

3.5.2 Power supply connector ................................................................................................................ 22

4. Installation 23

4.1 DIN rail Mounting .......................................................................................................................... 24

4.2 Direct Mounting ............................................................................................................................. 24

5. Wiring 25

5.1 Cable to Be Used, Applicable Connector and Wire Size .............................................................. 26

5.1.1 SSCNET III cable .......................................................................................................................... 26

5.1.2 Power supply cable ....................................................................................................................... 26

5.1.3 Input cable and terminal block....................................................................................................... 27

5.2 Power Supply Wiring..................................................................................................................... 28

5.2.1 Power supply wiring....................................................................................................................... 28

5.2.2 Grounding...................................................................................................................................... 28

5.3 Input Wiring ................................................................................................................................... 29

5.3.1 Sink input wiring ............................................................................................................................ 29

5.3.2 Source input wiring ........................................................................................................................ 29

5.4 Connecting the SSCNET III Cable ................................................................................................ 30

5.4.1 Cautions for installation the SSCNET III cable .............................................................................. 30

5.4.2 Cautions for SSCNET III cable wiring............................................................................................ 31

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FX

3U

-20SSC-H Positioning Block User's Manual

Table of Contents

6. Memory Configuration and Data Operation 32

6.1 Memory Configuration and Role ................................................................................................... 33

6.1.1 Memory configuration .................................................................................................................... 33

6.1.2 Data type and role ......................................................................................................................... 34

6.2 Parameter setting method............................................................................................................. 34

6.3 Data Transfer Process .................................................................................................................. 35

6.3.1 PLC, 20SSC-H and servo amplifier ............................................................................................... 35

6.3.2 FX Configurator-FP and 20SSC-H ................................................................................................ 36

6.3.3 Transfer (writing) servo parameter to servo amplifier.................................................................... 37

7. Before Starting Positioning Operation 38

7.1 Note on Setting Parameters.......................................................................................................... 38

7.2 Outline of Positioning Operation ................................................................................................... 39

7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit ................................................ 41

7.3.1 Forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS)

[servo amplifier side]................................................................................................................. 42

7.3.2 Forward rotation limit (LSF) and reverse rotation limit (LSR) [PLC side]....................................... 42

7.3.3 Software limit ................................................................................................................................. 43

7.4 Handling the STOP command ...................................................................................................... 44

7.5 Changing During Operation (Operation Speed, Target Address) ................................................. 46

7.5.1 Changing the operation speed with override function ................................................................... 46

7.5.2 Changing the operation speed with the operation speed change function.................................... 47

7.5.3 Changing the target address ......................................................................................................... 48

7.6 Other functions.............................................................................................................................. 49

7.6.1 Servo-ready check function ........................................................................................................... 49

7.6.2 Servo end check function .............................................................................................................. 49

7.6.3 Torque limit function ...................................................................................................................... 50

7.6.4 Absolute position detection system ............................................................................................... 51

7.6.5 Servo ON/OFF............................................................................................................................... 52

7.6.6 Follow-up function ......................................................................................................................... 52

7.6.7 Simultaneous start function ........................................................................................................... 53

7.6.8 Current address change function .................................................................................................. 53

7.6.9 Zero return interlock setting........................................................................................................... 54

7.7 Precautions for using the user units

(mechanical or composite system of units) .............................................................................. 54

7.8 Cautions for Positioning Operation ............................................................................................... 56

7.8.1 Overlapped specification of operation mode ................................................................................. 56

7.8.2 When the travel distance is small .................................................................................................. 56

7.9 Related parameter, control data and monitor data........................................................................ 58

8. Manual Control 61

8.1 Mechanical Zero Return Control ................................................................................................... 61

8.1.1 Outline of mechanical zero return control...................................................................................... 61

8.1.2 DOG type zero return .................................................................................................................... 62

8.1.3 Data-set type mechanical zero return............................................................................................ 64

8.1.4 Stopper type mechanical zero return............................................................................................. 65

8.1.5 Related parameters, control data and monitor data ...................................................................... 67

8.2 JOG Operation .............................................................................................................................. 69

8.2.1 Outline of JOG operation............................................................................................................... 69

8.2.2 Changing the speed during JOG operation ................................................................................... 71

8.3 Manual pulse generator operation ................................................................................................ 72

8.3.1 Outline of manual pulse generator operation ................................................................................ 72

8.3.2 Current manual pulse input value.................................................................................................. 73

8.3.3 Input frequency of manual pulse generator ................................................................................... 73

8.3.4 Related parameters, control data and monitor data ...................................................................... 74

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FX

3U

-20SSC-H Positioning Block User's Manual

Table of Contents

9. Positioning Control 75

9.1 Functions Available with Each Positioning Operation ................................................................... 75

9.2 1-speed Positioning Operation...................................................................................................... 76

9.3 Interrupt 1-speed Constant Quantity Feed.................................................................................... 77

9.4 2-speed Positioning Operation...................................................................................................... 78

9.5 Interrupt 2-speed Constant Quantity Feed.................................................................................... 80

9.6 Interrupt Stop Operation................................................................................................................ 81

9.7 Variable Speed Operation............................................................................................................. 82

9.8 Multi-Speed Operation .................................................................................................................. 83

9.9 Liner Interpolation Operation......................................................................................................... 85

9.10 Linear Interpolation Operation (Interrupt Stop) ........................................................................... 86

9.11 Circular Interpolation Operation .................................................................................................. 87

9.11.1 Circular interpolation [center coordinate specification] ................................................................ 87

9.11.2 Circular interpolation [radius specification] .................................................................................. 88

9.12 Parameter, Control Data, Monitor Data and Table Information................................................... 89

10. Table Operation 91

10.1 Outline of Table Operation .......................................................................................................... 91

10.1.1 Applicable positioning operations for table operation .................................................................. 91

10.1.2 Types of table information and number of registered tables ....................................................... 91

10.1.3 Table information setting items.................................................................................................... 92

10.1.4 Table operation execution procedure .......................................................................................... 94

10.2 How to Set Table Information...................................................................................................... 95

10.3 Tables and BFM No. Allocation................................................................................................... 98

10.4 Current Position Change............................................................................................................. 99

10.5 Absolute Address Specification................................................................................................... 99

10.6 Relative address specification..................................................................................................... 99

10.7 Jump ........................................................................................................................................... 99

10.8 Dwell ........................................................................................................................................... 99

10.9 m code ...................................................................................................................................... 100

10.9.1 After mode ................................................................................................................................. 100

10.9.2 With mode ................................................................................................................................. 101

10.9.3 Related buffer memory .............................................................................................................. 102

10.10 Continuous Pass Operation .................................................................................................... 103

11. Buffer Memory (Parameters & Monitored Data) 104

11.1 Positioning Parameters ............................................................................................................. 104

11.1.1 Operation parameters 1 [BFM #14000, BFM #14200] .............................................................. 104

11.1.2 Operation parameters 2 [BFM #14002, BFM #14202] .............................................................. 106

11.1.3 Pulse rate [BFM #14005, #14004, BFM #14205, #14204] ........................................................ 106

11.1.4 Feed rate [BFM #14007, #14006, BFM #14207, #14206] ......................................................... 106

11.1.5 Maximum speed [BFM #14009, #14008, BFM #14209, #14208] .............................................. 107

11.1.6 JOG speed [BFM #14013, #14012, BFM #14213, #14212] ...................................................... 107

11.1.7 JOG Instruction evaluation time [BFM #14014, BFM #14214] .................................................. 107

11.1.8 Acceleration time [BFM #14018, BFM #14218]......................................................................... 108

11.1.9 Deceleration time [BFM #14020, BFM #14220] ........................................................................ 108

11.1.10 Interpolation time constant [BFM #14022, BFM #14222] ........................................................ 108

11.1.11 Zero return speed (High Speed) [BFM #14025, #14024, BFM #14225, #1424]...................... 108

11.1.12 Zero return speed (Creep) [BFM #14027, #14026, BFM #14227, #14226]............................. 109

11.1.13 Mechanical origin address [BFM #14029, #14028, BFM #14229, #14228]............................. 109

11.1.14 Zero-phase signal count [BFM #14030, BFM #14230]............................................................ 109

11.1.15 Zero return mode [BFM #14031, BFM #14231]....................................................................... 110

11.1.16 Servo end evaluation time [BFM #14032, BFM #14232]......................................................... 110

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

Software limit (lower) [BFM #14037, #14036, BFM #14237, #14236] .................................... 110

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FX

3U

-20SSC-H Positioning Block User's Manual

Table of Contents

11.1.18 Torque limit [BFM #14038, BFM #14238]................................................................................ 111

11.1.19 Zero return torque limit [BFM #14040, BFM #14240] .............................................................. 111

11.1.20 External input selection [BFM #14044, BFM #14244] ............................................................. 111

11.2 Servo Parameters ..................................................................................................................... 112

11.2.1 Servo parameters (Basic settings) ............................................................................................ 112

11.2.2 Servo parameters (Gain/Filter settings)..................................................................................... 113

11.2.3 Servo parameters (Advanced setting) ....................................................................................... 115

11.2.4 Servo parameters (I/O setting) .................................................................................................. 117

11.3 Monitor Data.............................................................................................................................. 119

11.3.1 Current address (User) [BFM #0, BFM #100]............................................................................ 119

11.3.2 Current address (Pulse) [BFM #3, #2, BFM #103, #102] .......................................................... 119

11.3.3 Torque limit storing value [BFM #5, #4, BFM #104, #105] ........................................................ 120

11.3.4 Error BFM numbers [BFM #6, BFM #106]................................................................................. 120

11.3.5 Terminal Information [BFM #7, BFM #107] ............................................................................... 120

11.3.6 Servo terminal information [BFM #8, BFM #108] ...................................................................... 120

11.3.7 m code [BFM #9, BFM #109]..................................................................................................... 120

11.3.8 Current value of operation speed [BFM #11, #10, BFM #111, #110] ........................................ 121

11.3.9 Current pulses input by manual pulse generator [BFM #13, #12, BFM #113, #112]................. 121

11.3.10 Frequency of pulses input by manual pulse generator [BFM #15, 14, BFM #115, 114].......... 121

11.3.11 Table numbers in execution [BFM #16, BFM #116] ................................................................ 121

11.3.12 Version information [BFM #17] ................................................................................................ 121

11.3.13 Status information [BFM #28, BFM #128] ............................................................................... 122

11.3.14 Error code [BFM #29, BFM #129]............................................................................................ 123

11.3.15 Model code [BFM #30] ............................................................................................................ 124

11.3.16 Deviation counter value [BFM #51, #50, BFM #151, #150]..................................................... 124

11.3.17 Motor speed [BFM #52, BFM #152] ........................................................................................ 124

11.3.18 Motor current value [BFM #54, BFM #154] ............................................................................. 124

11.3.19 Servo amplifier software number [BFM #53, #52, BFM #153, #152]....................................... 124

11.3.20 Servo parameter error numbers [BFM #62, BFM #162] .......................................................... 125

11.3.21 Servo status [BFM #64, #63, BFM #164, #163] ...................................................................... 125

11.3.22 Regenerative load ratio [BFM #65, BFM #165] ....................................................................... 126

11.3.23 Effective load torque [BFM #66, BFM #166]............................................................................ 126

11.3.24 Peak torque ratio [BFM #67, BFM #167] ................................................................................. 126

11.3.25 Servo warning code [BFM #68, BFM #168]............................................................................. 126

11.3.26 Motor feedback position [BFM #71, #70, BFM #171, #170] .................................................... 126

11.3.27 Servo status 2 [BFM #72, BFM #172] ..................................................................................... 126

11.3.28 Flash memory write count [BFM #91, #90].............................................................................. 126

11.4 Control Data .............................................................................................................................. 127

11.4.1 Target address 1 [BFM #501, #500, BFM #601, #600] ............................................................. 127

11.4.2 Operation speed 1 [BFM #503, #502, BFM #603, #602]........................................................... 127

11.4.3 Target address 2 [BFM #505, #504, BFM #605, #604] ............................................................. 128

11.4.4 Operation speed 2 [BFM #507, #506, BFM #607, #606]........................................................... 128

11.4.5 Override setting [BFM #508, BFM #608] ................................................................................... 128

11.4.6 Torque output setting value [BFM #510, BFM #610]................................................................. 128

11.4.7 Velocity change value [BFM #513, #512, BFM #613, #612] ..................................................... 129

11.4.8 Target position change value (Address) [BFM #515, #514, BFM #615, #614].......................... 129

11.4.9 Target position change value (Speed) [BFM #517, #516, BFM #617, #616] ............................ 129

11.4.10 Operation command 1 [BFM #518, BFM #618]....................................................................... 129

11.4.11 Operation command 2 [BFM #519, BFM #619]....................................................................... 131

11.4.12 Operation pattern selection [BFM #520, BFM #620] ............................................................... 132

11.4.13 Table operation start number [BFM #521, BFM #621] ............................................................ 132

11.4.14 Control command enable/disable [BFM #522] ........................................................................ 133

11.4.15 Control command [BFM #523]................................................................................................. 133

11.4.16 Manual pulse generator input magnification (numerator)

[BFM #525, #524, BFM #625, #624]...................................................................................... 134

11.4.17 Manual pulse generator input magnification (denominator)

[BFM #527, #526, BFM #627, #626]....................................................................................... 134

11.5 Table Information ...................................................................................................................... 135

6

FX

3U

-20SSC-H Positioning Block User's Manual

Table of Contents

12. Program Example 138

12.1 Reading/Writing Buffer Memory ................................................................................................ 139

12.1.1 Assigned unit number................................................................................................................ 139

12.1.2 How to read/write from/to buffer memory .................................................................................. 139

12.2 Device Assignments.................................................................................................................. 141

12.3 Explanation of Operation........................................................................................................... 142

12.3.1 Mechanical zero return .............................................................................................................. 143

12.3.2 JOG operation ........................................................................................................................... 143

12.3.3 1-speed positioning operation ................................................................................................... 144

12.3.4 Multi-speed operation [table operation (individual)]................................................................... 144

12.3.5 Circular interpolation operation [table operation (simultaneous)] .............................................. 146

12.4 Sequence Program ................................................................................................................... 146

13. Diagnostics 153

13.1 Check LEDs .............................................................................................................................. 154

13.1.1 Check LEDs............................................................................................................................... 154

13.1.2 Input LED state indications........................................................................................................ 154

13.2 Check Error Code ..................................................................................................................... 155

13.2.1 Checking errors ......................................................................................................................... 155

13.2.2 How to reset an error................................................................................................................. 155

13.2.3 Error code list [BFM #29 (X-axis), BFM #129 (Y-axis)] ............................................................. 156

13.2.4 Servo warning list [BFM #68 (X-axis), BFM #168 (Y-axis)] ....................................................... 160

13.3 Diagnostics on the PLC Main Unit ............................................................................................ 162

13.3.1 POWER LED [on/flashing/off].................................................................................................... 162

13.3.2 BATT LED [on/off] ..................................................................................................................... 162

13.3.3 ERROR LED [on/flashing/off] .................................................................................................... 163

Appendix A: LIST OF PARAMETERS AND DATA 164

Appendix A-1 Monitor Data List ................................................................................................ 164

Appendix A-2 Control Data Table ............................................................................................. 166

Appendix A-3 Table Information List......................................................................................... 168

Appendix A-4 Positioning parameter List.................................................................................. 170

Appendix A-5 Servo Parameter List ......................................................................................... 172

Warranty................................................................................................................................. 175

Revised History ..................................................................................................................... 176

7

8

FX

3U

-20SSC-H Positioning Block User's Manual

Compliance with EC directive (CE Marking)

This note does not guarantee that an entire mechanical module produced in accordance with the contents of this note 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

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 (89/336/EEC) when used as directed by the appropriate documentation.

Type: Programmable Controller (Open Type Equipment)

Models: MELSEC FX

3U

series manufactured from December 1st, 2005 FX

3U

-20SSC-H

Standard

EN61131-2:2003

Programmable controllers

- Equipment requirements and tests

Remark

Compliance with all relevant aspects of the standard.

• Radiated Emissions

• Mains Terminal Voltage Emissions

• RF immunity

• Fast Transients

• ESD

• Conducted

• Power magnetic fields

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

• 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.)

1 turn

Power supply cable

Input cable

External equipment

FX

3U

-20SSC-H Positioning Block User's Manual

Functions and Use of This Manual

FX

3U

Series

PLC

Regarding wiring and installation of PLC:

Hardware manual

User’s Manual - Hardware Edition

Supplied Manual

Additional Manual

FX

3UC

Series

FX Configurator-FP

FX Configurator-FP

How to install/use the device

Operation Manual

Supplied Manual

FX

3U

-20SSC-H

FX

3U

-20SSC-H

Regarding specification and parts names

Installation Manual

Supplied Manual

This Manual

Operating instructions and program examples

User’s Manual

Additional Manual

Shows how to use FX

3U

-20SSC-H positioning special function block and details on example programs.

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.

9

FX

3U

-20SSC-H Positioning Block User's Manual

Associated Manuals

For a detailed explanation of the FX

3U-

20SSC-H positioning block, refer to this manual.

For the operation of FX Configurator-FP, or hardware information and instructions of 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

Document number

Description Model code

Manual for the Main Module

FX

3U

Series PLCs Main Unit

Supplied

Manual

FX

3U

Series

Hardware Manual

JY997D18801

Describes FX

3U

Series PLC specification for I/O, wiring and installation extracted from the FX

3U

User’s Manual - Hardware Edition.

For details, refer to FX

3U

Series User’s Manual -

Hardware Edition.

-

!

Additional

Manual

FX

3U

Series

User’s Manual

- Hardware Edition

FX

3UC

Series PLCs Main Unit

JY997D16501

Describes FX

3U

Series PLC specification details for

I/O, wiring, installation and maintenance.

09R516

Supplied

Manual

FX

3UC

Series

Hardware Manual

(Only Japanese document)

JY997D12701

Describes FX

3UC

Series PLC specification for I/O, wiring and installation extracted from the FX

3UC

User’s Manual - Hardware Edition.

For details, refer to FX

3UC

Series User’s Manual -

Hardware Edition (Only

Japanese document).

-

!

Additional

Manual

FX

3UC

Series

User’s Manual

- Hardware Edition

(Only Japanese document)

Programming for FX

3U

/FX

3UC

Series

!

Additional

Manual

FX

3U

/ FX

3UC

Series

Programming Manual

- Basic & Applied

Instruction Edition

Manuals for FX

3U

-20SSC-H Positioning Block

JY997D11601

JY997D16601

Describes FX

3UC

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

(Only Japanese document)

Describes FX

3U

/ FX

3UC

Series PLC programming for basic/ applied instructions and devices.

09R513

09R517

Supplied

Manual

FX

3U

-20SSC-H

Installation Manual

JY997D21101

Describes FX

3U

-20SSC-H positioning block specification for I/O, power supply extracted from the FX

3U

-20SSC-H User’s Manual.

For details, refer to FX

3U

-20SSC-H User's Manual.

-

!

!

Additional

Manual

Supplied

Manual

FX

3U

-20SSC-H

User's Manual

FX Configurator-FP

Operation Manual

AC Servo Related Manual

Additional

Manual

MR-J3- B

Instruction Manual

Additional

Manual

EMC

Installation Guidelines

JY997D21301 Describes FX

3U

-20SSC-H Positioning block details.

JY997D21801

SH-030051

IB67339

Describes operation details of FX Configurator-FP

Configuration Software.

Explains parameters and the detailed specifications for MR-J3- B servo amplifier.

Explains installation procedures to conform with

EMC Directives and fabrication method of control board.

09R622

09R916

-

-

10

FX

3U

-20SSC-H Positioning Block User's Manual

Generic Names and Abbreviations Used in Manual

Generic name or abbreviation

PLC

FX

FX

3U

series

FX

3UC

FX

3U

PLC or main unit

series

3UC

PLC or main unit

Description

Generic name for FX

3U

Series PLC

Generic name for FX

3U

Series PLC main unit

Generic name for FX

3UC

Series PLC

Generic name for FX

3UC

Series PLC main unit

Only manuals in Japanese are available for these products.

Generic name for FX

2N

Series PLC

Generic name for FX

2NC

Series PLC

FX

2N

Series

FX

2NC

Series

Expansion board

Expansion board

Generic name for expansion board

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 Editon of main unit to be used for your system.

Special adapter

Special adapter

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 Editon of main unit to be used for your system.

Special function unit/block

Special function unit/block or

Special extension unit

Special function unit

Special function block

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 main unit to be used for your system.

Generic name for special function unit

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 main unit to be used for your system.

Positioning special function block or 20SSC-H

Optional unit

Abbreviated name of FX

3U

-20SSC-H

Memory cassette

Battery

FX Series terminal block

FX

3U

-FLROM-16, FX

3U

-FLROM-64, FX

3U

-FLROM-64L

FX

3U

-32BL

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

Input/output cable or Input cable

Input/output connector

Power cable

Peripheral unit

Peripheral unit

Programming tool

Programming tool

Programming software

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

represents 150, 300, or 500.

CAB, FX-16E-

FX

2C

-I/O-CON, FX

2C

-I/O-CON-S, FX

2C

-I/O-CON-SA

FX

2NC

-100MPCB, FX

2NC

-100BPCB, FX

2NC

-10BPCB1

CAB-R

Generic name for programming software, handy programming panel, and indicator

Generic name for programming software and handy programming panel

Generic name for programming software

GX Developer

FX-PCS/WIN(-E)

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

Generic name for FX-PCS/WIN or FX-PCS/WIN-E programming software package

Handy programming panel (HPP) Generic name for FX-20P(-E) and FX-10P(-E)

Configuration software

Configuration software or

FX Configurator-FP

Abbreviated name of FX Configurator-FP Configuration software

11

FX

3U

-20SSC-H Positioning Block User's Manual

Generic name or abbreviation

Indicator

GOT1000 series

GOT-900 series

GOT-A900 series

GOT-F900 series

ET-940 series

Servo motor/servo amplifier

Description

Generic name for GT15 and GT11

Generic name for GOT-A900 series and GOT-F900 series

Generic name for GOT-A900 series

Generic name for GOT-F900 series

Generic name for ET-940 series

Only manuals in Japanese are available for there products

Servo motor

Generic name for servo motor or stepping motor

Including servo amplifier corresponding to SSCNET III.

Generic name for servo amplifier corresponding to SSCNET III

Generic name for MELSERVO-J3 series

Servo amplifier

MELSERVO series

Other unit

Manual pulse generator

Manual

FX

3U

hardware Edition

FX

3UC

hardware Edition

Programming manual

Communication control Edition

Analog control Edition

Positioning control Edition

Generic name for manual pulse generator (prepared by user)

FX

3U

Series User's Manual - Hardware Edition

This manual is available only in Japanese.

FX

3U

/FX

3UC

Series Programming Manual - Basic and Applied Instructions Edition

FX Series User's Manual - Data Communication Edition

FX

3U

/FX

3UC

Series User's Manual - Analog Control Edition

FX

3U

/FX

3UC

Series User's Manual - Positioning Control Edition

12

FX

3U

-20SSC-H Positioning Block User's Manual

Reading of the Manual

Shows the manual title.

Shows the title of the chapter and the title of the section.

This area shows the manual title for the current page.

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.

Shows the reference.

The mark of " " indicates the reference destination and reference manual.

13

FX

3U

-20SSC-H Positioning Block User's Manual

1 Introduction

1.1 Outline

1. Introduction

1.1

Outline

FX

3U

-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 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.

For positioning control, refer to Chapter 9.

2. Connection to servo amplifier by SSCNET III is possible

20SSC-H connects directly to the MELSERVO (our company's servo amplifier: MR-J3-B) via SSCNETIII.

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

• Using the SSCNET III cable (optical communication) makes connections 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.

• Actual current values and error descriptions the servo amplifier can be checked by 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 the establishment of 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 battery.

5. Connectable PLC

• The connected FX

3U

or FX

3UC

PLC reads/writes the positioning data from/to the 20SSC-H.

• For connection to the FX

3UC

PLC, the FX

2NC

-CNV-IF or FX

3UC

-1PS-5V is needed.

14

FX

3U

-20SSC-H Positioning Block User's Manual

1.2

External Dimensions and Part Names

[1]

[2]

[3]

2- 4.5 Mounting hole

INT0

INT1

A

B

MOTOR-Y

START

DOG

INT0

INT1

A

B

X-READY

Y-READY

X-ERROR

Y-ERROR

POWER

[4]

[5]

[6]

4(0.16")

55(2.17")

87(3.43")

1 Introduction

1.2 External Dimensions and Part Names

1

[7]

[8]

[9]

2

3

4

[10]

Unit: mm (inches)

MASS(Weight): 0.3kg (0.66 lbs)

Accessory: - Special Unit/Block No. label

- FX

2NC

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

- Dust proof protection sheet

5

6

[1] Direct mounting hole:2 holes of

φ 4.5 (0.18") (mounting screw: M4 screw)

[2] Status LEDs

Refer to Section 1.3

[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

7

8

9

10

15

FX

3U

-20SSC-H Positioning Block User's Manual

1.3

Power and Status LED

1 Introduction

1.3 Power and Status LED

LED display

POWER

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

X-

φ B

Color

Green

Green

Red

Red

Red

Red

Red

Red

ON

OFF

ON

OFF

ON

Status

OFF

ON

OFF

Description

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

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

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

ON

OFF

Various operation commands are acceptable on the X/Y axis

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

ON

OFF

ON

Start input OFF

Start input ON

DOG input OFF

DOG input ON

OFF Interrupt input OFF

Interrupt input ON

Manual pulse generator A-phase input OFF

Manual pulse generator A-phase input ON

Manual pulse generator B-phase input OFF

Manual pulse generator B-phase input ON

16

FX

3U

-20SSC-H Positioning Block User's Manual

2 System Configuration

2.1 General Configuration

1

2. System Configuration

2.1

General Configuration

GX Developer

FX Configurator-FP

(PC)

FX

PLC

3U

/ FX

3UC

USB cable

RS-232C cable

Ladder

20SSC-H

Monitor data

Control data

Positioning parameter

Servo parameter

Table information

SSCNET III cable

Servo amplifier

(MR-J3-B)

Emergency stop input signal

Upper limit signal

Lower limit signal

2

3

4

LS for forward rotation limit

(X-axis, Y-axis)

LS for reverse rotation limit

(X-axis, Y-axis)

STOP switch

(X-axis, Y-axis)

FX-16E-150CAB(-R)

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

FX-16E-TB

Terminal block

Servo amplifier

(MR-J3-B)

Emergency stop input signal

Upper limit signal

Lower limit signal

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)

MR Configurator(PC)

Component list

Part name

Positioning block

PLC

PC software

PC

USB cable

RS-232C cable

Servo amplifier

SSCNET III cable

Terminal block

I/O cable

FX

3U

-20SSC-H

FX

3U

/FX

3UC

PLC

GX Developer

FX Configurator-FP

Model name

MR Configurator

DOS/V

FX-USB-AW

F

2

-232CAB-1

FX-232AWC-H

FX-422CAB0

MR-J3- B

Inside panel standard cable : MR-J3BUS M

Outside panel standard cable : MR-J3BUS M-A

Inside panel standard cable : MR-J3BUS M-B

FX-16E-TB

FX-16E- CAB

FX-16E- CAB-R

Remarks

-

PLC programming software

-

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

Servo amplifier set-up software

-

Connection cable between FX PLC and PC

PC connection cable and interface

: 150/300/500

-

: 0.15/0.3/0.5/1/3(Cable length: in meters)

: 5/10/20(Cable length:in meters)

: 30/40/50(Cable length:in meters)

-

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

5

6

7

8

9

10

17

FX

3U

-20SSC-H Positioning Block User's Manual

2 System Configuration

2.2 Connection with PLC

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

FX

3U

Hardware Edition

FX

3

UC

Hardware Edition (Japanese document only)

FX

3U

FX

3UC

• A maximum of 8 units/blocks can be connected with the FX

3U

PLC. With the FX

3UC

PLC, a maximum of 7 units/blocks can be connected.

• An FX

2NC

-CNV-IF or FX

3UC

-1PS-5V is necessary to connect the 20SSC-H with the FX

3UC

PLC.

• The optional FX

0N

-65EC (FX

0N

-30EC) and FX

2N

-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.

FX

3U

Hardware Edition

FX

3

UC

Hardware Edition (Japanese document only)

2.3

Applicable PLC

Model name

FX

3U

Series PLC

FX

3UC

Series PLC

Ver. 2.20 (from the first product) and later

Up to 8 blocks can be extended

Applicability

Ver. 2.20 (from products manufactured in May, 2005 with SER No. 55****) and later

Up to 7 blocks can be extended

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

18

FX

3U

-20SSC-H Positioning Block User's Manual

3 Specifications

3.1 General Specifications

1

3. Specifications

2

DESIGN PRECAUTIONS

• Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even when external power supply trouble or PLC failure occurs.

Otherwise, malfunctions or output failures may result in an accident.

1) An emergency stop circuit, a protection circuit, an interlock circuit for opposite movements, such as normal and reverse rotations, and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the PLC.

2) When the PLC CPU detects an error, such as a watch dog timer error, during self-diagnosis, all outputs are turned off. When an error that cannot be detected by the PLC CPU occurs in an input/output control block, output control may be disabled.

Design external circuits and mechanisms to ensure safe operations of the machine in such a case.

3) When some sort of error occurs in a relay, triac or transistor of the output unit, output may be kept on or off.

For output signals that may lead to serious accidents, design external circuits and mechanisms to ensure safe operations of the machine in such cases.

• At forward/reverse rotation limits wiring, make sure to wire in negative logic and use NC contact. Setting in positive logic and using

NC-contact can cause serious accidents.

DESIGN PRECAUTIONS

• Observe the following items. Failure to do so may cause incorrect data-writing by noise to PLCs and result the PLC failure, machine damage or an accident.

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

Noise and Surge induction interfere with the system operation.

Keep a safe distance of least 100 mm (3.94") from the above lines during wiring.

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

• Install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and I/O connectors.

Failure to do so may result in wire breakage or failure of the PLC.

3

4

5

6

DISPOSAL PRECAUTIONS

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

7

TRANSPORTATION PRECAUTIONS

• The PLC is precision equipment. During transportation, avoid impacts larger than that is specified in the manual of the PLC main unit.

Failure to do so may cause failures in the PLC.

After transportation, check the operations of the PLC.

3.1

General Specifications

The items other than the following are equivalent to those of the PLC main unit.

For general specifications, refer to the manual of the PLC main unit.

Refer to FX

3U

Hardware Edition

Refer to FX

3UC

Hardware Edition (Japanese document only)

Item

Dielectric withstand voltage 500V AC for one minute

Insulation resistance 5M

Ω or more by 500V DC Megger

Specification

Conforming to JEM-1021

Between all terminals and ground terminal

8

9

10

19

FX

3U

-20SSC-H Positioning Block User's Manual

3 Specifications

3.2 Power Supply Specification

3.2

Power Supply Specification

External power supply

Internal power supply

Item

Power supply voltage

Permitted instantaneous power failure time

Powerconsumption

Power fuse

PLC power supply

Specification

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

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

5W

1A

100mA /5V DC

3.3

Performance Specification

Item

Number of control axes

Backup

No. of occupied I/O points

Connectable servo amplifier

Servo bus

Scan cycle

Control input

Parameter

Control data

Monitor data

Positioning program

Positioning

Method

Unit

Unit magnification

Positioning range

Speed command

Acceleration/ deceleration process

Starting time

Interpolation function

Specification

2 axes

Positioning parameters, servo parameters, and table information can be saved to flash memory

Write count: Maximum 100,000 times

8 points (input or output, whichever may be counted)

MELSERVO MR-J3- B

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’)

SSCNET III

1.77ms

Interrupt input: 2 inputs (INT0 and INT1) per axis

DOG:

START input:

1 input per input axis

1 input per axis

Manual pulse generator: 1 input per axis (A/B-phase)

Positioning parameter: 21 types

Servo parameter: 50 types

17 types

26 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)

Increment/Absolute

PLS,

µm, 10

-4 inch, mdeg

1, 10, 100, and 1000-fold

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

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

Trapezoidal acceleration/deceleration, S-pattern acceleration/deceleration: 1 to 5,000ms

Only trapezoidal acceleration/deceleration is available for interpolation

1.6ms or less

2-axes linear interpolation, 2-axes circular interpolation

20

FX

3U

-20SSC-H Positioning Block User's Manual

3.4

Input Specifications

3 Specifications

3.4 Input Specifications

3.4.1

Input specifications

Input signal name

Group 1

Group 2

Group 3

Item

Group 1

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

Group 2

Group 3

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 B-

1 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 B-

1 edge count at 2-phase 2-count

External power supply for signals: S/S

Connected to power supply for INT0, INT1, DOG and START

Operation display LED ON at input ON

Signal voltage

Input current

24VDC+20% -15% (Power is supplied from S/S terminal)

7.0mA

± 1mA /24V DC

ON current

OFF current

4.5mA or more

1.5mA or less

Signal form

Response time

No-voltage contact input

Sink input: NPN open collector transistor

Source input: PNP open collector transistor

Hardware filter 1ms or less

Circuit insulation Photo-coupler insulation

Operation display LED ON at input ON

Signal voltage

Input current

3 to 5.25V DC

2.0 to 8.5mA

ON current

OFF current

Signal form

2.0mA or more

0.5mA or less

Differential line driver

(corresponding to AM26LS31)

Response frequency

Circuit insulation

Power supply voltage

Consumption current

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

Photo-coupler insulation

24V DC +20% -15%

64mA or less

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

1

2

3

4

5

6

7

8

9

10

21

FX

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-20SSC-H Positioning Block User's Manual

3.5

Pin Configuration

3 Specifications

3.5 Pin Configuration

3.5.1

Input connector

X-INT0

NC

X-INT1

X- A+

X- A-

X- B+

X- B-

X-DOG

S/S

X-START

Connector pin array (aperture side)

Y-INT0

NC

Y-INT1

Y- A+

Y- A-

Y- B+

Y- B-

Y-DOG

S/S

Y-START

Terminal name

Description

X-INT0 Interrupt input (for X axis)

NC Not used

X-INT1 Interrupt input (for X axis)

X-

X-

X-

X-

φ A+

φ A-

φ B+

φ B-

Input terminal for A-phase input of 2-phase pulse (for X axis)

Common terminal for

A-phase input of 2-phase pulse

(for X axis)

Y-

φ A+

Y-

φ A-

Input terminal for B-phase input of 2-phase pulse (for X axis)

Common terminal for

B-phase input of 2-phase pulse

(for X axis)

Terminal

Y-INT0

NC

Y-INT1

Y-

Y-

name

φ B+

φ B-

Description

Interrupt input (for Y axis)

Not used

Interrupt input (for Y axis)

Input terminal for A-phase input of 2-phase pulse (for Y axis)

Common terminal for

A-phase input of 2-phase pulse

(for Y axis)

Input terminal for B-phase input of 2-phase pulse (for Y axis)

Common terminal for

B-phase input of 2-phase pulse

(for Y axis)

X-DOG

S/S

Near-point DOG input terminal

(for X axis)

Power input terminal (START,

DOG, INT0 and INT1) 24VDC

Pins that have the same name

(S/S) are shorted inside.

Y-DOG

S/S

Near-point DOG input terminal

(for Y axis)

Power input terminal (START,

DOG, INT0 and INT1) 24VDC

Pins that have the same name

(S/S) are shorted inside.

X-START START input terminal (for X axis) Y-START START input terminal (for Y axis)

Caution

The pin array is seen from the connection side (aperture side) of the input connectors of the 20SSC-H.

The pin numbers and the position of vary depending on the connectors for user cables.

Perform wiring properly while paying attention to the position of notches and the direction of connectors.

Otherwise, the product may be damaged due to wiring mistakes.

3.5.2

Power supply connector

3 Grounding (Green)

2

− (Black)

1 + (Red)

22

4 Installation

FX

3U

-20SSC-H Positioning Block User's Manual

1

4. Installation

INSTALLATION PRECAUTIONS

• Make sure to cut off all phases of the power supply externally before starting the installation or wiring work.

Failure to do so may cause electric shock.

INSTALLATION PRECAUTIONS

• Fit the extension cables, peripheral device connecting cables, input/output cables and battery connecting cable securely to the designated connectors.

Contact failures may cause malfunctions.

• Use the product in the environment within the generic specifications described in section 4.1 of this manual.

Never use the product in areas with dust, oily smoke, conductive dusts, corrosive gas (salt air, Cl 2 , H 2 S, SO 2 or NO 2 ), flammable gas, vibration or impacts, or expose it to high temperature, condensation, or wind and rain.

If the product is used in such a place described, electrical shock, fire, malfunctions, damage, or deterioration may be caused.

• Do not touch the conductive parts of the product directly, thus avoiding failure 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, cutting chips or wire chips should not enter ventilation slits. such an accident may cause fire, failures or malfunctions.

• Be sure to remove the dust proof sheet from the PLC's ventilation port when the installation work is completed. Failure to do so could cause fires, equipment failures, and malfunctions.

• Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work.

Failure to do so may cause electric shock.

The product can be connected on the right side of the main unit or extension unit/block. To connect to the

FX

3UC

PLC or FX

2NC

PLC extension block, the FX

2NC

-CNV-IF or FX

3UC-

1PS-5V is necessary. For the installation environment, refer to the following respective manual.

Refer to the FX

3U

Hardware Edition

Refer to the FX

3UC

Hardware Edition (Japanese document only)

20SSC-H is installable into a control cabinet by 35 mm wide DIN46277 DIN rail mounting or M4 screw direct mounting.

2

3

4

5

6

7

8

9

10

23

FX

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-20SSC-H Positioning Block User's Manual

4.1

DIN rail Mounting

The product can be mounted on a 35mm wide DIN46277 ( DIN rail.

1

Fit the upper edge (A in the figure to the right) of the DIN rail mounting groove onto the DIN rail.

2

Push the product onto the DIN rail.

• An interval space between each unit of 1 to 2 mm (0.04" to 0.08") is necessary.

3

Connect the extension cable.

Connect the extension cable (B in the figure to the right) to the main unit, I/O extension unit/block or special function unit/block to the left side of the product.

For extension cable connection procedure, refer to the following respective PLC manual.

Refer to the FX

3U

Hardware Edition

Refer to the FX

3UC

Hardware Edition

(Japanese document only)

A

4 Installation

4.1 DIN rail Mounting

1

2

B

4.2

Direct Mounting

The product can be installed directly with screws.

An interval space between each unit of 1 to 2 mm (0.04" to 0.08") is necessary.

For installation, refer to the following respective PLC manual.

For the mounting hole pitches, refer to Section 1.2.

Refer to the FX

3U

Hardware Edition

Refer to the FX

3UC

Hardware Edition (Japanese document only)

1

Make mounting holes in the mounting surface according to the external dimensions diagram.

2

Fit 20SSC-H (A in the figure to the right) to holes and tighten M4 screws (B in the figure to the right).

For the screw position and quantity, refer to the dimensioned drawing specified below.

For dimensions, refer to Section 1.2.

3

Connect the extension cable.

B

FX

3U

-48M

IN 0

10

1

2

11

12

3

4

13

14

5

6

15

16

7

17

20

21

22

23

24

25

26

27

OU

T

0

10

1

2

11

12

3

13

4

14

5

15

6

16

RUN

RUN

7

17

20

21

22

23

BATT

ERROR

24

25

26

27

Connect the extension cable (C in the figure to the right) to the main unit, I/O extension unit/block or special function unit/block to the left side of the product.

(Refer to Step 3 in Section 4.1.)

For extension cable connection procedure, refer to the following respective PLC manual.

Refer to the FX

3U

Hardware Edition

Refer to the FX

3UC

Hardware Edition

(Japanese document only)

A

B

24

5 Wiring

FX

3U

-20SSC-H Positioning Block User's Manual

1

5. Wiring

DESIGN PRECAUTIONS

• Observe the following items. Failure to do so may cause incorrect data-writing by noise to PLCs and result the PLC failure, machine damage or an accident.

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

Noise and Surge induction interfere with the system operation.

Keep a safe distance of least 100 mm (3.94") from the above lines during wiring.

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

• Install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and I/O connectors.

Failure to do so may result in wire breakage or failure of the PLC.

2

3

WIRING PRECAUTIONS

• Make sure to cut off all phases of the power supply externally before starting the installation or wiring work.

Failure to do so may cause electric shock.

4

WIRING PRECAUTIONS

• Connect the DC power supply wiring to the dedicated terminals described in this manual.

If an AC power supply is connected to a DC input/output terminal or DC power supply terminal, the PLC will be burnt out.

• Perform class D grounding (grounding resistance: 100. or less) to the grounding terminal in the 20SSC-H with a wire as thick as possible. Do not connect the grounding terminal at the same point as a heavy electrical system (refer to subsection 5.2.2).

• Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work.

Failure to do so may cause electric shock.

• Cables and wires for input to the 20SSC-H must be connected to their corresponding dedicated connectors as described in this manual. For example, if you connect an AC power cable to a DC input connector, they will burn out.

• Do not wire vacant terminals externally.

Doing so may damage the product.

• When drilling screw holes or wiring, cutting chips or wire chips should not enter ventilation slits. such an accident may cause fire, failures or malfunctions.

• Properly perform wiring to the FX Series terminal blocks following the precautions below in order to prevent electrical shock, shortcircuit, breakage of wire, or damage to the product:

The disposal size of the cable end should follow the dimensions described in this manual.

Tightening torque should be between 0.5 to 0.8 N

• m.

• Do not wire or bundle the SSCNET III cable with the main circuit cable, power cable and/or other such load carrying cables other than those for the PLC. Separate these cables at least 100mm (3.94") from each other.

Noise and Surge induction interfere with the system operation.

• When pulling out SSCNET III cable from the connector, be sure to put the cap on SSCNET III connector.

If the SSCNET III end face is dirty, optical transmission is interrupted and it may cause malfunctions.

• Do not see directly the light generated from SSCNET III connector of servo amplifier or 20SSC-H.

When the light gets into the eyes, it causes discomformity in the eyes.

(The light source of SSCNET III corresponds to class1 defined in JISC6802 or IEC60825-1.)

• If SSCNET III cable is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available.

SSCNET III cable should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted.

• Make sure to use SSCNET III cable within the range of operating temperature (refer to subsection 5.1.1) described in this manual.

The optical cable and code part melts down if being left near the fire or high temperature. Therefore, do not make it touched the part which becomes high temperature, such as radiator or regenerative brake option of servo amplifier, or servomotor.

• Make sure to lay SSCNET III cable with greater radius than the minimum bend radius. (Refer to the Section 5.4.1 Precautions for

SSCNET III cable wiring.)

• Fix the optical cable at the closest part to the connector with bundle material in order to prevent SSCNET III cable from putting its own weight on SSCNET III connector.

• Never use vinyl tape for optical cord. Plasticizing material in vinyl tape goes into optical fiber and lowers the optical characteristic. At worst, it may cause wire breakage. If using adhesive tape for the optical cable laying, the fire resistant acetate cloth adhesive tape

570F (Teraoka Seisakusho Co., Ltd) is recommended.

If laying with other wires, do not make the optical cable touched wires or cables made from soft polyvinyl chloride (PVC), polyethylene resin (PE), teflon (Fluorocarbon resin) or nylon which contains plasticizing material.

5

6

7

8

9

10

25

FX

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-20SSC-H Positioning Block User's Manual

5 Wiring

5.1 Cable to Be Used, Applicable Connector and Wire Size

WIRING PRECAUTIONS

• If the adhesion of solvent and oil to the code part of SSCNET III cable may lower the optical characteristic and machine characteristic.

If it is used such an environment, be sure to do the protection measures to the optical cord.

• When storing, put a cap on the connector part for preventing the connector edge of SSCNET III from getting dirt, dust and so on.

• SSCNET III connector is put a cap to protect light device inside connector from dust.

For this reason, do not remove a cap until just before mounting SSCNET III cable.

Then, when removing SSCNET III cable, make sure to put a cap.

• Keep the cap for SSCNET III connector and the tube for protecting light code end of SSCNET cable in a plastic bag with a zipper of

SSCNET III cable to prevent them from becoming dirty.

• When changing the servo amplifier or 20SSC-H, make sure to put cap on SSCNET III connector. When asking repair of servo amplifier for some troubles, make sure to put a cap on SSCNET III connector.

When the connector is not put a cap, the light device may be damaged at the transit.

In this case, exchange and repair of light device is required.

5.1

Cable to Be Used, Applicable Connector and Wire Size

5.1.1

SSCNET III cable

The SSCNET III cable for connecting 20SSC-H with the servo amplifier is described.

Model Cable length Flex Lif

Operating temperature range

Application and remarks

MR-J3BUS

MR-J3BUS

*1

M

0.15, 0.3, 0.5, 1, 3m

*1

M-A

5, 10, 20m

Standard

Standard

-40 to 85

°C

(-40 to 185

°F)

For standard in-panel cable

For standard external cable

MR-J3BUS

*1

M-B

30, 40, 50m Long flex

-20 to 70

°C

(-4 to 158

°F)

For long distance cable

*1.

indicates the cable length.

015 : 0.15m, 03 : 0.3m, 05 : 0.5m, 1 : 1m, 3 : 3m, 5 : 5m, 10 : 10m, 20 : 20m, 30 : 30m, 40 : 40m,

50 : 50m

5.1.2

Power supply cable

The cable for connecting the 20SSC-H power supply connector with the power supply is described.

Model name

FX

2NC

-100MPCB

Length

1m

Remarks

Accessory of 20SSC-H

Preparing the power cable by yourself

To prepare the power cable by yourself, use the following wiring material and connector.

Wire size

Crimp terminal

Housing

For main unit, 20SSC-H

For input extension block

Specifications/model name

AWG 24(0.2mm2)

50083-8014 (Manufactured by Molex Incorporated)

51030-0330 (Manufactured by Molex Incorporated)

51030-023 (Manufactured by Molex Incorporated)

26

FX

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-20SSC-H Positioning Block User's Manual

5 Wiring

5.1 Cable to Be Used, Applicable Connector and Wire Size

5.1.3

Input cable and terminal block

The cable for connecting the 20SSC-H input connector with external devices is described.

1. Input connector

The input connector of 20SSC-H complies with MIL-C83503.

Procure the input cable while referring to the following.

1) Applicable connector (commercially available connectors)

Use the 20-pin (1-key) socket complying with MIL-C-83503.

Check in advance for interference with peripheral parts such as the connector cover.

2) Input cable (by Mitsubishi Electric)

FX-16E-

Model name

*1

CAB

FX-16E-

*1

CAB-R

FX-16E-500CAB-S

1.5, 3, 5m

5m

Cable length Remarks

Flat cable (with tube) provided with a 20-pin connector at both ends

Round multi-conductor cable provided with a 20-pin connector at both ends

Bulk cable with 20-pin connector provided on a single end (cable color: red)

*1.

indicates the cable length.

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

3) Applicable connector for user cable (by Mitsubishi Electric)

The users should prepare the electric wires and pressure crimp tool.

For flat cable

Model name and configuration of I/O connector

Our model name

Description of part

(Made by DDK Ltd.)

FX 2C -I/O-

CON

Set of 10 pieces

Crimp connector

FRC2-A020-30S

Applicable cable (UL-161 recommended) and tool

Wire size

Crimp tool

(Made by DDK Ltd.)

AWG28 (0.1mm

2 )

1.27 pitch 20 conductors

357J-46740: Main body

357J-4664N: Attachment

For united cable

FX 2C -I/O-

CON-S

FX

2C

-I/O-

CON-SA

Set of 5

Set of 5

Housing HU-200S2-001

Crimp contact HU-411S

Housing HU-200S2-001

Crimp contact HU-411SA

AWG22 (0.3mm

2 ) 357J-5538

AWG20 (0.5mm

2

)

357J-13963

1

2

3

4

5

6

4) Applicable connectors (commercially available connectors)

DDK Ltd. connector specified in Item (3) above and Matsushita Electric Works connector specified in the table below.

Applicable cable (UL-1061 recommended) Crimp tool Model name of connector

Housing

Contact

Cover

AXW1204A

AXW7221

AXW62001A

AWG22(0.3mm

2

)

AWG24(0.2mm

2

)

AXY52000

2. Terminal block

1) Terminal block (our option)

For the specification and internal circuit of the terminal block, refer to the following respective PLC manual.

Refer to the FX

3U

Hardware Edition

Refer to the FX3

UC

Hardware Edition (Japanese document only)

FX-16E-TB

Model name Application and remarks

Converts input connector to terminal block

2) Terminal layout of FX-16E-TB connected to input connector

For the pin array of the input connector, refer to Subsection 3.5.1

Y-START X- A+

X-START X-INT0 X-INT1 S/S *1

S/S *1

X- B+ X-DOG

X- A-

X- B-

S/S *1

S/S *1

Y-INT0

Y- A+

Y-INT1 S/S *1

S/S *1

Y- A-

Y- B+ Y-DOG

S/S *1

Y- BS/S *1

*1.

The S/S terminal is connected inside FX-16E-TB.

7

8

9

10

27

FX

3U

-20SSC-H Positioning Block User's Manual

5.2

Power Supply Wiring

5.2.1

Power supply wiring

20SSC-H

5 Wiring

5.2 Power Supply Wiring

Class D grounding

5.2.2

Grounding

Ground the cables as follows

• The grounding resistance should be 100

Ω or less.

• Grounding should perform independent grounding as far as possible.

Independent grounding should be performed for best results.

When independent grounding is not performed, perform "shared grounding" as shown in the following figure.

For details, refer to the following respective PLC manual.

Refer to the FX

3U

Hardware Edition

Refer to the FX

3UC

Hardware Edition (Japanese document only)

PLC

Other equipmemt

PLC

Other equipmemt

PLC

Other equipmemt

Independent grounding

Best condition

Shared grounding

Good condition

Shared grounding

Not allowed

• The grounding wire size should be AWG22-20 (0.3 to 0.5 mm

2

).

• The grounding point should be close to the PLC, and all grounding wires should be as short as possible.

28

FX

3U

-20SSC-H Positioning Block User's Manual

5 Wiring

5.3 Input Wiring

5.3

Input Wiring

An external power supply (24VDC) is necessary for the START, DOG, INT0 , INT1 and S/S terminals.

5.3.1

Sink input wiring

DC24V

20SSC-H

S/S

1

2

3

Switch (sink type)

-INT1

-INT0

-START

-DOG

4

Manual pulse generator

(differential output type)

A-phase

B-phase

- A+

- A-

- B+

- B-

: "X" or "Y"

5

5.3.2

Source input wiring

DC24V

6

Switch (source type)

S/S

20SSC-H

-INT1

-INT0

-START

-DOG

7

8

Manual pulse generator

(differential output type)

A-phase

B-phase

- A+

- A-

- B+

- B-

: "X" or "Y"

9

10

29

FX

3U

-20SSC-H Positioning Block User's Manual

5.4

Connecting the SSCNET III Cable

5 Wiring

5.4 Connecting the SSCNET III Cable

5.4.1

Cautions for installation the SSCNET III cable

SSCNET III cable is made from optical fiber.

If a force is applied to the optical fiber such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available.

Carefully read the precautions in this manual when handling the SSCNET III cable.

For detailed specifications of the SSCNET III cable or details on the assembling procedure, refer to the following manual.

Refer to the MR-J3- B Servo Amplifier Instruction Manual

1) Minimum bend radius

Make sure to lay SSCNET III cable with bending radius greater than the minimum bend radius.

If the SSCNET III cable is less than the minimum bend radius, optical transmission is interrupted and it may cause malfunctions.

SSCNET III cable Minimum bend radius [mm (inches)]

MR-J3BUS M

MR-J3BUS M-A

MR-J3BUS M-B

25 (0.98")

Reinforced film cable : 50 (1.97")

Code part : 25 (0.98")

Reinforced film cable : 50 (1.97")

Code part : 30 (1.18")

2) Tension

If tension is applied to the SSCNET III cable, increase of transmission loss occurs due to external forces which concentrate on the fixing part of SSCNET III cable or the connecting part of SSCNET connector. In the worst case, the SSCNET III cable may break or be damaged. When laying SSCNET III cable, handle without applying forced tension.

3) Lateral pressure

If lateral pressure is applied to the optical cable, the SSCNET III cable itself distorts, the internal optical fiber gets stressed, and transmission loss will increase. In the worst case, the SSCNET III cable may break. To avoid lateral pressure while laying cable, do not bind the SSCNET III cable with things nylon bands (TY-RAP).

4) Twisting

If the SSCNET III cable is twisted, it is the same as when local lateral pressure or bending stress is applied. Consequently, transmission loss increases, and in the worst case, the SSCNET III cable may break.

30

FX

3U

-20SSC-H Positioning Block User's Manual

5 Wiring

5.4 Connecting the SSCNET III Cable

5.4.2

Cautions for SSCNET III cable wiring

Secure the cable at close to the connector with bundle material in order to prevent the SSCNET III cable from applying its own weight to the connector.

Reserve the following distance when wiring.

1) Wiring duct

If the duct is below the bottom of the 20SSC-H, leave sufficient clearance to eliminate effects on the

SSCNET III cable. The space height should be 70 mm (2.76") minimum.

1

2

3

4

2) Bundling

Optical cord

Loose slack

Bundling material

Recommended:

NK Clamp SP Type (NIX, INC)

Cable

7

8

5

6

9

10

31

6 Memory Configuration and Data Operation

FX

3U

-20SSC-H Positioning Block User's Manual

6. Memory Configuration and Data Operation

DESIGN PRECAUTIONS

• Observe the following items. Failure to do so may cause incorrect data-writing by noise to PLCs and result the PLC failure, machine damage or an accident.

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

Noise and Surge induction interfere with the system operation.

Keep a safe distance of least 100 mm (3.94") from the above lines during wiring.

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

• Install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and I/O connectors.

Failure to do so may result in wire breakage or failure of the PLC.

STARTUP AND MAINTENANCE

PRECAUTIONS

• Do not touch any terminal while the PLC's power is on.

Doing so may cause electrical shock or malfunctions.

• Before cleaning or retightening terminals, externally cut off all phases of the power supply.

Failure to do so may expose you to shock hazard.

• Before modifying the program under operation or performing operation for forcible output, running or stopping, carefully read the manual, and sufficiently ensure the safety.

An operation error may damage the machine or cause accidents.

• To test Zero-return, JOG operation and Positioning data, throughly read this manual, ensure the safe system operation

An operation error may damage the machine or cause accidents.

STARTUP AND MAINTENANCE

PRECAUTIONS

• Do not disassemble or modify the PLC.

Doing so may cause failures, malfunctions or fire.

* For repair, contact your local Mitsubishi Electric distributor.

• Before connecting or disconnecting any extension cable, turn off power.

Failure to do so may cause unit failure or malfunctions.

• Before attaching or detaching the following devices, turn off power.

Failure to do so may cause device failure or malfunctions.

Peripheral devices, expansion boards and special adapters

I/O extension blocks/units and terminal blocks

32

FX

3U

-20SSC-H Positioning Block User's Manual

6.1

Memory Configuration and Role

6 Memory Configuration and Data Operation

6.1 Memory Configuration and Role

6.1.1

Memory configuration

Store parameters and data necessary for control in the buffer memory (BFM) and flash memory inside

20SSC-H, using the sequence program or FX Configurator-FP.

1

2

FX Configrator-FP Setting/monitoring tool

3

Sequence program

F X

3U

-20SSC-H

Buffer memory (BFM)

- Positioning parameter

- Servo parameter

- Table information

- Monitor data

- Control data

FX

3U

/FX

3UC

PLC

Servo amplifier

- Servo parameter

Servo amplifier

- Servo parameter

Flash memory

- Positioning parameter

- Servo parameter

- Table information

1) Buffer memory (BFM)

The PLC can access the buffer memory (BFM) directly, using sequence programs.

20SSC-H uses parameters and data in this area to execute positioning control.

2) Flash memory

The flash memory saves parameters and table information necessary for positioning control.

Store necessary data in advance for the mechanical equipment and applications.

4

5

6

7

8

9

10

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6 Memory Configuration and Data Operation

6.2 Parameter setting method

6.1.2

Data type and role

Data type

Monitor data

Control data

Positioning parameter

Servo parameter

Table information

Application

X-axis

Data indicating the control state.

The monitor data is stored in the buffer memory. Monitor the data when necessary.

For details, refer to Section 11.3

The user controls the positioning control system, using the control data.

The control data is related to operation-related settings, speed change command during positioning operation, stop operation, restart, etc.

For details, refer to Section 11.4

The positioning parameter specifies the unit, speed and other features of the positioning control.

Enter data according to the mechanical equipment and applicable motor.

For details, refer to Section 11.1

The servo parameter depends on the servo amplifier to be used, and it is used to control the servomotor.

Enter data according to the specifications to be used.

For details, refer to Section 11.2

The table information is used for table type positioning control.

Positioning control is based on the data specified in each table

(operation information, position information, speed information, m code information).

Up to 300 positioning tables can be defined.

For details, refer to Section 11.5

BFM

#0 to #99

BFM

#500 to #599

BFM

#14000 to

#14199

BFM

#15000 to

#15199

BFM

#1000 to

#3999

BFM number

Y-axis

BFM

#100 to #179

BFM

#600 to #699

BFM

#14200 to

#14399

BFM

#15200 to

#15399

BFM

#4000 to

#6999

X-/Y-axis

-

-

-

-

BFM

#7000 to

#12999

Note

• Positioning and servo parameters are automatically created and set for each of the X- and Y- axes according to the factory default settings. (Leave default parameters for unused axes.)

• The table information is created for each of the X-, Y- and XY-axes.

• The positioning parameters, servo parameters and table information can be initialized, using

FX Configurator-FP or sequence program.

6.2

Parameter setting method

Use one of the following methods to set parameters to 20SSC-H.

1. FX Configurator-FP

Positioning parameters, servo parameters and table information may be set using FX Configurator-FP.

For operation details on using FX Configurator-FP, refer to the following manual.

Refer to the FX Configurator-FP Operation Manual

Note

Use FX Configurator-FP whenever possible to set positioning parameters, servo parameters and table information, and save the setting data in the flash memory.

The use of the sequence program for this purpose requires many steps and devices, resulting in a complex program and increased scan time.

2. Sequence program

Using a sequence program, may be set using applied instructions such as the FROM/TO instructions to read/ write parameters from/to the buffer memory of 20SSC-H, and to save the setting data in the flash memory.

For details on using the FROM/TO instructions and direct specification of buffer memory for applied instructions, refer to the following manual.

Refer to the Programming Manual

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6.3

Data Transfer Process

6 Memory Configuration and Data Operation

6.3 Data Transfer Process

6.3.1

PLC, 20SSC-H and servo amplifier

The data transfer between PLC, 20SSC-H, and servo amplifier is as follows.

FX

3U

/FX

3UC

PLC

Sequence program

(B)

F X

3 U

-20SSC-H

Buffer memory (BFM)

- Positioning parameter

- Servo parameter

- Table information

- Monitor data

- Control data

(A)

(D)

1

2

3

(A)

Flash memory

- Positioning parameter

- Servo parameter

- Table information

(C)

Servo amplifier

- Servo parameter

- Monitor data

Servo amplifier

- Servo parameter

- Monitor data

4

1. Power-on data transfer process [A in the figure above]

The following data transfer process occurs.

1) The data in the flash memory of 20SSC-H is transferred to the buffer memory (BFM).

2) The servo parameters are transferred to the servo amplifier.

To transfer the servo parameters automatically to the servo amplifier at PLC power-on, set the following parameter in flash memory and turn the power ON in order from the servo amplifier to 20SSC-H

(including the PLC).

For details, refer to Subsection 6.3.3

- Save servo parameters that relate to the servo amplifier with the servo series (BFM #15000, #15200), to the flash memory.

2. Data transfer between PLC and buffer memory (BFM) of 20SSC-H [B in the figure above]

Applied instructions such as the MOV instruction, or the FROM/TO instruction are used to read/write parameters and data between the PLC and buffer memory.

Note

Use FX Configurator-FP, whenever possible to set positioning parameters, servo parameters and table information, and save the setting data in the flash memory.

The use of the sequence program for this purpose requires many steps and devices, resulting in a complex program and increased scan time.

3. Writing data to the flash memory in 20SSC-H [C in the figure above]

To change data in the flash memory, use a sequence program or FX Configurator-FP to modify the buffer memory data, then activate a save command (BFM #523 b0 to 6) to save positioning parameters, servo parameters and table information from the buffer memory to the flash memory.

For the operation of FX Configurator-FP, refer to the FX Configurator-FP Operation Manual.

For the flash memory save command, refer to Section 11.4.15

4. Data transfer process between 20SSC-H and servo amplifier [D in the figure above]

When servo parameters or monitor data on the servo amplifier side are modified, the buffer memory of

20SSC-H is automatically updated.

For the initial servo parameter transfer method, refer to the following.

For the initial servo parameter transfer method, refer to Section 6.3.3

5

6

7

8

9

10

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6 Memory Configuration and Data Operation

6.3 Data Transfer Process

6.3.2

FX Configurator-FP and 20SSC-H

The data transfer between FX Configurator-FP and 20SSC-H via the PLC is as follows.

FX Configurator-FP Setting/monitoring tool

(A) (B)

F X

3 U

-20SSC-H

Buffer memory (BFM)

- Positioning parameter

- Servo parameter

- Table information

- Monitor data

- Control data

Sequence program

FX

3U

/FX

3U c PLC

(C)

Flash memory (ROM)

- Positioning parameter

- Servo parameter

- Table information

1. From 20SSC-H to FX Configurator-FP [A in the figure above]

The following data is read from the buffer memory in 20SSC-H to FX Configurator-FP.

• Positioning parameters

• Servo parameters

• Table information

• Monitor data (operation status, action status, input signal status, etc.)

2. From FX Configurator-FP to 20SSC-H (buffer memory) [B in the figure above]

The following data is written from FX Configurator-FP to the buffer memory in 20SSC-H.

• Positioning parameters

• Servo parameters

• Table information

• Control data (new current values, speed change, operation test command, etc.)

3. From FX Configurator-FP (buffer memory in 20SSC-H) to 20SSC-H (flash memory)

[C in the figure above]

The following data is saved from the buffer memory in 20SSC-H to the flash memory according to the save command sent from FX-Configurator-FP.

• Positioning parameters

• Servo parameters

• Table information

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6 Memory Configuration and Data Operation

6.3 Data Transfer Process

6.3.3

Transfer (writing) servo parameter to servo amplifier

At power-ON, servo parameters in the flash memory are transferred to the servo amplifier.

FX

3U

/FX

3UC

PLC

Sequence program

F X

3 U

-20SSC-H

Buffer memory (BFM)

- Positioning parameter

- Servo parameter

- Table information

- Monitor data

- Control data

1

2

3

Power-on

Flash memory (ROM)

- Positioning parameter

- Servo parameter

- Table information

Servo amplifier

- Servo parameter

Servo amplifier

- Servo parameter

1) Save servo parameters that relate to the servo amplifier with the servo series (BFM #15000, #15200), to the flash memory.

2) Turn the power ON in order from the servo amplifier to 20SSC-H (including the PLC).

Note

To transfer the following parameters from the buffer memory (BFM) to the servo amplifier, turn the servo parameter transfer command (b9) of operation command 2 [BFM #519 (X-axis) and #619 (Y-axis)] to ON.

For the operation command, refer to Section 11.4.11

1) Transferred servo parameters

• Auto tuning mode

• Auto tuning response

• Feed forward gain

• Ratio of load inertia moment to servo motor inertia moment

• Model control gain

• Position control gain

• Speed control gain

• Speed integral compensation

• Speed differential compensation

2) Conditions for executing servo parameter transfer command

The servo parameter transfer command is ignored during the positioning operation.

3) Status information

The servo parameter transfer flag in the status information is set during servo parameter transfer.

For the status information, refer to Section 11.3.1.3

4

5

6

7

8

9

10

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7 Before Starting Positioning Operation

7.1 Note on Setting Parameters

7. Before Starting Positioning Operation

DESIGN PRECAUTIONS

• Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even when external power supply trouble or PLC failure occurs.

Otherwise, malfunctions or output failures may result in an accident.

1) An emergency stop circuit, a protection circuit, an interlock circuit for opposite movements, such as normal and reverse rotations, and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the PLC.

2) When the PLC CPU detects an error, such as a watch dog timer error, during self-diagnosis, all outputs are turned off. When an error that cannot be detected by the PLC CPU occurs in an input/output control block, output control may be disabled.

Design external circuits and mechanisms to ensure safe operations of the machine in such a case.

3) When some sort of error occurs in a relay, triac or transistor of the output unit, output may be kept on or off.

For output signals that may lead to serious accidents, design external circuits and mechanisms to ensure safe operations of the machine in such cases.

• At forward/reverse rotation limits wiring, make sure to wire in negative logic and use NC contact. Setting in positive logic and using

NC-contact can cause serious accidents.

DESIGN PRECAUTIONS

• Observe the following items. Failure to do so may cause incorrect data-writing by noise to PLCs and result the PLC failure, machine damage or an accident.

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

Noise and Surge induction interfere with the system operation.

Keep a safe distance of least 100 mm (3.94") from the above lines during wiring.

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

• Install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and I/O connectors.

Failure to do so may result in wire breakage or failure of the PLC.

7.1

Note on Setting Parameters

Set the positioning parameters and servo parameters according to the system.

The following parameters must be set.

1) Servo series [Servo parameters (Basic setting)]

This parameter must be set to transfer information between 20SSC-H and the servo amplifier.

Set the servo series of servo parameters according to servo amplifier.

Servo parameters must be saved to the flash memory in 20SSC-H.

For servo series details, refer to subsection 11.2.1

2) Function selection C-4 [Servo parameters (Expansion setting)]

Immediately after power ON, this parameter needs to be set to operate other than the JOG or manual pulse generator operation modes.

Set “1: Not needed to pass motor Z-phase after the power supply is switched on” (default setting) here.

In other setting cases, the servo motor should be rotated more than one revolution by the JOG or manual pulse generator immediately after power-ON.

For details, refer to subsection 8.1.1 and 11.2.3

3) Zero return interlock setting [Positioning parameters (Operation parameter 2)]

Immediately after power ON, this parameter needs to be set to operate in modes other than the JOG, manual pulse generator or mechanical return operation modes.

Set "invalid" here.

In other setting cases, operate to be set to the zero return executed flag.

For details, refer to subsection 7.6.9 and 11.1.2

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7 Before Starting Positioning Operation

7.2 Outline of Positioning Operation

7.2

Outline of Positioning Operation

The relationship between the operation speed, acceleration/deceleration and travel distance of the positioning operation is shown below.

For futher details on the positioning operations suppurted by 20SSC-H and a note on positioning cautions, refer to the following.

For a note on positioning cautions, refer to the next page.

For manual operation, refer to Chapter 8

For positioning operation except for that of table operation, refer to Chapter 9

For table operation, refer to Chapter 10

In individual axis operation In simultaneous two-axis operation

(interpolation operation)

Speed Acceleration time

Max. speed

Trapezoidal acceleration/ deceleration

Deceleration time

Positioning completion flag

Operation speed

Approximate S-shaped acceleration/deceleration

OFF

ON

Time

S-shaped time constant

(fixed at 64ms)

Speed

Interpolation time constant

Max. speed

Trapezoidal acceleration/ deceleration

Operation speed

Interpolation time constant

Time

Positioning completion flag

OFF

ON

Parameters and control data used for positioning operation

Item

Maximum speed

X-axis

BFM number

BFM

#14009,#14008

Operation speed 1 BFM #503,#502

BFM

Y-axis

#14209,#14208

BFM #603,#602

Description

Upper limit of speed in each operation mode

Operation speed

Operation speed 2 BFM #507,#506 BFM #607,#606

Actual operation speed in each operation mode

Actual operation speed for two-speed positioning operation and interrupt two-speed positioning

JOG speed

BFM

#14013,#14012

BFM

#14213,#14212

Manual forward/reverse (JOG+/JOG-) operation speed

Acceleration time

Deceleration time

Travel distance

Acceleration/deceleration mode

BFM #14018

BFM #14020

Target address 1 BFM #501,#500

Target address 2 BFM #505,#504

Interpolation time constant

Positioning completion

BFM #14000 b11

BFM #14022

BFM #28 b6

BFM #14218

BFM #14220

BFM #601,#600

BFM #605,#604

BFM #14200 b11

BFM #14222

BFM #128 b6

Time needed to reach from zero speed to the maximum speed

Time needed to reach from the maximum speed to the zero speed

Target position (absolute address) or travel distance

(relative address) in each operation mode

Target position (absolute address) or travel distance

(relative address) for two-speed positioning operation

Select the acceleration/deceleration control method

(approximate S-shaped acceleration/deceleration or trapezoidal acceleration/deceleration).

In interpolation operation, this mode handles trapezoidal acceleration/deceleration only even if the approximate Sshaped acceleration/deceleration is selected.

Acceleration/deceleration time for interpolation operation.Time to reach from zero speed to the operation speed (for acceleration) or time to reach from the operation speed to the zero speed (for deceleration)

The flag is reset at the beginning of each operation or at the error occurrence, and it is set upon normal completion.

However, the flag is not set during stop operation or the following operation even if operation is normally finished

JOG operation

Mechanical zero return (data setting type)

Manual pulse generator operation

Variable speed operation

1

2

3

4

5

6

7

8

9

10

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7 Before Starting Positioning Operation

7.2 Outline of Positioning Operation

Note

• Trapezoidal acceleration/deceleration and approximate S-shaped acceleration/deceleration

If trapezoidal acceleration/deceleration and approximate S-shaped acceleration/deceleration are performed under the same conditions (travel distance, operation speed and acceleration/deceleration time), the positioning time of approximate S-shaped acceleration/deceleration becomes longer by 64ms.

• Approximate S-shaped acceleration/deceleration

Specify 64ms or larger (64 to 5000) acceleration and deceleration time.

• If the operation speed [jog speed, operation speed 1, operation speed 2, zero return speed (high speed) or zero return speed (creep)] is 0Hz, operation is at 1Hz.

• When the operation speed is changed by the override function during interpolation operation, the acceleration/deceleration time (interpolation time constant) changes according to the ratio by which the operation speed changes

For override function details, refer to Subsection 7.5.1

130%

100%

Operation speed

Change operation speed

New operation speed

100ms

(Interpolation time constant)

100ms

(Interpolation time constant)

*1

130ms

*1 130ms

Actual acceleration/deceleration time (interpolation time constant) after the operation speed change.

*1

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7 Before Starting Positioning Operation

7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit

7.3

Handling the Forward Rotation Limit and Reverse Rotation Limit

The concept of the forward rotation limit and that of the reverse rotation limit are described. Suppose that limit switches are located as shown in the figure below.

Servomotor

Reverse rotation limit 2

(servo amplifier side)

Reverse rotation limit 1

(PLC side)

LSR

Forward rotation limit 1

(PLC side)

LSF

Forward rotation limit 2

(servo amplifier side)

Reverse rotation Forward rotation

Limit

Stopping action

Description

Servo amplifier

PLC

Forward rotation limit 2, reverse rotation limit 2

Deceleration to stop

Specify the action limit so that no damage is caused to the machine that decelerates after activation of a limit switch until it is stopped.

Connect without fail for safety.

Forward rotation limit 1, reverse rotation limit 1

Software forward rotation limit

Software reverse rotation limit

Deceleration to stop

Deceleration to stop

This limit switch is necessary for retraction with the PLC if a DOG search function is used in zero return operation or if the limit switch is activated at the forward or reverse rotation limit modes in other than zero home operation.

Provide at positions so that the limit switch is activated before forward rotation limit 2 or reverse rotation limit 2 connected with the servo amplifier.

Operation limit based on the current address that is effective after mechanical zero return.

Specify at addresses that activation is caused before forward rotation limit

1 or reverse rotation limit 1 connected with the PLC.

Reference

Subsection

7.3.1

Subsection

7.3.2

Subsection

7.3.3

Note

The 20SSC-H does not have a terminal for connecting the forward or reverse rotation limit switch.

Connect the forward and reverse rotation limit switches to the PLC and/or servo amplifier.

How to restart after the limit switch is activated

When the limit switch is activated, the work piece decelerates to stop, and a limit error occurs.

The work piece cannot move to the activated limit-switch side. Use the JOG operation in opposite direction or the manual pulse generator in the opposite direction to avoid the limit error.

Operation speed

Deceleration to stop

However, immediate stop is caused during operation with the manual pulse generator.

1

2

3

4

5

6

7

Forward rotation limit input

OFF

ON

Reverse rotation JOG operation or reverse rotation manual pulse generator operation is valid.

Forward rotation JOG operation or forward rotation pulse generator operation is invalid.

8

9

10

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7 Before Starting Positioning Operation

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7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit

7.3.1

Forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS)

[servo amplifier side]

Connect forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS) to the upper limit (FLS) and lower limit (RLS) external signal terminals of the servo amplifier, respectively. This limit switch should be provided in a position to avoid causing damage to the machine after activation. Connect for safety.

For the related parameters, control data and monitor data, refer to Section 7.9

1. Wiring the forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS)

Connect forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS) to the upper limit (FLS) and lower limit (RLS) external signal terminals of the servo amplifier, respectively.

For the wiring method, refer to the servo amplifier manual

2. Servo amplifier external signal setting

Specify the following for the external signal of the servo amplifier.

External signal selection

Selection of FLS/RLS signal

Logic of FLS/RLS signal

Description of setting

Use the forward/reverse rotation limit of the servo amplifier and PLC.

NC contact (servo amplifier)

3. Restarting method

Refer to the following.

Refer to Section 7.3 (on the previous page)

7.3.2

Forward rotation limit (LSF) and reverse rotation limit (LSR) [PLC side]

For retraction with the PLC during use of the DOG search function in zero return or upon activation of a forward or reverse rotation limit switch in modes other than the zero return operation, these limit switches are necessary.

Provide at a position so that activation is caused before forward rotation limit 2 or reverse rotation limit 2 connected to the servo amplifier.

For the related parameters, control data and monitor data, refer to Section 7.9

1. Wiring the forward rotation limit 1 (LSF) and reverse rotation limit 1 (LSR)

Connect forward rotation limit 1 (LSF) and reverse rotation limit 1 (LSR) at the input terminals of the PLC.

For details of the PLC wiring method, refer to the following respective PLC manual.

Refer to the FX

3U

Hardware Manual.

Refer to the FX

3UC

Hardware Manual.

2. Specifying forward rotation limit 1 (LSF) and reverse rotation limit 1 (LSR)

Operate the forward rotation limit 1 (LSF) and reverse rotation limit 1 (LSR) connected with the PLC with the forward rotation limit flag and reverse rotation limit flag of 20SSC-H, respectively.

Refer to Chapter 13

3. Restarting method

Refer to the following.

Refer to Section 7.3 (on the previous page)

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7 Before Starting Positioning Operation

7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit

7.3.3

Software limit

This operation limit is based on the 0 address that becomes valid after mechanical zero return.

Specify at addresses so that activation is before forward rotation limit 1 and reverse rotation limit 1 connected with the PLC.

For the related parameters, control data and monitor data, refer to Section 7.9

1. Conditions for validating the software limit

• Specify the software limit so that the following condition is satisfied.

Large software limit > small software limit

• State with active zero return execution flag

(After execution of mechanical zero return and completion of positioning at the zero-point, or in an absolute position detection system where the current value is established)

Note

To refrain from using the software limit, specify the software limit settings as shown below.

• Software limit (upper) = Software limit (lower)

• Software limit (upper) < Software limit (lower)

Cautions for use of software limit

1) The software limit is invalid under the following control.

a) Mechanical zero return control b) Current value change

2) The limit error of the software limit is changed at the starting and end points of the operation. Therefore the specified upper or lower software limit may be exceeded in circular interpolation control.

In this case, deceleration does not occur even if the software limit is exceeded.

If there is a possibility of overshoot beyond the software limit, install an external limit switch.

Y-axis

Deceleration does not occur.

Y-axis stroke limit

Arc address

1

2

3

4

5

6

7

Starting point address

End point address

X-axis

8

9

10

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7 Before Starting Positioning Operation

7.4 Handling the STOP command

7.4

Handling the STOP command

When the STOP command of 20SSC-H turns ON during positioning operation, the servomotor decelerates to stop.

When stopped by the STOP command, the following statuses are shown below.

For the related parameters, control data and monitor data, refer to Section 7.9

Status

Positioning completion

READY

State

OFF

ON

1. STOP command during JOG operation, manual pulse generator operation or variable speed operation

When a STOP command is turned ON during the JOG operation, manual pulse generator operation or variable speed operation, the servomotor decelerates to stop without regard to the stop mode setting type.

Operation is restarted when the STOP command is turned off and the forward or reverse rotation JOG command is ON or the manual pulse generator is being operated.

Operation stop for JOG operation, manual pulse generator operation or variable speed operation

To stop the JOG operation, manual pulse generator operation or variable speed operation, turn the operation command to off or stop the manual pulse generator input. (without using the STOP command)

2. STOP command during positioning operation (without the JOG operation, manual pulse generator operation or variable speed operation)

When the STOP command is turned ON during positioning control operation, the operation is as follows according to the stop mode setting. There are two types of stop mode: the positioning control end mode and remaining travel distance operation mode.

1) Positioning control end mode

When the STOP command is turned ON, operation decelerates to a stop and is terminated.

When the STOP command is OFF, positioning operation begins when the START command is turned

ON.

Speed

Control suspended with STOP command

START command

STOP command

Standby for remaining travel distance after stopped

ON

OFF

Next positioning operation

ON

ON

OFF

OFF

Time

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7 Before Starting Positioning Operation

7.4 Handling the STOP command

2) Remaining travel distance operation mode

When the STOP command is turned ON, operation decelerates to a stop and the 20SSC-H enters standby state for the remaining travel distance operation. At this time, "standby for remaining travel distance" flag is turned ON. When the STOP command is OFF and the START command is turned ON during standby status, positioning operation continues for the remaining travel distance.

Speed

Control suspended with STOP command

Remaining travel distance operation

Time

START command

STOP command

Standby for remaining travel distance after stopped

ON

OFF

ON

OFF

ON

OFF

ON

OFF

To cancel the remaining travel distance operation in the remaining travel distance operation mode

When "remaining travel distance operation cancel command" is turned ON in standby status, the operation for the remaining travel distance is cancelled and the positioning operation terminates.

Speed

Remaining travel distance operation

(Canceled remaining travel distance)

1

2

3

4

5

Time

START command

STOP command

Standby for remaining travel distance after stopped

Remaining travel distance operation cancel command

ON

OFF

ON

OFF

ON

ON

OFF

OFF

3. Wiring the stop switch

Connect the stop switch to the input terminal of the PLC.

For details of the PLC wiring method, refer to the following manual according to the PLC being used.

Refer to the FX

3U

Hardware Edition

Refer to the FX

3UC

Hardware Edition (Japanese document only)

4. STOP command

Operate the PLC's STOP switch together with the 20SSC-H STOP command.

Refer to Section 7.4

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7

8

9

10

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7.5 Changing During Operation (Operation Speed, Target Address)

7.5

Changing During Operation (Operation Speed, Target Address)

7.5.1

Changing the operation speed with override function

This function is possible to change the operation speed at an arbitrary timing through the override setting value (0.1 to 3000.0%).

For the related parameters, control data and monitor data, refer to Section 7.9

1. To use the override function

Set the following setting.

Setting item

Override setting

Description

Specify in the range from 1 to 30000

× 0.1% (0.1 to 3000.0%).

2. Applicable positioning operations

• Operations applicable to the override function

- Mechanical zero return (at high speed)

- JOG operation

- 1-speed positioning operation

- Interrupt 1-speed constant quantity feed

- 2-speed positioning operation

- Interrupt 1-speed constant quantity feed

- Interrupt stop

- Variable speed operation

- Multi-speed operation

- Linear interpolation

- Linear interpolation (interrupt stop)

- Circular interpolation

3. Operation

• Operations inapplicable to the override function

- Mechanical zero return (at creep)

- Manual pulse generator operation

Speed

200

150

Actual operation speed

100

Time

Operation speed

Override setting

100

100% 200% 150%

4. Caution for speed change

• If the overridden (actual) operation speed is smaller than 1, operation speed handles on "1" in the current speed unit.

• If "100 (%)" is specified as an override, the speed does not change.

• The operation speed can be changed during positioning operation.

The override function is invalid during deceleration after a STOP command or in positioning operation.

• When the operation speed is changed by the override function during interpolation operation, the acceleration/deceleration time (interpolation time constant) changes according to the ratio by which the operation speed changes.

For details, refer to the note in Section 7.2

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7.5 Changing During Operation (Operation Speed, Target Address)

7.5.2

Changing the operation speed with the operation speed change function

This function is possible to change to the specified new operation speed at an arbitrary timing.

However, the speed does not change during mechanical zero return after detection of the near point DOG and start of deceleration to the creep speed.

For the related parameters, control data and monitor data, refer to Section 7.9

1. To make speed change valid

Specify the following settings.

Setting item

Change command in operation disabled

Speed change value

OFF

Setting

Description

Speed change command in positioning operation ON at speed change

2. Applicable positioning operations

• Operations applicable to the operation speed change function

- Mechanical zero return (at high speed)

- JOG operation

- 1-speed positioning operation

- Interrupt 1-speed quantity feed

- 2-speed positioning operation

- Interrupt 2-speed quantity feed

- Interrupt stop

- Multi-speed operation

- Linear interpolation

- Linear interpolation (interrupt stop)

- Circular interpolation

• Operations inapplicable to the operation speed change function

- Mechanical zero return (at creep)

- Manual pulse generator operation

- Variable speed operation

3. Operation

Speed

Operation speed after change

1

2

3

4

5

6

Operation speed

Target address

Time

Speed change command in positioning operation

OFF

ON

OFF

ON

Operation speed change processing

4. Cautions for speed change

• After operation speed change, if STOP command is turned ON during positioning operation, the next operation speed becomes the changed speed.

• The operation speed can not change in the following statuses.

- During deceleration by STOP command

- During automatic deceleration in position control

• If an operation speed larger than the maximum speed is specified for the speed change value, a setting error occurs and the operation speed is controlled at the maximum speed.

• To change the speed at interpolation control, the speed change value has to be set in the X-axis setting.

• The operation speed does not change during mechanical zero return (at creep). The speed change command is ignored.

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7.5 Changing During Operation (Operation Speed, Target Address)

7.5.3

Changing the target address

This function is used to change the target address in positioning control to a new specified address.

1. To make target address change valid

Specify the following settings.

Setting item

Change command in operation disabled

Target position change value (address)

Target position change value (speed)

Target position change command in positioning operation

Description

OFF

Set the new target address.

Set the new operation speed.

ON at target address change

Note

To leave the operation speed unchanged, set the target position change value (speed) to the same speed as the current operation speed.

2. Applicable positioning operations

• Operations applicable to the target address change function

- 1-speed positioning operation

- Interrupt 1-speed constant quantity feed

- 2-speed positioning operation

- Interrupt 2-speed constant quantity feed

- Interrupt stop

• Operations inapplicable to the target address change function

- Mechanical zero return

- Manual pulse generator operation

- JOG operation

- Variable speed operation

- Multi-speed operation

- Linear interpolation

- Linear interpolation (interrupt stop)

- Circular interpolation

3. Operation

1) When changing both the address and speed

Speed

New operation speed

Operation speed

New target address

Target address

Time

Target position change command

(speed) in positioning operation

OFF

Changing target address

OFF

2) When the direction of operation changes

ON

ON

Speed

Target position change command

(speed) in positioning operation

Changing target address

OFF

OFF

Target address

ON

ON

Turnover

New target address

Time

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7.6 Other functions

4. Cautions

• The operation speed can not change in the following statuses.

- During deceleration by STOP command

- During automatic deceleration in position control

• If the target position change value (address) converted in units of pulses is out of the setting range, an error occurs.

• If the target position change value (speed) is out of the setting range, the operation speed is handled to "1"

(lower limit) or maximum speed (upper limit).

7.6

Other functions

The 20SSC-H has an absolute position detection system, torque limit function, servo ON/OFF and servo check functions and others.

The parameter setting and sequence program enable each function.

7.6.1

Servo-ready check function

The servomotor ready signal (completion of preparation) is checked during startup of operation or during operation. With no servo ready signal, a servo-ready error occurs, stopping the operation.

For servomotors with no servo-ready signal, disable the servo-ready check function.

For related parameters, control data and monitor data, refer to Section 7.9

7.6.2

Servo end check function

Use the servo end check function to detect the positioning operation completion by the servo status in-position signal.

When the servo status in-position signal turns ON after operation completion (within the range of servo end check determination time) the 20SSC-H detects that the positioning operation has ended.

When the in-position signal does not turn ON within the specified servo end determination time, an external error occurs, stopping the operation.

For related parameters, control data and monitor data, refer to Section 7.8

• Zero or smaller settings are handled as "1ms."

• 5001 or larger settings are handled as "5000ms."

1. To use the servo end check function

Specify the following settings.

Setting item

Servo end check Enable the servo end check.

Description

Servo end determination time Specify the value within in the range 1 and 5000ms.

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2. Applicable positioning operations

• Operations applicable to the servo end check

- JOG operation

- 1-speed positioning operation

- Interrupt 1-speed constant quantity feed

- 2-speed positioning operation

- Interrupt 1-speed constant quantity feed

- Interrupt stop

- Variable speed operation

- Multi-speed operation

- Linear interpolation

- Linear interpolation (interrupt stop)

- Circular interpolation

- Mechanical zero return

• Operations inapplicable to the servo end check

- During continuous multi-speed operation

- During continuous pass operation of interpolation operation

- Manual pulse generator operation

7.6.3

Torque limit function

This torque limit function sets torque limit value of servo amplifier from 20SSC-H.

For related parameters, control data and monitor data, refer to Section 7.8.

1. Torque limit function setting

Specify the following items to use the torque limit function.

Setting item Description

Zero return torque limit value Torque limit value for zero return control (creep)

Torque limit setting

The torque limit during the following operations is the torque limit setting or torque output setting according to the torque output setting value.

If the torque output setting is "0"

The torque is limited to the torque limit value or zero return torque limit value.

If the torque output setting is between 1 and 10000 (increment: 0.1%)

The torque is limited to the torque output setting.

Torque output setting

• During mechanical zero return at zero return speed (high speed)

• JOG operation

• 1-speed positioning operation

• Interrupt 1-speed constant quantity feed

• 2-speed positioning operation

• Interrupt 2-speed constant quantity feed

• Interrupt stop

• Variable speed operation

• Multi-speed operation

• Linear interpolation

• Linear interpolation (interrupt stop)

• Circular interpolation

• Manual pulse generator operation

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2. Details of control

The operation with the torque limit is as follows.

Various operations

ON

START command

OFF

*1 , *2

OFF

Torque limit setting

300

Torque output setting

0

*1 , *2

100

ON

7 Before Starting Positioning Operation

7.6 Other functions

200

OFF

1

2

3

Stored torque limit

300 100

4

*1 :

The torque limit setting or torque output setting becomes valid at the rising edge of the START signal. If the torque output setting is "0," operation is made with the torque limit setting.

*2 : If the positioning parameter setting is changed, issue a positioning control parameter command to validate the new setting.

3. Precautions for control

• If the zero return torque limit value exceeds the torque limit setting, an error occurs.

• If the torque limit function causes the operation to stop, drop pulses remain in the deviation counter. After the load torque is removed, the operation continues according to the remaining pulses.

7.6.4

Absolute position detection system

An absolute position detection system is available with 20SSC-H.

For related parameters, control data and monitor data, refer to Section 7.9

What is the absolute position detection system?

In the absolute position detection system, the current position is stored in the servo amplifiers battery backed memory, and even if the work piece moves at power failure, the moving distance is added to the current position with the absolute encoder and servo amplifier absolute position system. After power-ON, the absolute position detection system does not require the zero return procedure.

5

6

7

1. Conditions to use the absolute position detection system

• Use servomotors with absolute position encoders.

• Place a backup battery to the servo amplifier.

• Enables the absolute position detection system in servo parameters.

2. Initial zero-point determination

Even with the absolute position detection system, the zero-point must be determined at least once after the equipment is manufactured.

To determine the zero-point for the first time, perform zero return according to one of the following types

: data set type, DOG type or stopper type.

For zero return operation, refer to Section 8.1

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7.6 Other functions

3. Absolute position lost

If the absolute position in the encoder becomes indefinite in the absolute position detection system, the absolute position loss signal (ABSV) turns ON. At ABSV signal ON, make sure to operate zero return immediately to establish the zero-point again.

The absolute position becomes indefinite in the three cases below.

• When changed into the absolute position detection system by the parameter setting of the servo amplifier, and the servo amplifier turns ON.

• An absolute position loss alarm (AL-25) is caused.

• An absolute position counter warning (AL-E3) is issued.

Note

While the absolute position loss signal (ABSV) is ON, do not start the automatic operation. Otherwise the system will run away.

7.6.5

Servo ON/OFF

The servo of the servo amplifier connected with 20SSC-H turns ON/OFF.

The servo ON enables the servomotor operations.

For related parameters, control data and monitor data, refer to Section 7.9

1. Servo ON/OFF

• Turn OFF(0) the servo-OFF command to turn the servo on.

• Turn ON (1) the servo-OFF command to turn the servo off.

Note

• Perform servo-ON/OFF while the servomotor is stopped.

• The servo can be turned OFF with Ready-ON in the status information.

The servo-OFF command during positioning operation is invalid.

• If the servomotor turns due to an external force during servo-OFF, a follow-up process occurs with the follow-up function.

7.6.6

Follow-up function

With the follow-up function, the motor rpm is monitored when the servo is OFF, and the motor rpm is reflected in the current value.

With this function, even if the servomotor rotates while the servo is OFF, the servomotor always starts positioning at the next servo-ON, ignoring the drop pulse.

The 20SSC-H always executes the follow-up process during servo OFF.

For related parameters, control data and monitor data, refer to Section 7.9

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7.6 Other functions

7.6.7

Simultaneous start function

Operation in the X- and Y-axes start simultaneously with this function.

For related parameters, control data and monitor data, refer to Section 7.9

1.

Applicable positioning operations

• Operations applicable to the simultaneous start function

- JOG operation

- Mechanical zero return

- 1-speed positioning operation

- Interrupt 1-speed constant quantity feed

- 2-speed positioning operation

- Interrupt 2-speed constant quantity feed

- Interrupt stop

- Table operation (independent)

• Operations inapplicable to the simultaneous start function

- Manual pulse generator operation

- Variable speed operation

- Multi-speed operation

- Linear interpolation

- Linear interpolation (interrupt stop)

2. Operation

1) Enter the X-axis and Y-axis operation patterns.

2) Turn on the X-axis simultaneous start flag.

3) Reboot the X-axis start command.

In the JOG operation, reboot the X-axis forward/reverse rotation jog command.

4) X-axis and Y-axis operation begins simultaneously.

POINT

• The Y-axis start command and forward/reverse jog command are ignored.

7.6.8

Current address change function

With this function, the current address of a stopped axis changes arbitrarily.

Write the desired value to the current address (user) to change, followed by the current address (pulse) update.

For parameters, control data and monitor data, refer to Section 7.9

The current address does not change in the following states.

• READY/BUSY in the status information is OFF (0).

• Interruption due to a STOP command occurs and the operation is waiting for the remaining distance.

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7.6.9

Zero return interlock setting

This function disables the start command before mechanical return.

For related parameters, control data and monitor data, refer to Section 7.9

1. Applicable positioning operations

• Operations applicable to the zero return interlock setting

- 1-speed positioning operation

- Interrupt 1-speed constant quantity feed

- 2-speed positioning operation

- Interrupt 2-speed constant quantity feed

- Interrupt stop

- Variable speed operation

- Multi-speed operation

- Linear interpolation

- Linear interpolation (interrupt stop)

- Table operation (independent)

- Table operation (simultaneous)

• Operations inapplicable to the zero return interlock setting

- JOG operation

- Manual pulse generator operation

- Mechanical zero return

2. Setting items

The zero return interlock setting is valid in one of the following states.

• The zero return interlock setting of operation parameter I is ON (1).

• The zero return completed status is OFF.

7.7

Precautions for using the user units

(mechanical or composite system of units)

1. User units

The user can select the unit setting for positioning.

For the unit setting method, refer to the following section.

For the setting method, refer to Section 11.1.1

1) System of units

Select the unit to use.

- Motor system of units :The position command and speed command are based on the number of pulses.

- Mechanical system of units :The position command and speed command are based on mm, mdeg,

10

-4

inches and so on.

- Composite system of units :The position command is based the mechanical system, while the speed command is based on the motor system, or similar composite units are used.

2) Data magnification

You can select the position data magnification (

×1, ×10, ×100 or ×1000).

3) Setting value in user units

According to the user unit setting, specify the value as follows.

Position data magnification

×1

×10

×100

×1000

PLS

PLS

× 10 PLS

× 100 PLS

× 1000 PLS

µm

× 10 µm

× 100 µm mm

Unit setting (position unit)

µm

inch

× 0.0001 inch

× 0.001 inch

× 0.01 inch

× 0.1 inch

mdeg

mdeg

× 10 mdeg

× 100 mdeg deg

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7.7 Precautions for using the user units (mechanical or composite

2. Converted pulse data

Enter data within the setting range of converted pulse data, when setting ranges overlap. The equation for conversion is as follows.

1) Travel distance

Travel distance in converted pulse data (PLS) =

Travel distance (

µm, 10

-4 inch, mdeg)

× position data magnification × (pulse rate / feed rate)

2) Operation speed

Operation speed in converted pulse data (Hz) =

Operation speed (

µm/min, inch/min, 10deg/min) × 10

4

× (pulse rate / feed rate) / 60

Servomotor rotation speed and operation speed (converted pulse data)

Do not exceed the maximum rotation speed of the servomotor when specifying the operation speed (including the maximum speed, jog speed and zero return speed). The servomotor rotation speed is calculated from the speed (converted pulse data) as follows.

Servomotor rpm (r/min) =

The converted pulse data of operation speed (Hz)

× 60 / the resolution per revolution of servomotor

Servo amplifier

MR-J3B

Resolution per revolution or servomotor (PLS/REV)

262144

3. Error

Supposing that the pulse rate be A, feed rate be B, and relative travel distance be C. C

× (A/B) is the number of pulses output from 20SSC-H.

No command error occurs as long as (A/B) is an integer. C

× (A/B) does not have to be an integer.

However, if C

× (A/B) is not an integer, repetitive operation of relative movement causes an accumulated error in the current address. In absolute address operation, an error within 1 pulse occurs with the calculation result rounded off, but it does not cause an accumulated error.

In addition, an accumulated error does not occur in the motor system of units.

4. Maximum speed restriction

To specify speed data in the mechanical system of units, enter data in the range between 1 and

50,000,000Hz in converted pulse data.

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7.8

Cautions for Positioning Operation

7 Before Starting Positioning Operation

7.8 Cautions for Positioning Operation

7.8.1

Overlapped specification of operation mode

The positioning operation does not start at START input/command if multiple operation patterns are selected

(with multiple bits turned on) in the parameters for operating patterns.

Likewise, the positioning operation does not start if multiple positioning commands (i.e. forward/reverse JOG and mechanical zero return commands of operation command 1) are simultaneously ON.

7.8.2

When the travel distance is small

1. 1-speed positioning operation

If the time needed for the travel distance (target address I) is shorter than the acceleration/deceleration time, the actual operation speed does not reach the command speed (operation speed 1).

Speed

Desired acceleration time

Desired deceleration time

Trapezoidal control

Operation speed 1

Approximate S-shaped control

56

Start

Time

Traveling time < desired acceleration time + desired deceleration time

*1

*1.

For the relation between the time for the actual acceleration/deceleration and the specified time for desired acceleration/deceleration, refer to the following.

Refer to Section 7.2

2. Interrupt 1-speed positioning operation

If the time needed for the travel distance (target address 1) is shorter than the deceleration time, the pulse output stops at the target address 1.

If the travel distance is zero, immediate stop occurs when interrupt input INT0 turns ON.

Desired deceleration time

*1

Speed

Trapezoidal control

Operation speed I

Approximate S-shaped control

The time to stop is slightly earlier because deceleration under the approximate S-shaped control is slower than that of trapezoidal control, while the travel distance is almost the same as that of trapezoidal control.

Target address 1

Time

Start

Interrupt input (INT0)

Traveling time < desired deceleration time

*1

*1.

For the relation between the time for the actual deceleration and the specified time for desired deceleration, refer to the following.

Refer to Section 7.2

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7.8 Cautions for Positioning Operation

3. 2-speed positioning operation

1) If the travel distance at the first speed is small

If the travel time is smaller than the time

*1

needed to decelerate to the operation speed 2, the first operation speed does not reach the operation speed 1.

If the travel distance of the first speed is zero, the travel is at the second operation speed and travel distance. (No error is caused.)

Speed

Desired acceleration time

*1

Desired decceleration time

*1

Approximate

S-shaped control

Trapezoidal control

Operation speed 1

Operation speed 2

Start Time

Travel time < desired deceleration time *1

*1.

For the relation between the time for the actual deceleration and the specified time for desired deceleration, refer to the following.

Refer to Section 7.2

2) If the travel distance of the second speed is small

If the travel time at the second speed is smaller than the time

*1

needed to decelerate from the operation speed 2, deceleration is started from operation speed 1.

If the travel distance at the second speed is zero, the operation decelerates to stop for the travel distance to be the target address 1 as if it were a 1-speed positioning operation. (No error is caused.)

Desirred deceleration time

*1

Speed

1

2

3

4

5

6

Trapezoidal control

Target address 2

Operation speed 1

Approximate

S-shaped control

Time

Start

Travel < desired deceleration time

*1

*1.

For the relation between the time for the actual deceleration and the specified time for desired deceleration, refer to the following.

Refer to Section 7.2

4. Linear interpolation operation

If the time necessary for the travel distance (target address 1) is smaller than the acceleration/deceleration time, the actual operation speed does not reach the command speed.

5. Linear interpolation operation (interrupt stop)

If the time necessary for the travel distance (target address 1) is smaller than the deceleration time, the output pulses stop at the deceleration target address 1 (target address 1).

If the travel distance is zero, the operation immediately stops at the interrupt input (INT0) ON.

6. Interpolation operation (during continuous pass operation)

If the travel distance is small and the travel time from the starting point to the end point is shorter than the interpolation time constant, the operation temporarily stops, and then shifts to the next interpolation operation.

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7.9 Related parameter, control data and monitor data

7.9

Related parameter, control data and monitor data

Item

Operation parameter

Operation parameter 1

Operation parameter 2

Zero return interlock setting

Zero return mode

Servo end judgment time

Soft limit, large

STOP mode

Servo end check

Servo ready check

X-axis

BFM number

Y-axis

Description

BFM #14000 b15

BFM #14002 b0

BFM #14002 b1

BFM #14002 b2

BFM #14031

BFM #14032

BFM #14200 b15

BFM #14202 b0

BFM #14202 b1

BFM #14232 b2

BFM #14231

BFM #14232

BFM #14035,#14034 BFM #14235,#14234

ON: Operation for remaining distance

OFF: End of positioning control (initial setting)

ON: Valid

OFF: Invalid

ON: Valid

OFF: Invalid

ON: Valid

OFF: Invalid

Specify the zero return mode.

0: DOG type (default setting)

1: Data set type

2: Stopper type (1)

3: Stopper type (2)

Setting range: 1 to 5000ms

Specify for the software limit (upper/ lower).

Soft limit, small

Torque limit setting

Zero return torque limit

External signal selection

FLS/RLS signal selection

FLS/RLS signal logic

BFM #14037,#14036 BFM #14237,#14236

BFM #14038

BFM #14040

BFM #14238

BFM #14240

BFM #14044 b0

BFM #14044 b8

BFM #14244 b0

BFM #14244 b8

Setting range: -2,147,483,648 to

2,147,483,647(user unit)

*1

Setting range: 1 to 10000 (

×0.1%)

Setting range: 1 to 10000 (

×0.1%)

ON: Use the FLS/RLS signal of the servo amplifier.

OFF:Do not use the FLS/RLS signal of the servo amplifier. (Default setting)

ON: The logic of the FLS/RLS signal of the servo amplifier is the NC contact.

(Servo amplifier) (Default setting)

OFF:The logic of the FLS/RLS signal of the servo amplifier is the NO signal.

(Servo amplifier)

Control data

Override setting

Torque output setting

Speed change value

New target position (address)

New target position (speed)

Operation command 1

STOP command

BFM #508

BFM #510

BFM #513,#512

BFM #515,#514

BFM #517,#516

BFM #518 b1

Forward rotation limit (LSF) BFM #518 b2

Reverse rotation limit (LSR) BFM #518 b3

Forward rotation jog

Reverse rotation jog

BFM #518 b4

BFM #518 b5

BFM #608

BFM #610

BFM #613,#612

BFM #615,#614

BFM #617,#616

BFM #618 b1

BFM #618 b32

BFM #618 b3

BFM #618 b4

BFM #618 b5

Specify the actual operation speed ratio to the operation speed.

Setting range: 1 to 30000 (

×0.1%)

Setting range: 0 to 10000% (

×0.1%)

Setting range: -2,147,483,648 to

2,147,483,647

(user unit)

*1

Setting range: -2,147,483,648 to

2,147,483,647(user unit)

*1

Setting range: -2,147,483,648 to

2,147,483,647(user unit)

*1

When this bit turns ON, the positioning operation decelerates to stop. With this bit

ON, the stop-state continues.

When this bit turns ON while forward rotation pulses are being output, the operation decelerates to stop.

When this bit turns ON, while reverse rotation pulses are being output, the operation decelerates to stop.

When this bit turns ON, forward rotation pulses are output.

When this bit turns ON, reverse rotation pulses are output.

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7.9 Related parameter, control data and monitor data

Control data

Item

X-axis

BFM number

Y-axis

Mechanical zero return command

BFM #518 b6 BFM #618 b6

Relative/absolute addressing

Start command

Operation command 1

Simultaneously start flag

BFM #518 b8

BFM #518 b9

BFM #518 b10

In-process speed change prohibition

BFM #518 b12

Speed change during positioning control operation

Target position change during positioning control operation

BFM #518 b13

BFM #518 b14

Remaining distance operation cancel command

BFM #519 b0

Operation command 2 positioning parameter valid BFM #519 b4

BFM #519 b8 Servo-OFF command

Monitor data

Current address (user unit)

Current address (pulse)

Stored torque limit

READY/BUSY

BFM #1,#0

BFM #3,#2

BFM #5,#4

BFM #28 b0

Zero return execution BFM #28 b3

Status information Waiting for travel of remaining distance at stop

BFM #28 b7

Servo status

Speed change in progress BFM #28 b13

Target address change in progress

In-position

BFM #28 b14

BFM #64 b12

BFM #618 b8

BFM #618 b9

BFM #618 b10

BFM #618 b12

BFM #618 b13

BFM #618 b14

BFM #619 b0

BFM #619 b4

BFM #619 b8

BFM #101,#100

BFM #103,#102

BFM #105,104

BFM #128 b0

BFM #128 b3

BFM #128 b7

BFM #128 b13

BFM #128 b14

BFM #164 b12

1

Description

Execute zero return in the zero return mode specified with a positioning parameter.

OFF: Operate in the absolute address mode.

ON: The positioning operation selected with an operation pattern begins. At standby for the remaining distance by STOP command, the operation restarts.

OFF: Positioning operation does not start.

ON: The positioning operation selected with an operation pattern begins. At standby for the remaining distance by STOP command, the operation restarts.

Turn on the X-axis start command to simultaneously start X-axis and Y-axis operation.

OFF: The speed and target position change commands are valid during positioning operation.

ON: The speed and target position change commands during positioning operation are invalid.

Changes the current operation speed to the specified speed.

Changes the current target address to the specified target position.

Cancels the remaining distance and finishes the positioning when this bit is truned from OFF to ON.

Enables the positioning parameter when this bit is truned from OFF to ON.

OFF: Turns the servo on.

ON: Turns the servo off.

User unit

*1

Unit: PLS

Unit:

×0.1%

ON : READY

OFF: BUSY

ON: Zero return completed (current value established)

OFF: Zero return not completed (current value indefinite)

ON in standby for the remaining distance by a STOP command. OFF with another start command or remaining distance operation cancel command.

ON: Speed change in progress

OFF: Speed change finished

ON: Address change in progress

OFF: Address change finished

ON if the remaining distance is at or below the in-position range.

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7 Before Starting Positioning Operation

7.9 Related parameter, control data and monitor data

Item

X-axis

BFM number

Y-axis

Servo parameter

Basic setting

Absolute position detection system

BFM #15003

In-position range BFM #15010

BFM #15203

BFM #15210

Output signal device selection 3 (CN3-15) BFM #15104

*1.

For the user unit, refer to the following section.

BFM #15304

Description

Specify the absolute position detection system.

1:Valid

0:Invalid (Default setting)

Specify the in-position range.

Setting range: 0 to 50000PLS

To assign the absolute position lost signal

(ABSV) of the servo amplifier to the CN3-

15 pin in the servo amplifier, specify "H11" at output signal device selection 3.

Refer to Section 7.7

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8 Manual Control

8.1 Mechanical Zero Return Control

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8. Manual Control

8.1

Mechanical Zero Return Control

8.1.1

Outline of mechanical zero return control

The mechanical zero return method for the 20SSC-H includes the following three variations (four modes).

For related parameters, control data and monitor data, refer to Subsection 8.1.5

• Dog type mechanical zero return (1 mode)

The position from stopping with the DOG signal and the zero signal of the servomotor becomes the zeropoint.

For details on the DOG type mechanical zero return, refer to Subsection 8.1.2

• Data-set type mechanical zero return (1 mode)

The position from moving with the JOG operation or manual pulse generator is defined as the zero-point.

For details on the data-set type mechanical zero return, refer to Subsection 8.1.3

• Stopper type mechanical zero return (2 modes)

The stopper position is defined as the zero-point.

For details on the stopper type mechanical zero return, refer to Subsection 8.1.4

1. Mechanical zero return operation

The mechanical zero return operation varies according to the zero return mode. For details, refer to the following.

For details on the DOG type mechanical zero return, refer to Subsection 8.1.2

For details on the data-set type mechanical zero return, refer to Subsection 8.1.3

For details on the stopper type mechanical zero return, refer to Subsection 8.1.4

1) Turn the mechanical zero return command from OFF to ON to execute mechanical zero return.

2) After calibrating the zero-point, write the mechanical zero-point address from in a positioning parameter to the current address.

3) Set the zero return execution flag.

Note

• The zero return command is not accepted if the zero-point pass signal servo status is OFF.

Before executing zero return, be sure to rotate the servomotor at least once to turn ON the zero-point pass signal. The zero-point pass signal turns ON when the motor passes the motor reference position signal

(Z-phase).

To execute zero return immediately after power-on, specify "1: Motor Z-phase pass unnecessary after power-on" (default setting) at the servo parameter function selection C-4. With this setting, the zero-point pass signal turns ON even if the motor does not pass the zero-point (Z-phase).

• With the simultaneous start flag ON, the X-axis mechanical zero return command simultaneously starts the

X and Y-axes mechanical zero return operation.

(The 20SSC-H ignores the Y-axis mechanical zero return command.)

2. Zero-point return execution flag

The zero-point return execution flag turns ON (sets) when the mechanical zero return operation finishes. It turns OFF (resets) when rebooting the mechanical zero return command, or when the turning the power OFF.

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8 Manual Control

8.1 Mechanical Zero Return Control

8.1.2

DOG type zero return

With the DOG type mechanical zero return, the 20SSC-H sets the zero-point, the position as where the module stops with a near-point DOG signal and servo motor zero-point signal. Use the DOG search function to execute the DOG type mechanical zero return arbitrarily.

1. Operation

Zero return starts as follows, at the rising edge (OFF

→ ON) of the mechanical zero return command.

Speed

Acceleration time

Deceleration time

Maximum speed

2)

Mechanical zero point address

4)

Zero return speed

(high speed)

1)

DOG

Zero return speed (creep)

Time

Zero point signal

Mechanical zero return command

OFF

Positioning completion

Zero return completion

Current address (user)

Current address (pulse)

ON

OFF

OFF

The travel value

ON

ON

Mechanical zero point address

1) At the rising edge (OFF

→ ON) of the mechanical zero return command, the work piece moves in the zero return direction at the zero return speed (high speed).

2) At the DOG input, the 20SSC-H decelerates the work piece to the zero return speed (creep).

3) The 20SSC-H counts zero-point signals after passing the zero-point signal count start timing.

4) After counting the specified number (zero-point signal numbers), the 20SSC-H stops the work piece.

5) After the zero-point is reached, the work piece does not travel with a the mechanical zero return command.

6) The 20SSC-H turns the positioning completion flag ON and sets the zero return execution flag.

Note

• The zero return command is not accepted if the zero-point pass signal servo status is OFF.

Before executing zero return, be sure to rotate the servomotor at least once to turn the zero-point pass signal ON. The zero-point pass signal turns ON when the motor passes the motor reference position signal

(Z-phase).

To execute zero return immediately after power-on, specify "1: Motor Z-phase pass unnecessary after power-on" (default setting) at servo parameter function selection C-4. With this setting, the zero-point pass signal turns ON even if the motor does not pass the zero-point (Z-phase).

• With the simultaneous start flag ON, the X-axis mechanical zero return command simultaneously starts the

X and Y-axes mechanical zero return operation.

(The 20SSC-H ignores the Y-axis mechanical zero return command.)

Precautions when setting the DOG input logic

An incorrect DOG input logic disables the correct operation. Pay close attention when changing the initial setting value.

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8.1 Mechanical Zero Return Control

2. Setting items

With DOG type mechanical zero return, specify the following settings.

For details on the setting items, refer to Subsection 8.1.5

Setting item

Zero return mode Specify the DOG type zero return mode.

Zero return speed (high speed) Enter the zero return speed (high speed)

Zero return speed (creep)

Zero return direction

Description

Specify the post-DOG-input zero return speed (creep).

Specify the zero return direction (the current value increase/decrease direction).

DOG input selection

DOG input logic

Select the DOG input (servo amplifier/20SSC-H) to be used.

Specify the logic (NO/NC contact) of the DOG input to be used.

Zero-point signal count start timing

Specify the timing (front/rear edge of DOG) to start counting the zero-point signal.

Zero-point signal count Specify the zero-point signal count.

Mechanical zero-point address Specify the current address (user unit) written after the mechanical zero return completion.

3. Dog search function

The zero return with DOG search is executable with forward/reverse rotation limit1 on the PLC side. At this time, the zero return action varies in the following way according to the zero return starting position.

Speed

Reverse rotation limit

DOG

Zero return direction Forward rotation limit

4) 3)

Zero-point

2)

Reverse rotation

Time

1)

Forward rotation

1) If the starting position is in the near point signal OFF area (before passing DOG) a) Operation is conducted in the zero return direction at the zero return speed (high speed).

b) After the DOG detection, the deceleration to the zero return speed (creep) begins.

c) After detecting the zero-point signal count start timing, the zero-point signal is counted.

d) After counting the specified number of zero-point signals, the travel is stopped.

2) If the starting position is in the near point signal ON area a) Operation is conducted at the zero return speed in the direction opposite to the zero return direction.

b) Upon the DOG detection (escaping from the DOG), the deceleration to stop begins.

c) Operation is conducted in the zero return direction at the zero return speed (high speed).

d) After the DOG is detected, deceleration to the zero return speed (creep) begins.

e) After counting the zero-point signal, the 20SSC-H stops.

3) If the starting position is in the near point signal OFF area (after passing DOG) a) Operation is conducted in the zero return direction at the zero return speed (high speed).

b) Upon the forward/reverse rotation limit, the travel decelerates to stop.

c) Operation is conducted in the direction opposite to the zero return direction at the zero return speed

(high speed).

d) Upon the DOG detection (escaping from the DOG), the travel decelerates to stop.

The operation begins again in the zero return direction at the zero return speed (high speed).

e) After DOG detection, the travel decelerates to the zero return speed (creep speed) and, after counting the zero-point signal, the 20SSC-H stops.

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8.1 Mechanical Zero Return Control

4) When the limit switch (forward or reverse rotation limit) in the zero return direction turns ON a) The operation is conducted in the direction opposite to the zero return direction at the zero return speed (high speed).

b) Upon the DOG detection (escaping from the DOG), the travel decelerates to stop.

c) The operation is conducted again in the zero return direction at the zero return speed (high speed).

d) Upon the DOG detection, the travel decelerates to the zero return speed (creep speed) and after counting the zero-point signal, the 20SSC-H stops.

Caution

If the DOG is not detected during the DOG search operations, a limit error occurs.

4. Changing the zero return speed

Use the override function or operation speed change function to change the zero return speed (high speed).

However, the speed does not change when the operation speed change disable flag is ON.

For the override function, refer to Subsection 7.5.1

For the operation speed change function, refer to Subsection 7.5.2

8.1.3

Data-set type mechanical zero return

Use the data-set type mechanical zero return procedure to set the position moved by JOG or manual pulse generator operation, as a zero-point. Therefore the work piece does not travel at the mechanical zero return command.

This zero return procedure is frequently used for equipment without a DOG, or for transfer lines without a mechanical zero-point.

1. Operation

1) With JOG or manual pulse generator operation, the work piece moves to the desired zero-point.

2) Reboot the mechanical zero return command.

3) Write the mechanical zero-point address, specified in positioning parameters to the current address.

4) Set the zero return execution flag.

In the data-set type mechanical zero return, the positioning completion flag does not turn ON.

Note

• The zero return command is not accepted if the zero-point pass signal servo status is OFF.

Before executing zero return, be sure to rotate the servomotor at least once to turn the zero-point pass signal ON. The zero-point pass signal turns ON when the motor passes the motor reference position signal

(Z-phase).

To execute zero return immediately after power-on, specify "1: Motor Z-phase pass unnecessary after power-on" (default setting) at servo parameter function selection C-4. With this setting, the zero-point pass signal turns ON even if the motor does not pass the zero-point (Z-phase).

• With the simultaneous start flag ON, the X-axis mechanical zero return command simultaneously starts the

X and Y-axes mechanical zero return operation.

(The 20SSC-H ignores the Y-axis mechanical zero return command.)

2. Setting items

In the data-set type zero return, specify the following settings.

For details on the setting items, refer to Subsection 8.1.5

Setting item

Zero return mode Specify the data-set type zero return mode.

Description

Mechanical zero return address Specify the current address (user unit) after the mechanical zero return completion.

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8 Manual Control

8.1 Mechanical Zero Return Control

8.1.4

Stopper type mechanical zero return

The stopper position is defined as the zero-point. The stopper type mechanical zero return includes the following two types (modes).

• Stopper type (1)

This mechanical zero return method uses the DOG signal and stopper.

The high speed travel is possible up to the DOG signal, so this zero return type reduces the time for mechanical return.

• Stopper type (2)

This mechanical zero return method uses only the stopper.

Note

• The zero return command is not accepted if the zero-point pass signal servo status is OFF.

Before executing zero return, be sure to rotate the servomotor at least once to turn the zero-point pass signal ON. The zero-point pass signal turns ON when the motor passes the motor reference position signal

(Z-phase).

To execute zero return immediately after power-on, specify "1: Motor Z-phase pass unnecessary after power-on" (default setting) at servo parameter function selection C-4. With this setting, the zero-point pass signal turns ON even if the motor does not pass the zero-point (Z-phase).

• With the simultaneous start flag ON, the X-axis mechanical zero return command simultaneously starts the

X and Y-axes mechanical zero return operation.

(The 20SSC-H ignores the Y-axis mechanical zero return command.)

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2

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4

1. Stopper type (1) operation

Acceleration time

Speed

Deceleration time

Maximum speed

2)

Zero return speed

(high speed)

Zero return speed (creep)

3)

Time

1)

DOG

Stopped due to torque limit

Zero return torque limit

Mechanical zero return command

Positioning completion

Zero return completion

Current address (user)

Current address (pulse)

OFF

ON

OFF

OFF

The travel value

ON

ON

Mechanical zero point address

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7

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1) At the rising edge (OFF

→ ON) of the mechanical zero return command, the work piece moves in the zero return direction at the zero return speed (high speed).

2) At the DOG input, the 20SSC-H decelerates the work piece to the zero return speed (creep).

3) The work piece hits the stopper, and the work piece stops when the servomotor torque reaches the zero return torque limit value.

4) After the stop point, the 20SSC-H writes the mechanical zero point address, specified in positioning prameters, to the current address.

5) The 20SSC-H turns the positioning completion flag ON and sets (turns ON) the zero return execution flag.

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10

Dog position

Install the DOG at a position far enough from the stopper for the work piece to decelerate to the zero-point return speed (creep).

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2. Stopper type (2)

Speed

Acceleration time

Maximum speed

8 Manual Control

8.1 Mechanical Zero Return Control

Zero return speed (creep)

2)

Time

1)

Zero return torque limit

Stopped due to torque limit

Mechanical zero return command

Positioning completion

OFF

ON

OFF

Zero return completion

OFF

Current address (user)

Current address (pulse)

The travel value

ON

ON

Mechanical zero point address

1) Upon the rising edge (OFF

→ ON) of the mechanical zero return command, the work piece moves in the zero return direction at the zero return speed (creep).

2) After the work piece hits the stopper, the work piece stops when the servomotor torque reaches the zero return torque limit value.

3) After the stop, the 20SSC-H writes the mechanical zero point address, specified in positioning prameters, to the current address.

4) The 20SSC-H turns the positioning completion flag ON and sets (turns ON) the zero return execution flag.

3. Setting item

In the stopper type mechanical zero return, specify the following settings.

For details on the setting items, refer to Subsection 8.1.5.

Setting item

Zero return mode

Description

Specify the stopper type 1 (2) zero return mode.

Zero return speed (high speed) Specify the zero return speed (high speed).

Zero return speed (creep) Specify the post-DOG-input zero return speed (creep).

Zero return direction

Selection of DOG input

Specify the zero return direction (current value increase/decrease direction).

Select the DOG input (servo amplifier/20SSC-H) to be used.

DOG input logic Specify the logic (NO/NC contact) of the DOG input to be used.

Mechanical zero-point address Specify the current address (user unit) written after the mechanical zero return completion.

Zero return torque limit Specify the torque limit value for zero return speed (creep).

4. Changing the zero return speed

Use the override function or operation speed change function to change the zero return speed (high speed).

However, the speed does not change when the operation speed change disable flag is ON.

For the override function, refer to Subsection 7.5.1

For the operation speed change function, refer to Subsection 7.5.2

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8.1 Mechanical Zero Return Control

8.1.5

Related parameters, control data and monitor data

Item

BFM number

Description

X-axis Y-axis

Positioning parameter

Operation parameter 1

Maximum speed

Acceleration time

Deceleration time

Zero return direction BFM #14000 b10

DOG input logic

Zero-point signal count start timing

Mechanical zero-point address

Zero return mode

Zero return speed (high speed)

Zero return speed (creep)

BFM #14200 b10

OFF: The current value decreasing direction

ON: The current value increasing direction

BFM #14000 b12

BFM #14000 b13

BFM #14200 b12

BFM #14200 b13

OFF: The NO contact for the DOG input logic of

20SSC-H.

ON: The NC contact for the DOG input logic of

20SSC-H.

OFF: The rear edge of DOG

ON: The front edge of DOG

BFM #14009,#14008 BFM #14209,#14208

Setting range: 1 to 2,147,483,647(user unit)

*1

BFM #14018

BFM #14020

BFM #14218

BFM #14220

Setting range: 1 to 5000ms

Setting range: 1 to 5000ms

BFM #14029,#14028

BFM #14031

BFM #14025,#14024

BFM #14027,#14026

BFM #14229,#14228

BFM #14231

BFM #14225,#14224

BFM #14227,#14226

Setting range:-2,147,483,648 to

2,147,483,647(user unit)

*1

Set the value within -2,147,483,648 to

2,147,483,647PLS in the converted pulse data

0: DOG type

1: Data-set type

2: Stopper type (1)

3: Stopper type (2)

Setting range: 1 to 2,147,483,647(user unit)

*1

Set the value within 1 to 50,000,000Hz in converted pulse data to satisfy the following conditions.

• Zero return speed (high speed) maximum speed

• The 20SSC-H operates at the maximum speed when the zero return speed (high speed) > maximum speed

Setting range: 1 to 2,147,483,647(user unit)

*1 et the value within 1 to 50,000,000Hz in converted pulse data to satisfy the following conditions.

• Zero return speed (creep) zero return speed (high speed) maximum speed

• The 20SSC-H operates at the maximum speed when the zero return speed (high speed) > maximum speed

Zero-point signal count

Zero return torque limit

BFM #14030

BFM #14040

BFM #14230

BFM #14240

Setting range: 0 to 32767PLS

Setting range: 1 to 10000(

×

0.1%)

FLS/RLS signal selection

DOG signal selection

External signal selection

FLS/RLS signal logic

Dog signal logic

BFM #14044 b0

BFM #14044 b1

BFM #14044 b8

BFM #14044 b9

BFM #14244 b0

BFM #14244 b1

BFM #14244 b8

BFM #14244 b9

OFF: The RLS/RLS signal of the servo amplifier is not used.

ON : The FLS/RLS signal of the servo amplifier is used.

OFF: The DOG signal of the servo amplifier is not used.

ON: The DOG signal of the servo amplifier is used.

OFF: The NO contact for the FLS/RLS signal logic of the servo amplifier.

ON: The NC contact for the FLS/RLS signal logic of the servo amplifier.

OFF: The NO contact for the DOG input logic of the servo amplifier.

ON: The NC contact for the DOG input logic of the servo amplifier.

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8 Manual Control

8.1 Mechanical Zero Return Control

Control data

Override setting

Item

X-axis

BFM #508

Operation command 1

Forward rotation limit (LSF)

Reverse rotation limit (LSR)

Mechanical zero return command

Simultaneous start flag

BFM #518 b2

BFM #518 b3

BFM #518 b6

BFM #518 b10

In-process speed change prohibition

BFM #518 b12

Monitor data

Current address (user) BFM #1,#0

Current address (pulse)

Zero return execution

BFM #3,#2

BFM #28 b3

BFM number

Y-axis

BFM #608

BFM #618 b2

BFM #618 b3

BFM #618 b6

BFM #618 b10

BFM #618 b12

BFM #101,#100

BFM #103,#102

BFM #128 b3

Status information

End of positioning BFM #28 b6 BFM #128 b6

Servo status End of positioning BFM #63 b0 BFM #163 b0

Servo parameter

Extended setting

Function selection

C-4

BFM #15080 BFM #15280

*1.

For the user units, refer to the following.

Description

Specify the ratio (percent) of the actual operation speed to the operation speed.

Setting range: 1 to 30000(

×

0.1%)

The 20SSC-H decelerates to stop at this parameter ON during forward rotation output he 20SSC-H decelerates to stop at this parameter ON during reverse rotation output

The 20SSC-H starts the mechanical zero return when rebooting this bit

The 20SSC-H simultaneously starts the X and Y-axes operation at the X-axis start command ON.

OFF: The speed and target position change commands during positioning control operation are valid.

ON: The speed and target position change commands during positioning control operation are invalid.

Setting range:-2,147,483,648 to

2,147,483,647(user unit)

*1

Setting range:-2,147,483,648 to

2,147,483,647PLS

OFF: Zero return is normally finished.

ON: Zero return is started.

This parameter turns OFF at the start of each operation

/ at errors, and turns ON at normal operation end, but does not turn ON in STOP operations / in the following operations even at normal operation end

- JOG operation

- Mechanical zero return (data-set type)

- Manual pulse generator operation

- Variable speed operation

OFF: Motor Z-phase pass after power-on

ON: Motor Z-phase no pass after power-on

0:Motor Z-phase pass when power-on is necessary.

1:Motor Z-phase pass when power-on is unnecessary.

Refer to Section 7.7

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8.2

JOG Operation

8 Manual Control

8.2 JOG Operation

8.2.1

Outline of JOG operation

1. JOG operation

Forward pulses are output in the forward JOG mode, while reverse pulses are output in the reverse JOG mode.

Speed

Travel by current address

(user) 1

Acceleration time

Maximum speed

JOG speed

Deceleration time

1

2

3

JOG command determination time

Time

ON

Forward/reverse rotation JOG

End of positioning

Current address (pulse)

Current address (user)

READY

OFF

ON

OFF

• After decelerating to stop at in the opposite direction while the FWD/RVS JOG operates, the 20SSC-H re-starts the JOG operation when the FWD/RVS JOG is rebooted.

• If the FWD/RVS JOG is rebooted while decelerating to FWD/RVS JOG operates, the 20SSC-H re-accelerates to continue the operation.

• If the forward/reverse rotation limit 1 turns ON, a limit error occurs after decelerating to stop.

In this case, a JOG operation in the opposite direction saves the work piece from the limit switch ON-state.

Note

• Inching operation (JOG determination time)

To perform inching operation, specify the JOG determination time.

- If the forward/reverse JOG activation time is within the JOG command determination time, a pulse string equivalent to

±1 (user unit) is output at the current address to operate the inching.

- If the forward/reverse rotation JOG activation time is equal to or larger than the JOG command determination time, pulse strings are output continuously.

- If the JOG command determination time is 0ms, the travel equivalent to

±1 at the current address (user) is not executed. Continuous operation is executed from the first point.

• If the simultaneous START flag turns ON, the simultaneous JOG operation in the X- and Y-axes starts at an X-axis JOG command.(The Y-axis JOG command is ignored.)

At the X-axis JOG command OFF, the 20SSC-H stops the X and Y-axes JOG operation.

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8.2 JOG Operation

2. Related parameters, control data and monitor data

BFM number

Item

X-axis Y-axis

Positioning parameter

Maximum speed

JOG speed

JOG determination time

Acceleration time

Deceleration time

Positioning parameter

Description

BFM #14009,#14008 BFM #14209,#14208

Setting range: 1 to 2,147,483,647(user unit)

*1

BFM #14013,#14012 BFM #14213,#14212

Setting range: 1 to 2,147,483,647(user unit)

*1

BFM #14014

BFM #14018

BFM #14214

BFM #14218

Setting range: 0 to 5000ms

Setting range: 1 to 5000ms

BFM #14020 BFM #14220 Setting range: 1 to 5000ms

External signal selection

FLS/RLS signal selection

FLS/RLS signal logic

BFM #14044 b0

BFM #14044 b8

BFM #14244 b0

BFM #14244 b8

OFF: The FLS/RLS signal of the servo amplifier is not used.

ON: The FLS/RLS signal of the servo amplifier is used.

OFF: The NO contact for the FLS/RLS signal logic of the servo amplifier.

ON: The NC contact for the FLS/RLS signal logic of the servo amplifier.

Control data

Override setting

Operation command 1

Forward rotation limit (LSF)

Reverse rotation limit (LSR)

Forward rotation

JOG

Reverse rotation

JOG

Simultaneous start command

In-process speed change prohibition

BFM #508

BFM #518 b2

BFM #518 b3

BFM #518 b4

BFM #518 b5

BFM #518 b10

BFM #518 b12

BFM #608

BFM #618 b2

BFM #618 b3

BFM #618 b4

BFM #618 b5

BFM #618 b10

BFM #618 b12

Specify the ratio (percent) of the actual operation speed to the operation speed. Setting range: 1 to 30000(

×

0.1%)

The 20SSC-H decelerates to stop at this parameter ON during forward rotation output

The 20SSC-H decelerates to stop at this parameter ON during reverse rotation output

Forward pulses are output while this parameter remains ON.

Reverse pulses are output while this parameter remains ON.

The 20SSC-H simultaneously starts the X and

Y-axes operation at the X-axis start command

ON.

OFF: The speed and target position change commands during positioning control operation are valid.

ON: The speed and target position change commands during positioning control operation are invalid.

Monitor data

Current address (user)

Current address (pulse)

BFM #1,#0

BFM #3,#2

BFM #101,#100

BFM #103,#102

Setting range:-2,147,483,648 to

2,147,483,647(user units)

*1

Setting range:-2,147,483,648 to

2,147,483,647PLS

*1.

For the user units, refer to the following.

Refer to Section 7.7

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8.2.2

Changing the speed during JOG operation

1. Changing the JOG speed

If the in-operation speed change disable turns ON, the JOG speed change is rejected.

Speed

10000Hz

JOG input

OFF

ON

JOG speed

10000Hz

7000Hz

7000Hz

Time

2. Changing the override setting

Use the override setting to change the ratio of the actual operation speed to the JOG speed.

Speed

10000Hz

JOG input

OFF

ON

JOG speed

10000Hz

Override setting

100%

7000Hz

70%

Time

8 Manual Control

8.2 JOG Operation

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8.3

Manual pulse generator operation

8 Manual Control

8.3 Manual pulse generator operation

8.3.1

Outline of manual pulse generator operation

1. Operation

When selecting the MPG (manual pules generator operation) in the operation patterns, the 20SSC-H operates by the MPG input at the START commnand ON.

Speed Manual pulse generator operation valid

Manual pulse generator operation valid

Pulse output

Pulse output

Time

START command

(manual pulse generator operation)

OFF

ON

Manual pulse generator input

End of positioning

READY

OFF

Note

• The manual pulse generator inputs the pulses in two phases (A-/B-phase).

• The positioning completion flag does not turn ON.

• When reaching the forward/reverse rotation limit during forward/reverse rotation, a forward/reverse rotation limit error occurs.

Perform reverse rotation if the forward rotation limit is ON, or perform forward rotation if the reverse rotation limit is ON to cancel a limit switch ON-state.

Immediate stop at the forward rotation limit ON

Operation speed

Forward rotation pulse output

Forward rotation limit

Error occurrence

OFF

Perform reverse rotation manual pulse generator operation or perform JOG operation to cancel a limit error.

ON

Forward rotation manual pulse generator operation is invalid

• The manual pulse generator input two-phase pulses (A-/B-phase) at 1 edge count.

- Only the differential output type manual pulse generator is connectable.

- Operation at the manual pulse generator is always counted.

See the "current MPG (manual pulse generator) input value" to monitor in modes other than the manual pulse generator operation mode.

A-phase

ON

OFF

B-phase

+1 +1 -1 -1

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8.3 Manual pulse generator operation

• The operation speed is proportional to the frequency of pulse strings from the manual pulse generator according to the manual pulse input magnification.

In addition, the override setting is invalid.

Manual pulse generator

2-phase pulses

Frequency within 100kHz

A-phase

B-phase

20SSC-H

Input pulses x manual pulse input magnification (numerator) manual pulse input magnification (denominator)

= output pulses

Command

Servo amplifier drive unit

Motor

- The following equation provides output pulses to 20SSC-H.

Input pulses (frequency, pulse quantity) from manual pulse generator

X manual pulse input magnification

Manual pulse input magnification (numerator)

Manual pulse input magnification (denominator)

- If the pulse generator magnification is smaller than 1/1, one pulse is output for every multiple input pulse.

Therefore, the frequency of output pulses is low while the pulse quantity is small.

If the pulse generator input electronic gear ratio is larger than 1/1, multiple pulses are output for each input pulse.

Therefore, the frequency of output pulses is high while the pulse quantity is large.

If the pulse generator input electronic gear ratio is larger than 1/1, the motor rpm for each input pulse becomes larger, causing rough positioning accuracy.

8.3.2

Current manual pulse input value

The current number of total input pulses from the manual pulse generator is stored.

8.3.3

Input frequency of manual pulse generator

The frequency of the manual pulse generator input is stored.

The sign of an increasing count is positive (+), while the sign of a decreasing count is negative (-).

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8.3 Manual pulse generator operation

8.3.4

Related parameters, control data and monitor data

Item

Positioning parameter

Maximum speed

X-axis

BFM number

Y-axis

Description

External signal selection

FLS/RLS signal selection

FLS/RLS signal logic

BFM #14009,#14008 BFM #14209,#14208

Setting range:1 to 2,147,483,647(user units)

*1

BFM #14044 b0 BFM #14244 b0

OFF: The FLS/RLS signal of the servo amplifier is not used.

ON : The FLS/RLS signal of the servo amplifier is used.

BFM #14044 b8 BFM #14244 b8

OFF: The NO contact the FLS/RLS signal logic of the servo amplifier.

ON : The NC contact for the FLS/RLS signal logic of the servo amplifier.

Control data

Operation command 1

Forward rotation limit (LSF)

Reverse rotation limit (LSR)

Pulse generator magnification

(numerator)

Pulse generator magnification

(denominator)

Monitor data

BFM #518 b2

BFM #518 b3

BFM #525,#524

BFM #527,#526

BFM #618 b2

BFM #618 b3

BFM #625,#624

BFM #627,#626

Current address (user) BFM #1,#0 BFM #101,#100

Current address (pulse)

Manual pulse generator current input value

Manual pulse generator input frequency

BFM #3,#2

BFM #13,#12

BFM #15,#14

*1.

For the user units, refer to the following.

BFM #103,#102

BFM #113,#112

BFM #115,#114

The 20SSC-H decelerates to stop at this parameter

ON during forward rotation output

The 20SSC-H decelerates to stop at this parameter

ON during reverse rotation output

Specify the magnification for input pulses.

Setting range: 1 to 1,000,000

Specify the dividing rate for input pulses.

Setting range: 1 to 1,000,000

-2,147,483,648 to 2,147,483,647

(user unit)

*1

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

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

The sign is positive (+) for an increasing count, while the sign is negative (-) for a decreasing count.

Refer to Section 7.7

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9.1 Functions Available with Each Positioning Operation

1

9. Positioning Control

This chapter describes the control of each positioning operation.

For table operation control, refer to the following section.

For details on table operation, refer to Chapter 10

9.1

Functions Available with Each Positioning Operation

2

3

Reference

4

Approximate S-shaped acceleration/deceleration, trapezoidal acceleration/deceleration

Forward rotation limit, reverse rotation limit

STOP command

Operation speed change

Override function

Operation speed change function

Target address change

Servo ready check

Servo end check

Torque limit

Simultaneous start function

-

-

*2

*1

-

*3

*1

-

*3

*1

-

*3

Section 7.2

Section 7.3

Section 7.4

Subection 7.5.1

Subection 7.5.2

Subection 7.5.3

Subection 7.6.1

Subection 7.6.1

Subection 7.6.3

-

: Applicable

- :

: When the speed change disable during operation signal is ON, operation speed and target address cannot be changed.

Not applicable

*1.

Operation becomes trapezoidal acceleration/deceleration.

If the approximate S-shaped acceleration/deceleration is set by positioning parameters, operates the trapezoidal acceleration/deceleration.

*2.

The servo end check is not performed during continuous operation.

*3.

The servo end check is not performed during continuous pass operation.

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9.2 1-speed Positioning Operation

9.2

1-speed Positioning Operation

For details on the operation speed change and target address change, refer to Section 7.5

For details on torque limit, refer to Subsection 7.6.3

For details on STOP command, refer to Section 7.4

For details on the related parameters, control data, and monitor data, refer to Section 9.12

1. Operation

Acceleration time

Deceleration time

Speed

Maximum speed

Operation speed 1

Target address 1

Time

ON

START command

OFF

Positioning completion ON

ON

OFF

1) Set the Operation speed 1 and Target address 1.

2) Select the 1-speed positioning operation from the operation patterns and activate the START command to start the 1-speed positioning operation (above figure).

(The positioning completion signal is turned OFF.)

3) The operation stops at the target address 1, and the operation ends, turning the positioning completion signal ON.

POINT

The positioning completion signal turns ON if the travel distance is 0.

If the travel distance is 0 or the travel time is too short, however, it is impossible for the sequence program to detect the positioning completion signal turning OFF.

2. Operation Speed

Actual operation speed is "operation speed 1

× override setting."

Operation speed 1 can be changed using the operation speed change function except for the following conditions.

• During deceleration operation

• When the speed change disable during operation signal is ON.

3. Address Specification

Absolute/Relative address can be specified.

With the specified absolute address: Specifies a target address (position) using address 0 as the base.

With the specified relative address: Specifies a travel distance from the current address.

4. Rotation Direction

With the specified absolute address: The rotation direction depends on whether the target address 1 is larger or smaller than the current address.

With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1.

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9.3 Interrupt 1-speed Constant Quantity Feed

9.3

Interrupt 1-speed Constant Quantity Feed

For details on the operation speed change and target address change, refer to Section 7.5

For details on torque limit, refer to Subsection 7.6.3

For details on STOP command, refer to Section 7.4

For details on the related parameters, control data, and monitor data, refer to Subsection 9.12

1. Operation

Acceleration time

Deceleration time

Speed

Maximum speed

3)

Operation speed 1

1

2

3

Target address 1

2)

Time

ON

START command

Interrupt input

(INT0)

Positioning completion

OFF

OFF

ON

ON

ON

OFF

1) Set the Operation speed 1 and Target address 1 (travel distance after interrupt input).

2) Select the interrupt 1-speed constant quantity feed from the operation patterns and activate the START command to start the interrupt 1-speed constant quantity feed (above figure).

(The positioning completion signal is turned OFF.)

3) At interrupt input (INT0) ON, the work piece moves at the operation speed 1 to the target address 1, where the operation ends and the positioning copletion signal turns ON.

Note

The travel distance for target address 1 must be larger than the deceleration distance to stop.

If the travel distance for target address 1 is smaller, the work piece decelerates as much as possible, and the operation stops.

For details, refer to Subsection 7.8.2

2. Operation speed

Actual operation speed is "operation speed 1 x override setting."

Operation speed 1 can be changed using the operation speed change function except for the following conditions.

• During deceleration operation

• When the speed change disable during operation signal is ON.

3. Address specification

Specified addresses are handled as relative addresses (travel distance from the current address).

(Relative/Absolute address specification is ignored.)

4. Rotation Direction

The sign of the target address decides the operation direction.

+: Operates in the direction that increases the current value. (When the value is 0, it is regarded as 1.)

-: Operates in the direction that decreases the current value.

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9.4 2-speed Positioning Operation

9.4

2-speed Positioning Operation

For details on the operation speed change and target address change, refer to Section 7.5

For details on torque limit, refer to Subsection 7.6.3

For details on STOP command, refer to Section 7.4

For details on the related parameters, control data, and monitor data, refer to Subsection 9.12

1. Operation

Acceleration time

Deceleration time

Speed

Maximum speed

3)

Operation speed 1

Operation speed 2

START command

Positioning completion

OFF

ON

2)

ON

Target address 1

OFF

Target address 2

4)

ON

Time

1) Set the operation speed 1, operation speed 2, target address 1, and target address 2.

2) Select the 2-speed positioning operation from the operation patterns and activate the START command to start the 2-speed positioning operation (above figure).

(The positioning completion signal is turned OFF.)

3) Acceleration or deceleration operation to shift to operation speed 2 is started upon reaching the target address 1.

4) The work piece stops at target address 2 and the operation ends, turning the positioning completion signal ON.

2. Operation speed

The actual operation speed is decided by the following calculation formulas.

- Operation speed 1

× Override setting

- Operation speed 2

× Override setting

Operation speed 1 and operation speed 2 can be changed using the operation speed change function except for the following conditions.

• During deceleration operation from operation speed 2

• When the speed change disable during operation signal is ON.

3. Address Specification

Absolute/Relative address can be specified.

With the specified absolute address: Specifies a target address (position) using address 0 as the base.

With the specified relative address: Specifies a travel distance from the current address.

4. Rotation Direction

With the specified absolute address: The rotation direction depends on whether the target address 1 is larger or smaller than the current address.

With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1.

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9.4 2-speed Positioning Operation

Note

If the moving directions of target address 1 and target address 2 are not the same as follows, a reverse operation is performed immediately after the deceleration stop at target address 1.

With the specified absolute address: when the sign difference between the current value and target address

1 is different from the sign difference between target address 1 and target address 2.

With the specified relative address : when the sign (positive/negative) of target address 1 differs from that of target address 2.

Caution

An abrupt change of the rotation direction may damage the machine. It may also cause an error by motor overload.

If the operation in a different direction requires stop time, use 1-speed positioning operation.

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9.5 Interrupt 2-speed Constant Quantity Feed

9.5

Interrupt 2-speed Constant Quantity Feed

For details on the operation speed change and target address change, refer to Section 7.5

For details on torque limit, refer to Subsection 7.6.3

For details on STOP command, refer to Section 7.4

For details on the related parameters, control data, and monitor data, refer to Subsection 9.12

1. Operation

Acceleration time

Deceleration time

Speed

Maximum speed

Operation speed 1

3)

Operation speed 2

4)

Target address 1

2)

ON

Time

START command

Interrupt input (INT0)

OFF

ON

OFF

ON

Interrupt input (INT1)

Positioning completion

OFF

ON

OFF

ON

1) Set the operation speed 1, operation speed 2, and target address 1.

2) Select the Interrupt 2-speed constant quantity feed from the operation patterns and activate the START command to start the Interrupt 2-speed constant quantity feed (above figure).

(The positioning completion signal is turned OFF.)

3) At interrupt input (INT0) ON, the work piece starts accelerating/decelerating to the operation speed 2.

4) At interrupt input (INT1) ON, the work piece moves at the operation speed 2 to the target address 1, and the operation ends, turning ON the positioning completion signal.

Note

• Interrupt input is detected in the order of INT0 and INT1.

• The travel distance for target address 1 must be larger than the deceleration distance to stop.

If the travel distance for target address 1 is smaller, the work piece decelerates as much as possible, and the operation stops.

For details, refer to Subsection 7.8.2

2. Operation speed

The actual operation speed is decided by the following calculation formulas.

- Operation speed 1

× Override setting

- Operation speed 2

× Override setting

Operation speed 1 and operation speed 2 can be changed using the operation speed change function except for the following conditions.

• During deceleration operation from operation speed 2

• When the speed change disable during operation signal is ON.

3. Address specification

Specified addresses are handled as relative addresses (travel distance from the current address).

(Relative/Absolute address specification is ignored.)

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9.6 Interrupt Stop Operation

4. Rotation Direction

The sign of the target address decides the operation direction.

+: Operates in the direction that increases the current value. (When the value is 0, it is regarded as 1.)

-: Operates in the direction that decreases the current value.

9.6

Interrupt Stop Operation

For details on the operation speed change and target address change, refer to Section 7.5

For details on torque limit, refer to Subsection 7.6.3

For details on STOP command, refer to Section 7.4

For details on the related parameters, control data, and monitor data, refer to Section 9.12

1. Operation

Acceleration time

Deceleration time

Speed

Maximum speed

3) 3)

1

2

3

4

Operation speed 1

Target address 1

START command

Interrupt input (INT0)

OFF

OFF

2)

ON

ON

Time

ON

ON ON

Positioning completion

OFF

OFF

1) Set the operation speed 1 and target address 1 (maximum travel distance).

2) Select the Interrupt stop operation from operation patterns and activate the START command to start the

Interrupt stop operation at operation speed 1 (above figure).

(The positioning completion signal is turned OFF.)

3) At interrupt input (INT0) ON, before target address 1, the work piece decelerates to stop, and the operation ends, turning the positioning completion signal ON.

When the interrupt input (INT0) does not turn ON before target address 1, the work piece decelerates to stop at target address 1, and the operation ends, turning the positioning completion signal ON.

2. Operation Speed

Actual operation speed is "operation speed 1

× override setting."

Operation speed 1 can be changed using the operation speed change function except for the following conditions.

• During deceleration operation

• When the speed change disable during operation signal is ON.

3. Address Specification

Absolute/Relative address can be specified.

With the specified absolute address: Specifies a target address (position) using address 0 as the base.

With the specified relative address: Specifies a travel distance from the current address.

4. Rotation Direction

With the specified absolute address: The rotation direction depends on whether the target address 1 is larger or smaller than the current address.

With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1.

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9.7 Variable Speed Operation

9.7

Variable Speed Operation

For details on the operation speed change, refer to Section 7.5

For details on torque limit, refer to Subsection 7.6.3

For details on STOP command, refer to Section 7.4

For details on the related parameters, control data, and monitor data, refer to Section 9.12

1. Operation

Speed

Acceleration Time

Maximum speed

Deceleration time

3)

2)

Select operation pattern

(variable speed operation)

OFF

ON

Operation speed 1

OFF

ON

Time

Operation speed 1

Positioning completion

1200

ON

OFF

800 0 400 1200

1) Set the operation speed 1 to a value other than 0.

2) Select the variable speed operation from the patterns to start the variable speed operation (above figure).

(The positioning completion signal is turned OFF.)

3) When selecting an operation pattern other than the variable speed operation, the work piece decelerates to stop and the operation ends.

(Positioning completion signal remains OFF.)

Note

• When setting the operation speed to 0, the work piece decelerates to stop, but the variable speed operation does not end.

The operation pattern should be changed to another pattern when terminating the variable speed operation.

• At STOP command ON, the work piece decelerates to stop.

Note that the operation restarts at STOP command OFF.

2. Operation speed

Actual operation speed is "operation speed 1 x override setting."

3. Rotation Direction

The operation direction is decided by the sign of operation speed 1.

+: Operates in the direction which increases the current value.(Decelerates to stop when the value is 0.)

-: Operates in the direction which decreases the current value.

If the sign of the operation speed value changes, the reverse operation starts after decelerating to stop.

Caution

An abrupt change of the rotation direction may damage the machine.

It may also cause an error by motor overload.

To change the rotation direction, set the operation speed 1 value to 0, and wait for the motor to stop completely after decelerating to stop.

If the operation speed 1 value changes from positive to negative (e.g. 100

→ -100), the work piece decelerates to stop, and 20SSC-H starts the reverse operation immediately.

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9.8 Multi-Speed Operation

9.8

Multi-Speed Operation

The multi-speed operation is positioning procedure, available only in the table operation.

For the details to control by table operation, and to change the operation speed, refer to the following section.

For details on the table operation, refer to Chapter 10

For details on the operation speed change, refer to Section 7.5

For details on torque limit, refer to Subsection 7.6.3

For details on STOP command, refer to Section 7.4

For details on the related parameters, control data, and monitor data, refer to Section 9.12

1. Operation

Acceleration time

Deceleration time

Maximum speed

Speed

(table No.1)

Speed information

Position information

(table No.2)

Speed information

Position information

(table No.3)

Speed information

Position information

ON

Time

START command

OFF

Positioning completion

ON ON

OFF

1) Set the operation information, speed information, and position (address) information for each table.

2) When rebooting the START command at the table operation start number with the specified multi-speed operation, 20SSC-H starts the positioning operation from the designated table number.

(The positioning completion signal is turned OFF.)

3) The operation continuously executes the table positioning until the END command. (above figure)

4) The work piece decelerates to stop at the specified position (address) in the table before the END command. When the operation ends, the positioning completion signal turns ON.

1

2

3

4

5

6

POINT

• In multi-speed operation, preparation for the next table number operation is performed simultaneously with the current operation.

If a travel distance to shift the operation speed is less than the pulses to accelerate/decelerate, or if the travel time is too short (at 50 ms or less), the current operation does not continue and temporarily stops.

• When using m code in multi-speed operation, use With mode.

With the m code in After mode, operation does not continue from the table since the 20SSC-H suspends the operation shift to the next table until the m code turns OFF .

• Multi-speed operation ends if another operation information is performed during the multi-speed operation.

2. Operation information

Set multi-speed operation, absolute address specification, relative address specification and end in the operation information.

For details, refer to Chapter 10

3. Speed information

Actual operation speed is "operation speed 1

× override setting."

Operation speed 1 can be changed using the operation speed change function except for the following conditions.

• During deceleration operation

• When the speed change disable during operation signal is ON.

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4. Position (address) information

Absolute address and relative address can be specified in the operation information.

With the specified absolute address: Specifies a target address (position) using address 0 as the base.

With the specified relative address: Specifies a travel amount from the current address.

5. Rotation Direction

With the specified absolute address: The rotation direction depends on whether the target address 1 is larger or smaller than the current address.

With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1.

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9.9 Liner Interpolation Operation

9.9

Liner Interpolation Operation

For details on the operation speed change, refer to Section 7.5

For details on torque limit, refer to Subsection 7.6.3

For details on STOP command, refer to Section 7.4

For details on the related parameters, control data, and monitor data, refer to Section 9.12

1. Operation

Y axis

Interpolation time constant

Interpolation time constant

Target address 1

(X,Y axis)

Speed

Maximum speed

Vector speed

(operation speed 1

of X axis)

Target address 1

(X,Y axis)

X axis

START command

OFF

ON

Positioning completion

ON

OFF

ON

Time

1) Set operation speed 1 of X-axis and target address 1 of X/Y-axis.

2) Select the linear interpolation operation from the operation pattern of X-axis and activate the START command of X-axis. The linear interpolation operation shown above will be started at vector speed

(X-axis operation speed 1). (The positioning completion signal is turned OFF.)

The operation pattern and START command of Y-axis are ignored.

3) The work piece stops at the XY coordinate in target address 1, and the operation ends, turning the positioning completion signal ON.

POINT

• The positioning completion signal turns ON if the travel distance is 0.

If the travel distance is 0 or the travel time is too short, however, it is impossible for the sequence program to detect the positioning completion signal turning OFF.

• When interpolation operation is continued in table operation, it is continuous pass operation.

For details on the continuous pass operation, refer to Section 10.10

2. Operation speed

Actual operation speed (vector speed) is "X-axis operation speed 1 x X-axis override setting."

Operation speed 1 of X-axis can be changed using the operation speed change function except for operating under the following conditions.

• During deceleration operation

• When the speed change disable during operation signal is ON.

3. Address specification

Absolute/relative address can be specified.

With the specified absolute address: Specifies a target address (position) using address 0 as the base.

With the specified relative address: Specifies a travel amount from the current address.

4. Rotation Direction

With the specified absolute address: The rotation direction depends on whether the target address 1 is larger or smaller than the current address.

With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1.

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9.10 Linear Interpolation Operation (Interrupt Stop)

9.10

Linear Interpolation Operation (Interrupt Stop)

For details on the operation speed change, refer to Section 7.5

For details on torque limit, refer to Subsection 7.6.3

For details on STOP command, refer to Section 7.4

For details on the related parameters, control data, and monitor data, refer to Section 9.12

1. Operation

Y axis

Interpolation time constant

Interpolation time constan

Speed

Target address

(X,Y axis)

Maximum speed

3) 3)

X axis

START command

OFF

2)

ON

Vector speed

(operation speed of X axis)

Target address 1

(X,Y axis)

Time

ON

X-axis interrupt input

(INT0)

OFF

ON

ON ON

Positioning completion

OFF

OFF

1) Set operation speed 1 of X-axis and target address 1(maximum travel distance) of X/Y-axis.

2) Select the linear interpolation operation (interrupt stop) from the operation pattern of X-axis and activate the START command. The linear interpolation operation (interrupt stop) shown above will be started at vector speed (X-axis operation speed 1). (The positioning completion signal is turned OFF.)

The operation pattern and START command of Y-axis are ignored.

3) At interrupt input (INT0) ON before the XY coordinate in target address 1, the work piece decelerates to stop, and the operation ends, turning the positioning completion signal ON.

When the interrupt input (INT0) does not turn ON before the XY coordinate in target address 1, the work piece moves to the target address 1, and the operation ends, turning the positioning completion signal

ON.

Note

When interpolation operation continues in table operation, it is continuous pass operation.

For details on the continuous pass operation, refer to Section 10.10

2. Operation speed

Actual operation speed (vector speed) is "X-axis operation speed 1 x X-axis override setting."

Operation speed 1 of X-axis can be changed using the operation speed change function except for operating under the following conditions.

• During deceleration operation

• When the speed change disable during operation signal is ON.

3. Address specification

Absolute/relative address can be specified.

With the specified absolute address: Specifies a target address (position) using address 0 as the base.

With the specified relative address: Specifies a travel amount from the current address.

4. Rotation Direction

With the specified absolute address: The rotation direction depends on whether the target address 1 is larger or smaller than the current address.

With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1.

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9.11 Circular Interpolation Operation

9.11

Circular Interpolation Operation

The circular interpolation operation is a positioning procedure, available only in the table operation.

The circular interpolation operation has the center coordinate specification/radius specification format.

For details on controlling by table operation, and changing the operation speed, refer to the following section.

For details on the table operation, refer to Chapter 10

For details on the operation speed change, refer to Section 7.5

For details on torque limit, refer to Subsection 7.6.3

For details on STOP command, refer to Section 7.4

For details on the related parameters, control data, and monitor data, refer to Subsection 9.12

For details on the radius specification, refer to Subsection 9.11.2

9.11.1 Circular interpolation [center coordinate specification]

The work piece moves from the start point to the target address, following the circular arc locus around the specified center coordinate.

1. Operation

Interpolation time constant

Interpolation time constant

Target address 1 (X,Y axis)

Speed

Maximum speed

CW

(Clockwise)

START point

Center (i,j)

CCW

(Counterclockwise)

Vector speed

(operation speed 1

of X axis)

Target address

(X,Y axis)

ON

Time

START command

OFF

ON

Positioning completion

ON

OFF

1) Set table information, X-axis speed, X/Y axis position (address) information and center coordinate in the

XY table information.

2) When turning the X-axis START command ON at the table operation start number with the specified circular interpolation (center, CW direction) / (center, CCW direction), the work piece moves to the target position at the specified speed, following the circle’s center coordinate.

3) The work piece stops at the XY coodinate in target address 1, and the operation ends, turning the positioning completion signal ON.

Note

• The center coordinate is always handled as a relative address from the start point.

• When setting the same address for the start and target points, the work piece moves in a perfect circle.

The center coordinate specification is available in the perfect circle operation.

• During continuous pass operation

If the circular path is too short and the travel time from the start point to the target point is shorter than the interpolation time constant, the operation temporarily stops and shifts to the next interpolation operation.

• When interpolation operation is continued in table operation, it becomes a continuous pass operation.

For details on the continuous pass operation, refer to Section 10.10

2. Operation information

Set a circular interpolation operation ("center, CW direction" or "center, CCW direction") and an absolute/ relative address in the operation information.

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9.11 Circular Interpolation Operation

3. Speed information

Actual operation speed (vector speed) is "X-axis operation speed 1 x X-axis override setting."

Operation speed 1 of X-axis can be changed using the operation speed change function except for operating under the following conditions.

• During deceleration operation

• When the speed change disable during operation signal is ON.

4. Position (address) information

Absolute address and relative address can be specified in the operation information.

With the specified absolute address: Specifies a target address (position) using address 0 as the base.

With the specified relative address: Specifies a travel amount from the current address.

5. Circle information (center coordinate)

Set the center coordinate (i, j) by a relative address from a start point.

9.11.2 Circular interpolation [radius specification]

The work piece moves in a circular arc with a specified radius from the start point to the target address.

1. Operation

Interpolation time constant

Interpolation time constant

Clockwise

Big circle (b)

Radius

-r

Target address

(X,Y axis)

Small circle (a)

START point

Radius

+r

Speed

Maximum speed

Vector speed

(operation speed 1

of X axis)

Target address

(X,Y axis)

Time

ON

START command

OFF

Positioning completion

ON

ON

OFF

1) Set table information, X-axis speed, X/Y axis position (address) and radius in the XY table information.

2) When turning the X-axis START command ON at the table operation start number with the specified circular interpolation (radius, CW direction) / (radius, CCW direction), the work piece moves to the target position at the specified speed, following the circle’s center coordinate calculated from the start point, target position and radius.

3) The work piece stops at the XY coodinate in the target address 1, and the operation ends, turning the positioning completion signal ON.

Note

• The radius is specified as r. When r is a positive value, the small circle (a) path is selected and when it is negative, the big circle (b) path is selected.

• Pulse rate and feed rate

During the circular interpolation operation, the radius value is kept constant and pulses are allocated to the

X and Y axes. If the ratio of the pulse rate to the feed rate differs between the X-axis and Y-axis, the circle becomes deformed.

• Use the center coordinate specification in a perfect circle operation.

• During continuous pass operation

If the circular path is too short and the travel time from the start point to the target point is shorter than the interpolation time constant, the operation temporarily stops, and shifts to the next interpolation operation.

• When interpolation operation is continued in table operation, it becomes a continuous pass operation.

For details on the continuous pass operation, refer to Section 10.10

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9.12 Parameter, Control Data, Monitor Data and Table

2. Operation information

Set a circular interpolation operation ("radius, CW direction" or "radius, CCW direction") and an absolute/ relative address in the operation information.

For details, refer to Chapter 10

3. Speed information

Actual operation speed (vector speed) is "X-axis operation speed 1 x X-axis override setting."

Operation speed 1 of X-axis can be changed using the operation speed change function except for operating under the following conditions.

• During deceleration operation

• When the speed change disable during operation signal is ON.

4. Position (address) information

Absolute address and relative address can be specified in operation information.

With the specified absolute address: Specifies a target address (position) using address 0 as the base.

With the specified relative address: Specifies a travel amount from the current address.

5. Circle information (radius)

Set the radius of a circular by r.

With specified positive (+) value: Operates the small circle (a) path.

With specified negative (-) value: Operates the big circle (b) path.

9.12

Parameter, Control Data, Monitor Data and Table Information

Item

Positioning Parameters

Maximum speed

Acceleration time

Deceleration time

Interpolation time constant

Monitor data

Current address (user)

Current address (pulse)

Control data

Target address1

Operation speed 1

Target address2

Operation speed 2

Override setting

Operation command 1

BFM #501,#500

BFM #503,#502

BFM #505,#504

BFM #507,#506

BFM #508

Relative/Absolute address

specification

BFM #518 b8

START command

Simultaneous START flag

Speed change disable during operation

X-axis

BFM #14009,#14008

BFM #14018

BFM #14020

BFM #14022

BFM #1,#0

BFM #3,#2

BFM #518 b9

BFM #518 b10

BFM #518 b12

BFM Number

Y-axis

BFM #14209,#14208

BFM #14218

BFM #14220

BFM #14222

BFM #101,#100

BFM #103,#102

BFM #601,#600

BFM #603,#602

BFM #605,#604

BFM #607,#606

BFM #608

BFM #618 b8

BFM #618 b9

BFM #618 b10

BFM #618 b12

Description

Setting range: 1 to 2,147,483,647

(user unit)

*1

Setting range: 1 to 5000 ms

Unit: user unit

Unit: PLS

*1

Setting range: -2,147,483,648 to

2,147,483,647

(user unit)

*1

Setting range: 1 to 30000(x 0.1%)

OFF: Operates absolute address

ON : Operates relative address

(This parameter is disabled during a table operation.)

At this command OFF

→ ON, 20SSC-H starts a positioning operation in a selected motion pattern.

At X-axis START command ON while this flag ON, operations at X and Y axis starts simultaneously .

OFF: Enables the operation speed and target position change commands.

ON: Disables the operation speed and target position change commands.

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9 Positioning Control

9.12 Parameter, Control Data, Monitor Data and Table

X-axis

BFM Number

Y-axis

Control data

Operation pattern selection BFM #520 b0 BFM #620 b0

Table Information

For details on the table operation, refer to the following.

Operation information

Position (address) data

Refer to Section 11.5

Speed information

*1.

For details on the units, refer to the following.

Description

Select motion patterns.

b0 : 1-speed positioning operation b1 : Interrupt 1-speed constant quantity feed b2 : 2-speed positioning operation b3 : Interrupt 2-speed constant quantity feed b4 : Interrupt stop b5 : Variable speed operation b6 : Manual pulse generator operation b7 : Linear interpolation operation b8 : Linear interpolation (interrupt stop) operation b9 : Table operation (individual) b10: Table operation (simultaneous)

Refer to Chapter 10 and Section 11.5

Set operation information.

Refer to subsection 10.1.3

Set the target address.

Setting range: -2,147,483,648 to

2,147,483,647

(user unit)

*1

Set the operation speed.

Setting range: 1 to 50,000,000

(user unit)

*1

Refer to Section 7.7

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10.1 Outline of Table Operation

1

10. Table Operation

10.1

Outline of Table Operation

This section describes the table information setting and table operation motions.

For details on positioning in table operation, refer to the following.

For details on each positioning operations, refer to Chapter 9

About the table operation

"Table operation" executes preset motion patterns of positioning operations from the table information. By table operation, 20SSC-H continues the supported positioning operation while also combining motion patterns. A few positioning operations are available in table operation only.

Positioning operations for table operation only

• Multi-speed operation

• Circular interpolation

• Continuous pass operation

10.1.1 Applicable positioning operations for table operation

• Applicable positioning operations for table operation

- 1-speed positioning operation

- Interrupt 1-speed constant quantity feed

- 2-speed positioning operation

- Interrupt 2-speed constant quantity feed

- Interrupt stop

- Multi-speed operation

- Linear interpolation

*1

- Linear interpolation (interrupt stop)

*1

- Circular interpolation

*1

- Mechanical zero return

• Inapplicable positioning operations for table operation

- Variable speed operation

- Manual pulse generator

- JOG operation

*1.

Continuous pass operation in which interpolation operation is continuously executed is supported.

For details on continuous operation, refer to section 10.10

10.1.2 Types of table information and number of registered tables

Type of table information

X-axis table information

Y-axis table information

XY-axis table information

Number of registered tables

300 tables

300 tables

300 tables

Table number

0 to 299

0 to 299

0 to 299

2

3

4

5

6

7

8

9

10

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10.1 Outline of Table Operation

10.1.3 Table information setting items

Setting item

Operation information

*1

Position information

(x,y)

Content

Sets a positioning operation in table operation along with a current address change, etc.

No processing

m code

End

1-speed positioning

Interrupt 1-speed constant quantity feed

2-speed positioning

Interrupt 2-speed constant quantity feed

Interrupt stop

Multi-speed operation

(requires multiple tables)

Linear interpolation

Linear interpolation (interrupt stop)

-

-

Circular interpolation

(center, CW direction)

Circular interpolation

(center, CCW direction)

Circular interpolation

(radius, CW direction)

Circular interpolation

(radius, CCW direction)

Mechanical zero return

Current address change

Absolute address specification

Relative address specification

Dwell

Jump

Sets the following items depending on the settings in operation information.

• In positioning operations

Set the target address

Setting range: -2,147,483,648 to 2,147,483,647 (user unit)

*2

Set the value within -2,147,483,648 to 2,147,483,647PLS in converted pulse data.

• In current address changes

Set the new current address.

Setting range: -2,147,483,648 to 2,147,483,647 (user unit)

*2

Set the value within -2,147,483,648 to 2,147,483,647PLS in converted pulse data.

Type of table information

Xaxis

Yaxis

XYaxis

"

"

"

"

"

"

• In Dwell

Set a dwell time.

Setting range: 0 to 32767(

×

10ms)

Speed information

(fx,f,fy)

Circle information

(i,r,j) m code information

*3

• In Jump

Set the jump No. table.

Setting range: 0 to 299

Set the operation speed.

Setting range: 1 to 50,000,000 (user unit)

*2

Set the value within 1 to 50,000,000Hz in converted pulse data.

Set the center coordinate and radius of the circle during circular interpolation operation.

Setting range: -2,147,483,648 to 2,147,483,647 (user unit)

*2

Set the value within -2,147,483,648 to 2,147,483,647PLS in converted pulse data.

Sets m codes.

• No m code ....................-1

• After-mode m code.......0 to 9999

• With-mode m code .......10000 to 32767

"

-

"

"

-

"

"

"

"

*1.

The operation information in the buffer memory has numerical value settings for instructions (e.g. DRV or DRVZ).

No processing m code

End

Type

1-speed positioning operation

Symbol

NOP

NOP

END

X-axis DRV_X

Y-axis DRV_Y

XY-axis DRV_XY

2

3

0

1

-1

-1

Setting value

-

"

-

"

Position informatio n x

-

-

y

-

-

-

"

"

Speed information

-

"

-

"

fx/f

-

-

-

-

"

fy

-

-

"

Circle information

-

-

-

-

i/r

-

-

-

-

-

-

j

-

-

m code information

"

"

-

"

-

"

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10.1 Outline of Table Operation

1

Interrupt 1-speed constant quantity feed

X-axis SINT_X

Y-axis SINT_Y

XY-axis SINT_XY

2-speed positioning operation

(2 tables used)

Interrupt 2-speed constant quantity feed (2 tables used)

Y-axis DINT_Y

Interrupt stop

Multi-speed operation

(requires multiple tables used)

Linear interpolation

Linear interpolation (interrupt stop)

Absolute address specification

Relative address specification

X-axis INT_X

Y-axis INT_Y

XY-axis INT_XY

X-axis DRVC_X

Y-axis DRVC_Y

LIN

LIN_INT

Circular interpolation (center, CW direction) CW_i

Circular interpolation (center, CCW direction) CCW_i

Circular interpolation (radius, CW direction) CW_r

Circular interpolation (radius, CCW direction) CCW_r

Mechanical zero return

X-axis DRVZ_X

Y-axis DRVZ_Y

XY-axis DRVZ_XY

X-axis SET_X

Current address change Y-axis SET_Y

XY-axis SET_XY

ABS

INC

Dwell

Jump

Type Symbol

X-axis DRV2_X

Y-axis DRV2_Y

XY-axis DRV2_XY

X-axis DINT_X

XY-axis DINT_XY

TIM

JMP

Setting value

4

5

6

7

8

9

10

11

12

"

"

-

"

-

-

"

-

-

"

"

"

Position informatio n x

"

y

-

"

"

-

-

"

"

"

"

-

-

"

-

"

"

-

"

-

-

"

"

"

25

26

27

90

21

22

23

24

91

92

93

94

17

19

20

13

14

15

16

-

"

"

-

"

-

"

"

"

"

-

"

-

-

"

"

95

96

-

"

-

-

-

"

-

"

-

"

-

-

-

"

"

"

"

"

-

-

-

-

"

"

Speed information

-

"

"

"

"

-

"

"

"

"

"

"

-

-

-

-

-

-

-

-

-

-

-

-

-

-

"

"

"

"

"

fx/f

"

-

"

"

-

-

"

"

-

-

"

"

"

"

"

fy

-

"

"

-

-

"

-

-

-

"

"

-

"

"

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

Circle information m code information

"

"

"

"

"

"

"

"

"

"

"

"

"

"

-

"

"

"

-

-

"

"

"

"

-

"

-

"

-

"

-

"

"

"

-

"

"

"

"

"

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

j

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

"

"

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

i/r

-

-

-

-

-

-

-

-

-

-

-

-

-

-

"

"

*2.

For details on the user unit, refer to the following.

Refer to section 7.7

*3.

The m code is an auxiliary command to support positioning data in execution.

For details on m code, refer to the following.

Refer to section 10.9

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6

7

8

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10.1 Outline of Table Operation

10.1.4 Table operation execution procedure

The following shows the procedure for executing table operation and describes the operation.

1

Set the operation pattern of the control data and the table start No.

Item

BFM number

X-axis Y-axis

Content

Operation pattern selection BFM #520 BFM #620

Table operation start No.

BFM #521 BFM #621 b9 : Table operation (individual)

Table operation is executed by X-axis table data and Y-axis table data.

b10: Table operation (simultaneous)

Table operation is executed by XY-axis table data.

Specify the table No. of the table operation to be executed.

When setting the table operation (simultaneous) in operation patterns, set Xaxis table operation start No. only.

Setting range : 0 to 299

Writing table operation data

Write table operation data to buffer memory beforehand, following the procedure below:

• Transfer the table information from the 20SSC-H flash memory to buffer memories (only while power ON)

Refer to Chapter 6

• Write (transfer) table data to buffer memories with FX Configurator-FP.

For details on operation, refer to the FX Configurator-FP Operation Manual

• Write table information by a sequence program.

For an explanation of applied instructions, refer to the Programming Manual

• Change (write) table information by the test function in GX Developer's BFM monitor.

For details on operation, refer to the GX Developer Operating Manual

2

When rebooting the START command, executes the table operation.

When operating XY-axis table information, turn the START command of the X-axis from OFF to ON.

3

20SSC-H executes table operation in numerical order the table operation start No.

20SSC-H executes table operation in numerical order until the table No. with END command in operation information.

4

After executing the table No. in operation information, the table operation ends.

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10.2 How to Set Table Information

10.2

How to Set Table Information

20SSC-H has 2 procedures to set table information, via FX Configurator-FP or by a sequence program.

Setting table information by sequence program

To set table information by sequence program, write each setting to 20SSC-H buffer memory by TO instruction, or move instructions (MOV, etc.) for direct specification.

For details on buffer memory assignments, refer to the following.

Refer to Sections 10.3 and 11.5

Note

It is strongly recommended to set and store table information in the flash memory via FX Configurator-FP.

When table information is set by sequence program, a considerable amount of the sequence program and devices are used, which makes the program complicated and increases the scan time.

Setting table information on FX Configurator-FP

Set value with the X-axis, Y-axis, XY-axis table information edit windows in FX Configurator-FP.

For details on operation of FX Configurator-FP, refer to the following manual.

FX Configurator-FP Operation Manual

• Operation method

1) Double-click "File name"

→"Edit"→"X-axis table information", "Y-axis table information" or "XY-axis table information" in the file data list.

2) The selected X-axis table information, Y-axis table information or XY-axis table information edit window is displayed.

Note

Note that the procedures to set the table information from FX Configurator-FP and a sequence program are different.

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The position of the operation information is different.

a) Position information b) Speed information c) Operation information d) m code information e) Circle information

1) X-axis, Y-axis table information

Buffer memory a) b)

Table No.

0

1

2

5

6

3

4

Position information

5000

2000

100

*1

0

*2

0

-

-

*1, *2 The setting method for the following

information is different.

Speed information

5000

2500

-

-

-

200000

-

Dwell time

Buffer memory Set in position information.

FX Configurator-FP Set in time

Jump point table No.

Buffer memory Set in position information.

FX Configurator-FP Set in jump No.

c)

Operation information

7

*3

7

*3

95

96

0

1

0

FX Configurator-FP c) a) b) *1 *2 d) d) m code information

-1

-1

-1

-1

-

-1

-

*3

*3

10 Table Operation

10.2 How to Set Table Information

*3 In 2-speed positioning operation and interrupt 2-speed constant quantity feed operation, two setting rows are required.

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10.2 How to Set Table Information

2) XY-axis table information

Buffer memory a)

Table No.

0

1

2

3

4

5

6

7 b) e)

Position information

X-axis

5000

2000

100

-

-

*1

5000

2000

-

-

-

Speed infornation

Y-axis X-axis

5000

2500

-

-

-

2500

-

-

-

Circle infornation

Y-axis X-axis

5000

-

-

-

-

-

Y-axis

-

-

-

-

-

0

-

-

-

0

-

5000

-

-

-

5000

-

-

-

-

-

-

c)

Operation information

9

*2

9

*2

95

0

-1

1

2

0

*1 The setting method for the following information is different.

Dwell time

Buffer memory Set in position information.

FX Configurator-FP Set in time

Jump point table No.

Buffer memory Set in position information.

FX Configurator-FP Set in Jump No.

FX Configurator-FP c) a) b) e) *1 d) d) m code information

-1

-1

-1

-

-

-1

-1

-

1

2

3

4

5

*2

*2

6

*2 In 2-speed positioning operation and interrupt

2-speed constant quantity feed operation, two setting rows are required.

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8

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10

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10.3 Tables and BFM No. Allocation

10.3

Tables and BFM No. Allocation

Stores the table operation information to the 20SSC-H buffer memory. There are 2 BFM types, one for operation by individual axis (X/Y axis) and the other for XY-axis simultaneous operation.

Table No.

0

Position information

Speed information

Circle information

Operation information m code information

Items

Position data x

Position data y

Speed data f, fx

Speed data fy

Center coordinate i, radius r

Center coordinate j

X-axis table information

BFM #1001, #1000

-

BFM #1003, #1002

-

BFM No.

Y-axis table information

-

BFM #4000, #4001

-

BFM #4002, #4003

-

-

BFM #4004

BFM #4005

XY-axis table information

BFM #7001, #7000

BFM #7003, #7002

BFM #7005, #7004

BFM #7007, #7006

BFM #7009, #7008

BFM #7011, #7010

BFM #7012

BFM #7013

299

Position information

Speed information

Circle information

Operation information m code information

Position data x

Position data y

Speed data f, fx

Speed data fy

Center coordinate i, radius r

Center coordinate j

-

-

BFM #1004

BFM #1005

:

BFM #3991, #3990

-

BFM #3993, #3992

-

-

-

BFM #3994

BFM #3995

BFM #12981, #12980

BFM #6991, #6990 BFM #12983, #12982

BFM #12985, #12984

BFM #6993, #6992 BFM #12987, #12986

BFM #12989, #12988

-

BFM #6994

BFM #6995

BFM #12991, #12990

BFM #12992

BFM #12993

Note

• The save command (BFM #523 b2 to b4) writes and stores the BFM table information in the 20SSC-H flash memory.

• The default value for table information is "-1".

• 20SSC-H stores the executing table number in executing table number (BFM #16, #116).

Caution for setting

Selecting the following patterns in the operation information requires two tables.

• 2-speed Positioning operation

• Interrupt 2-speed constant quantity feed

In the case of X-axis, Y-axis table information

Table No.

0

1

Position information

500

3000

Speed information

500

300

Operation information

7

7 m code information

-1

-1

One positioning operation is performed using two tables. (*1)

10

11

5000

3000

500

1000

7

3

-1

-1

In the case of XY-axis table information

Table No.

0

1

Position information

Speed information

Circle data

X-axis Y-axis X-axis Y-axis X-axis Y-axis

5800

3000

10000

5000

5000

1000

6000

1200

-

-

-

-

Operation information

9

9

When only 1 table is set, the next table (table No.11) is judged to be the 2nd speed of table No.10 and operation is performed using that table information.

(*2) m code information

-1

-1

*1

10

11

500

800

1000

1500

500

1000

600

1200

-

-

-

-

9

3

-1

-1

*2

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10.4 Current Position Change

10.4

Current Position Change

This operation information changes the current address (user/pulse) value to the one specified in the position

(address) information.

10.5

Absolute Address Specification

This operation information sets the position data of subsequent table operations to an absolute address based on the (0, 0) point.

Note

• When table operation is started, the position information in handled on the absolute address specification

(default). To use position information by relative addresses, the operation information of positioning control must be set beforehand.

• The arc center (i , j), radius r, Interrupt 1-speed constant quantity feed and, Interrupt 2-speed constant quantity feed setting items are handled as relative addresses.

10.6

Relative address specification

This operation information sets the position data of subsequent table operations to a relative address based on the current address.

Point

When table operation is started, the position information in handled on the absolute address specification

(default). To use position information by relative addresses, the operation information of positioning control must be set beforehand.

10.7

Jump

When executing this operation information, jumps to the specified table No..

Note that table No. does not jump from X-axis table information to Y-axis table information.

Set the table No. of the jump point to the position information of the table information in buffer memory.

(On FX Configurator-FP, set the table No. of the jump point by the Jump No.)

10.8

Dwell

When executing this operation information, operation waits for the specified time. A dwell is used as a wait to move between operations.

Set the dwell by the position information of the table information in the buffer memory.

(On FX Configurator-FP, set the dwell by the Time.)

1

2

3

4

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6

7

8

9

10

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10 Table Operation

10.9 m code

10.9

m code

The m code is an auxiliary command to support positioning data in execution.

When an m code turns ON in table operation, 20SSC-H stores the table No. in monitor data as an m code number, while also turning ON the m code ON flag in status information.

There are two modes for m code, after mode and with mode, and each mode has a different ON timing.

Mode

after mode with mode

Content

The m code turns ON when the operation of table information is completed.

The m code turns ON when the operation information is started.

m code No.

0 to 9999

10000 to 32767

10.9.1 After mode

The specified m code turns ON after the operation.

For details on related setting items, refer to Subsection 10.9.3

1. Operation

Speed m code No.

m code ON

OFF m code OFF command OFF

-1

ON

10 -1

OFF

ON

OFF

ON

11

OFF

ON

Time

Table No.

0

1

2

1

-1

0

Operation information

(1-speed positioning)

(no processing)

(END) m code information

10 (after mode)

11

(after mode)

-1

1) When the table No. 0 operation with m code "10" ends, the m code ON flag in the status information turns

ON, and the 20SSC-H stores "10" in the m code No. of monitor data.

2) At m code OFF, the m code ON flag and m code itself turns OFF, and 20SSC-H stores "-1" in the m code

No. of monitor data.

3) At m code OFF, 20SSC-H executes the next table No..

Note

• With after-mode m codes in multi-speed operations and continuous pass operations, the operation does not continue the table since 20SSC-H suspends the operation until m code OFF.

• With "0" in m code information, 20SSC-H turns to standby mode. With start command or m code OFF command, the m code turns OFF.

• To turn only the m code ON without performing positioning operation, set "m code" to the operation information of the table information, and set the m code information.

2. Available m code Nos.

To use m code in the after mode, set m code in the range 0 to 9999 to the m code information.

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10.9 m code

10.9.2 With mode

The specified m code turns ON when the operation starts.

For details on related setting items, refer to Subsection 10.9.3

1. Operation

Speed

Time m code No.

m code ON

OFF m code OFF command

OFF

-1 10010

ON

-1

OFF

ON

OFF

ON

10011

OFF

ON

-1

1

2

3

4

Table No.

0

1

2 0

Operation information

1 (1-speed positioning)

1 (1-speed positioning)

(END) m code information

10010 (with mode)

10011

(with mode)

-1

1) 20SSC-H stores "10010" in the m code No. of monitor data while also starting table No. 0 with "10010" and turning ON the m code ON flag in the status information.

2) At m code OFF, the m code ON flag and m code itself turns OFF, and 20SSC-H stores "-1" in the m code

No. of monitor data.

3) When operation of the operation information is completed, the next table No. is executed even if the m code OFF command does not turn ON .

Note

• With "0" in m code information, 20SSC-H turns to standby mode. With start command or m code OFF command, the m code turns OFF.

• 20SSC-H continues operating while multi-speed operation and continuous pass operation without m code

OFF commands. The specified m codes also turn ON in numerical order.

Speed

Time m code No.

m code ON

OFF m code OFF command

OFF

ON

10010 -1

OFF

ON

OFF

ON

10011 10012 -1

OFF

ON

OFF

The next operation is executed even if the m code OFF command is not ON.

2. Available m code Nos.

To use the m code in the with mode, set the m code in the range from 10000 to 32767.

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10

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10.9.3 Related buffer memory

Item

Control data

Operation command 1

Monitor data m code No.

Status information m code OFF command m code ON

X-axis

BFM number

Y-axis

BFM #518 b11 BFM #618 b11

BFM #9

BFM #28 b8

BFM #109

BFM #128 b8

10 Table Operation

10.9 m code

Content

When this command is ON, the m code is turned

OFF and -1 is stored to the m code No.

Stores the m code number in ON state.

Stores -1 when the m code is OFF.

This flag turns ON when an m code turns ON.

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10 Table Operation

10.10 Continuous Pass Operation

10.10 Continuous Pass Operation

Continuously executing interpolation operation (linear interpolation, circular interpolation) results in a continuous pass operation.

1. Operations valid for continuous pass operation

• Operations that result in continuous pass operation

• Operations that do not result in continuous pass operation

- Linear interpolation

- Circular interpolation

- Variable speed operation

- Manual pulse generator

- JOG operation

- 1-speed positioning operation

- Interrupt 1-speed constant quantity feed

- 2-speed positioning operation

- Interrupt 2-speed constant quantity feed

- Interrupt stop

- Variable speed operation

- Multi-speed operation

- Linear interpolation (interrupt stop)

- Mechanical zero return

- Dwell

- End

Note

• The number of continuous passes is not limited.

• Continuous pass operation does not continue if interpolation operations include the following:

- No processing

- Jump

• Continuous pass operation is not executed if the program contains the following typea of instructed interpolation operation:

- When after mode m code are set

- When the travel time of the operation is 50 ms or less

- When the travel time of the operation is “interpolation time constant

× 2” or less

- When the preparation for the next operation (information pre-reading) is not in time

2. Content of continuous pass operation

• Consecutive interpolation instructions do not stop, and inflection points become smooth curves.

The radius of curvature varies depending on the interpolation time constant.

A larger interpolation time constant makes a larger radius of curvature.

• To draw a precise locus, apply circular interpolation operations.

• When the speeds between each interpolation operation differ, the velocity becomes the composite speed with the one at the next step.

Y-axis Inflection point

1

2

3

4

5

6

7

8

Curve

9

Speed

X-axis

Interpolation time constant

When this period becomes lager, the radius of curatre becomes larger.

10

Time

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11 Buffer Memory (Parameters & Monitored Data)

11.1 Positioning Parameters

11. Buffer Memory (Parameters & Monitored Data)

11.1

Positioning Parameters

The positioning parameters to set speed and units of measurement.

The BFMs in positioning parameters are readable/writable.

For X-axis: BFM #14000 to #14199

For Y-axis: BFM #14200 to #14399

Caution

Do not use unlisted BFMs for changing values not described in this section.

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

BFM Number

X-axis Y-axis

BFM

#14000

BFM

#14200

Bit

Number

Description Default

b0 b1

System of units (user unit)

*1

(b1,b0)=00: motor system

(b1,b0)=01: mechanical system

(b1,b0)=10: composite system

(b1,b0)=11: composite system b2 b3

User unit setting

*1

(b1,b0)=00:

µm, cm/min

(b1,b0)=01: 10

-4 inch, inch/min

(b1,b0)=10: mdeg, 10deg/min

(b1,b0)=11: not available b4 b5

Position data magnification

*2

Position data can be multiplied by 1, 10, 100, and 1000 times.

(b5,b4)=00: 1 time

(b5,b4)=01: 10 times

(b5,b4)=10: 100 times

(b5,b4)=11: 1000 times b6 to b9 Not available b10

Zero return direction

1: In zero return, starts operation toward the direction increasing current value.

0: In zero return, starts operation toward the direction decreasing current value.

For details on the zero return operation, refer to Section 8.1 b11 b12 b13 b14

Acceleration/deceleration mode

1: Operates in approximate S-shaped acceleration/deceleration.

(Trapezoidal ACC/DEC in interpolations)

0: Operates in trapezoidal acceleration/deceleration.

For details on the acceleration/deceleration mode, refer to Section 7.2

DOG switch input logic

Sets DOG switch input logic for 20SSC-H.

1: NC-contact (operates at input OFF)

0: NO-contact (operates at input ON)

For details on the DOG mechanical zero return operation,

refer to Subsection 8.1.2

Count start timing for zero-phase signal

1: DOG forward end (at off-to-on transition of DOG input)

A front end of DOG triggers the zero-phase signal count.

0: DOG backward end (at on-to-off transition of DOG input)

A back end of DOG triggers the zero-point signal count.

For details on the DOG mechanical zero return operation,

refer to Subsection 8.1.2

Not available

H0000

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11.1 Positioning Parameters

11

BFM Number

X-axis Y-axis

BFM

#14000

BFM

#14200

Bit

Number

b15

Description

STOP mode

1: Suspends the operation, and the START command starts the operation for the remaining travel distance.

0: Ends the operation, canceling the remaining distance. In table operations, operation is terminated.

For details on the stop command, refer to Section 7.4

Default

H0000

*1.

User unit setting

Positioning and speed units are customizable as user units.

The combination of system of units (b1,b0) and unit setting bit (b3,b2) gives the following settings.

For details on the user unit, refer to Section 7.7

1

0

0

1

Unit Setting

Bit Status b3

-

0

b2

-

0

0 1

0

0

1

0

0

1

1

1

System of units

Bit Status b1

0

0

b0

0

1

0 1

1

0/1

0/1

0/1

System of units

Motor system units

Mechanical system units

Composite system units

Positioning Unit

PLS

µm

10

-4 inch mdeg

µm

10

-4 inch mdeg

Unit

Speed Unit

Hz cm/min inch/min

10deg/min

Hz

Note

Motor system units and mechanical system units require the pulse/feed rate settings.

12

13

A

*2.

The positioning data with position data magnification are as follows:

- Mechanical origin address

- Software limit (upper)

- Software limit (lower)

- Target address1

- Target address2

- Target position change value (address)

- Current address (user)

- Current address (pulse)

- Table information (position data)

- Table information (circular data)

Example:

The actual address (or travel distance) with target address 1 "123" and position data magnification

"1000" are as follows:

Motor system units: 123

× 1000 = 123000 (pulse)

Mechanical system units, composite system units: 123

× 1000 = 123000 (

µ m, mdeg, 10

-4 inch)

= 123(mm, deg, 10

-1 inch)

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11 Buffer Memory (Parameters & Monitored Data)

11.1 Positioning Parameters

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

BFM Number

X-axis Y-axis

BFM #14002 BFM #14202

Bit

Number

Description

b0 b1

Enables or disables the servo end check function.

→For details on the servo end check, refer to Subsection 7.5.2.

1: Enable

At an in-position signal, determinates the positioning operation completion

0: Disable

Enables or disables the servo ready check function.

→For details on the servo ready check, refer to Subsection 7.5.1.

1: Enable

Checks the ready signal ON/OFF at operation start / while operation

0: Disable b2

Enables or disables the OPR interlock function.

1: Enable

Disables the START command without zero return completion

Enables the START command with zero return completion (zero return completed: ON)

0: Disable b3 to b15 Not available

Default

H0007

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

This parameter sets the number of pulses to rotate servo motors once. "Mechanical system units" and

"Composite system units" require this setting, "Motor system units" ignores it.

For details on the system of units, refer to Section 7.7

BFM Number

X-axis Y-axis

BFM

#14005,

#14004

BFM

#14205,

#14204

Description

Setting range: 1 to 200,000,000 PLS/REV

Default

K262,144

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

This parameter sets the travel distance per revolution of the motor. "Mechanical system units" and

"Composite system units" require this setting, "Motor system units" ignores it.

For details on the system of units, refer to Section 7.7

BFM Number

X-axis Y-axis

BFM

#14007,

#14006

BFM

#14207,

#14206

Description

Setting range: 1 to 200,000,000 (

µm/REV, 10

-4 inch/REV, mdeg/REV)

Default

K52,428,800

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11 Buffer Memory (Parameters & Monitored Data)

11.1 Positioning Parameters

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

This parameter sets the maximum speed for each operation.

For details on the maximum speed, refer to Section 7.2

BFM Number

X-axis Y-axis

Description Default

BFM

#14009,

#14008

BFM

#14209,

#14208

Setting range: 1 to 2,147,483,647(user unit)

*1

The value must be within the range from 1 to 50,000,000 Hz when converted to pulse data

*1

.

K4,000,000

*1.

Refer to the section shown below for details on the user units and converted pulse data.

Refer to Section 7.7

Note

Set JOG speed, zero return speed (high speed), zero return speed (creep), operation speed 1 and operation speed 2 at or below the maximum speed. If the operation speed exceeds the maximum speed, 20SSC-H operates at the maximum speed.

Cautions in setting

Set the maximum speed at or below the maximum rotation speed of the servo motor.

The formula to calculate the rotation speed of the servo motor from the pulse (Converted pulse data) is as follows.

For details on the converted pulse data, refer to Section 7.7

Servo motor rotational speed (r/min) =

Operation speed converted into pulse (Hz)

× 60 ÷ resolution per revolution of servo motor

11

12

13

A

Servo Amplifier

MR-J3B

Resolution per Revolution of Servo Motor (PLS/REV)

262144

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

This parameter sets the speed for Forward JOG and Reverse JOG operations.

For details on the JOG operations, refer to Section 8.2

BFM Number

X-axis Y-axis

BFM

#14013,

#14012

BFM

#14213,

#14212

Description

Setting range: 1 to 2,147,483,647 (user unit)

*1

Set the value within 1 to 50,000,000Hz in converted pulse data

*1

.

Default

K2,000,000

*1.

Refer to the section shown below for details on the user units and converted pulse data.

Refer to Section 7.7

Note

• Set the JOG speed at or below the maximum speed.

When the JOG speed exceeds the maximum speed, 20SSC-H operates at the maximum speed.

• Speed change commands in positioning operation change the JOG speed into a preset value.

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

This parameter sets the evaluation time for the forward/reverse JOG command to determine whether the control is inching or continuous.

For forward/reverse commands that are ON for longer than the JOG evaluation time, 20SSC-H executes continuous operation. For forward/reverse commands that are ON for shorter than the JOG evaluation time, the 20SSC-H executes inching operation.

For details on the JOG operations, refer to Section 8.2

BFM Number

X-axis Y-axis

BFM #14014 BFM #14214 Setting range: 0 to 5000 ms

Description Default

K300

POINT

The JOG instruction evaluation time “0 ms” gives continuous operation only.

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11.1 Positioning Parameters

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

This parameter sets a time for the operation speed to reach the maximum speed from zero.

For details on the acceleration time, refer to Section 7.2

BFM Number

X-axis Y-axis

BFM #14018 BFM #14218 Setting range: 1 to 5000 ms

Description Default

K200

Note

• The acceleration time becomes 1 ms when set at 0 ms or lower, and becomes 5000 ms when set at 5001 ms or higher.

• Set the time within the range from 64 (greater than 64) to 5000 ms in the approximate S-shaped acceleration/deceleration.

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

This parameter sets the time for the operation speed to reach to zero from the maximum.

For details on the deceleration time, refer to Section 7.2

BFM Number

X-axis Y-axis

BFM #14020 BFM #14220 Setting range: 1 to 5000 ms

Description Default

K200

Note

• The acceleration time becomes 1 ms when set at 0 ms or lower, and becomes 5000 ms when set at 5001 ms or higher.

• Set the time within the range from 64 (greater than 64) to 5000 ms in the approximate S-shaped acceleration/deceleration.

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

This parameter sets the time for the interpolation operation speed to reach the maximum speed from zero

(acceleration) or to reach zero from the maximum speed (deceleration).

For details on the interpolation time constant, refer to Section 7.2

BFM Number

X-axis Y-axis

BFM #14022 BFM #14222 Setting range: 1 to 5000 ms

Description Default

K100

Note

The acceleration time becomes 1 ms when set at 0 ms or lower, and becomes 5000 ms when set at 5001 ms or higher.

11.1.11 Zero return speed (High Speed) [BFM #14025, #14024, BFM #14225, #1424]

This parameter sets the mechanical zero return operation speed (high speed) [DOG, Stopper #1].

For details on the mechanical zero return, refer to Section 8.1

BFM Number

X-axis Y-axis

BFM

#14025,

#14024

BFM

#14225,

#14224

Description

Setting range: 1 to 2,147,483,647 (user unit)

*1

Set the value within 1 to 50,000,000Hz in converted pulse data

*1

.

Default

K4,000,000

*1.

Refer to the section shown below for details on the user units and converted pulse data.

Refer to Section 7.7

Note

• Set the zero return speed (high speed) at or below the maximum speed.

When the zero return speed (high speed) exceeds the maximum speed, 20SSC-H operates at the maximum speed.

• Speed change commands in positioning operation change the zero return speed (high speed) into a preset value.

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11.1 Positioning Parameters

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

This parameter sets the mechanical zero return operation speed (creep) [DOG, Stopper #1, #2].

For details on the mechanical zero return, refer to Section 8.1

BFM Number

X-axis Y-axis

BFM

#14027,

#14026

BFM

#14227,

#14226

Description

Setting range: 1 to 2,147,483,647 (user unit)

*1

Set the value within 1 to 50,000,000Hz in converted pulse data

*1

.

Default

K100,000

*1.

Refer to the section shown below for details on the user units and converted pulse data.

Refer to Section 7.7

Note

• Set the zero return speed (creep) at or below the maximum speed and zero return speed (high speed).

When the zero return speed (creep) exceeds the maximum speed, 20SSC-H operates at the maximum speed.

• Set the speed as slow as possible to achieve the best stop position accuracy.

11.1.13 Mechanical origin address [BFM #14029, #14028, BFM #14229, #14228]

This parameter sets the current value address at zero return operation completion.

After mechanical zero return completion, the 20SSC-H writes the current address to this parameter.

For details on the mechanical zero return, refer to Section 8.1

BFM Number

X-axis Y-axis

BFM

#14029,

#14028

BFM

#14229,

#14228

Description

Setting range: -2,147,483,648 to 2,147,483,647 (user unit)

*1

Set the value within -2,147,483,648 to 2,147,483,647PLS in converted pulse data

*1

.

Default

K0

*1.

Refer to the section shown below for details on the user units and converted pulse data.

Refer to Section 7.7

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

This parameter sets the number of zero-phase signal counts in the mechanical zero return operation [DOG,

Stopper #1].

The mechanical zero return ends at the specified number of zero-phase signal count.

For details on the mechanical zero return, refer to Section 8.1

BFM Number

X-axis Y-axis

BFM #14030 BFM #14230 Setting range: 0 to 32767 PLS

Description Default

K1

Note

• With the value "0" set in mechanical zero return operation [DOG], the 20SSC-H immediately stops when the zero-phase signal count starts. In this case, the operation abruptly stops from the zero return speed

(creep/high speed). Observe the following items to protect peripheral devices from damage.

- Set the zero return speed (creep) as slow as possible for safety.

- Change the trigger of the zero-point signal count at the DOG backward end.

- Design the DOG to allow the machine to gently decelerate to the zero return speed (creep) before the zero-phase signal count.

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11.1 Positioning Parameters

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

This parameter selects mechanical zero return operations.

For details on the zero return operation, refer to Section 8.1

BFM Number

X-axis Y-axis

Description Default

BFM #14031 BFM #14231

0: DOG

1: Data set type

2: Stopper #1

3: Stopper #2

K0

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

This parameter sets the evaluation time for the servo end check.

For details on the servo end check, refer to Section 7.6.2

BFM Number

X-axis Y-axis

BFM #14032 BFM #14232 Setting range: 1 to 5000 ms

Description Default

K5000

Note

• To apply this function, set b0 in operation parameter 2 to ON.

For details on the operation parameters 2, refer to Subsection 11.1.2

• For a servo end evaluation time setting outside of the range, see the following:

- Becomes 1 ms when set at 0 ms or less.

- Becomes 5000 ms when set at 5001 ms or more.

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

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

This parameter sets each address value for the software limit.

The software limit is an operating limit from the current address after zero return operation completion, which becomes enabled upon completion of the zero return operation.

For details on the software limit, refer to Subsection 7.3.3

BFM Number

X-axis Y-axis

Description Default

BFM

#14035,

#14034

BFM

#14037,

#14036

BFM

#14235,

#14234

BFM

#14237,

#14236

Sets the software limit (upper)

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]

*1

Set the value within -2,147,483,648 to 2,147,483,647PLS in the converted pulse data

*1

.

Sets the software limit (lower)

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]

*1

Set the value within -2,147,483,648 to 2,147,483,647PLS in the converted pulse data

*1

.

K0

K0

*1.

Refer to the section shown below for details on the user units and converted pulse data.

Refer to Section 7.7

POINT

The relationship between the upper and lower software limits must be as follows:

• When enabling the software limit

Software limit (upper) is larger than Software limit (lower)

• When disabling the software limit

Software limit (upper) is equal to Software limit (lower)

Software limit (upper) is smaller than Software limit (lower)

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11.1 Positioning Parameters

11

11.1.18 Torque limit [BFM #14038, BFM #14238]

This parameter sets the torque limit for the servo motor and magnifies the servo motor torque in the range from 0.1 to 1000.0%. For a target move with a torque limit, refer to the section shown below.

For details on the torque limit, refer to Subsection 7.6.3

BFM Number

X-axis Y-axis

BFM #14038 BFM #14238 Setting range: 1 to 10000 (

× 0.1%)

Description Default

K3000

12

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

This parameter sets the torque limit for the mechanical zero return operation (creep speed) and magnifies the servo motor torque during the zero return operation (creep speed) in the range from 0.1 to 1000.0%.

For details on the torque limit, refer to Subsection 7.6.3

BFM Number

X-axis Y-axis

BFM #14040 BFM #14240 Setting range: 1 to 10000 (

× 0.1%)

Description Default

K3000

13

A

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

BFM Number

X-axis Y-axis

BFM #14044 BFM #14244

Bit

Number

Description

b0 b1

Sets the FLS, RLS signals from the servo amplifier to be used/not used

For instructions on how to use forward/reverse rotation limit,

refer to Section 7.3

1: Use

Use forward/reverse rotation limits from the servo amplifier and those from the PLC.

0: Not use

Use only forward/reverse rotation limits from the PLC.

Sets the DOG signals from the servo amplifier to be used/not used

For details on the mechanical zero return, refer to Section 8.1

1: Use

Use DOG signals from the servo amplifier.

0: Not use

Use DOG signals from the 20SSC-H.

The "b12" in command parameter1 sets the 20SSC-H DOG signal.

For details on the operation parameters 1,

refer to Subsection 11.1.1

b2 to b7 Not available b8

Sets the FLS/RLS signal logic of the servo motor

1: NC-contact (servo amplifier)

0: NO-contact (servo amplifier) b9

Sets the DOG signal logic of the servo motor

1: NC-contact (servo amplifier)

0: NO-contact (servo amplifier) b10 to b15 Not available

Default

H0100

111

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11 Buffer Memory (Parameters & Monitored Data)

11.2 Servo Parameters

11.2

Servo Parameters

Various parameters for the servo amplifier can be set. The following buffer memories in servo parameters are readable and writable.

For details on the servo amplifier parameters in the table below with their parameter numbers, refer to the manual of the servo amplifier.

Refer to the manual of the servo amplifier

For X-axis: BFM #15000 to #15199

For Y-axis: BFM #15200 to #15399

CAUTION

Do not use unlisted BFMs for changing values not described in this section.

11.2.1 Servo parameters (Basic settings)

BFM Number

X-axis Y-axis

Servo

Amplifier

Parameter No.

BFM

#15000

BFM

#15200

BFM

#15002

BFM

#15202

BFM

#15003

BFM

#15203

BFM

#15004

BFM

#15204

BFM

#15008

BFM

#15208

-

PA02

PA03

PA04

PA08

Name Description

Specify the series name of the servo amplifier connected to the 20SSC-H.

0: None

1: MR-J3B

Servo series

Regenerative brake option

Absolute position detection system

CAUTION

The servo series name must be specified.

20SSC-H at factory default value "0" does not communicate with servo amplifiers.

Select which regenerative brake option to use, or not use the option.

0 0

Revival option selection

00: Not use regenerative brake resistor 05: MR-RB30

01: FR-BU / FR-RC 06: MR-RB50

02: MR-RB032

03: MR-RB12

07: MR-RB31

08: MR-RB51

04: MR-RB32 09: FMR-RB51

Select whether or not to use the absolute position detection system.

0 0 0

Absolute position detection system setting

0: Disable (use in incremental system)

1: Enable (use in absolute position detection system)

Function selection

A-1

Auto tuning mode

CAUTION

A parameter error occurs if you select "1: Enable (use in absolute position detection system)" when using the increment synchronous encoder.

Select whether to use or not use the servo forced stop function (EM1).

0 0 0

Servo forced stop input setting

0: Enable (use the forced stop (EM1))

1: Disable (not use the forced stop (EM1))

Select the gain adjustment mode.

0 0 0

Gain adjustment mode setting

0: Interpolation mode

1: Auto tuning mode 1

2: Auto tuning mode 2

3: Manual mode

Default

K0

H0000

H0000

H0000

H0001

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11.2 Servo Parameters

11

BFM Number

X-axis Y-axis

Servo

Amplifier

Parameter No.

BFM

#15009

BFM

#15209

PA09

Name Description

Auto tuning response

Set this if you want to improve the servo amplifier response.

Low responsivity

1:(10.0Hz)

High responsivity

32:(400.0Hz)

Default

K12

BFM

#15010

BFM

#15210

BFM

#15014

BFM

#15214

BFM

#15015

BFM

#15215

PA10

PA14

PA15

In-position range

Rotation direction selection

Encoder output pulse

Set the range to output a positioning completion signal in units of command pulse.

Setting range: 0 to 50000 PLS

Select the servo motor rotation direction when viewed from the servo amplifier's load side.

0: Forward rotation (CCW) when the current value is increased

1: Reverse rotation (CW) when the current value is increased

Set the number of pulses per revolution or output division ratio for encoder pulses (A-phase, B-phase) output by the servo amplifier

Setting range: 1 to 65535 PLS/REV

K100

K0

K4000

11.2.2 Servo parameters (Gain/Filter settings)

BFM Number

X-axis Y-axis

Servo

Amplifier

Parameter No.

BFM

#15019

BFM

#15219

BFM

#15020

BFM

#15220

BFM

#15022

BFM

#15022

BFM

#15024

BFM

#15224

BFM

#15025

BFM

#15026

BFM

#15027

BFM

#15028

BFM

#15029

BFM

#15225

BFM

#15226

BFM

#15227

BFM

#15228

BFM

#15229

BFM

#15031

BFM

#15231

BFM

#15032

BFM

#15232

BFM

#15033

BFM

#15233

PB01

PB02

PB04

PB06

PB07

PB08

PB09

PB10

PB11

PB13

PB14

PB15

Name Description Default

Adaptive tuning mode

(Adaptive filter 2)

Select the adaptive filter tuning mode.

0: Filter OFF

1: Filter tuning mode (adaptive filter)

2: Manual mode

Vibration suppression control tuning mode

(advanced vibration suppression control)

Select the vibration suppression control tuning mode.

0: Vibration suppression control OFF

1: Vibration suppression control tuning mode

2: Manual mode

Feed forward gain

Model loop gain

Position loop gain

Speed loop gain

Speed integral compensation

Speed differential compensation

Machine resonance suppression filter 1

Set the feed forward gain coefficient to be used for positioning control.

Setting range: 0 to 100%

Ratio of load inertia moment to servo motor inertia moment

Set the ratio of load inertia moment to servo motor inertia moment.

Setting range: 0 to 3000 (

×0.1 times)

Set the response gain up to the target position.

Setting range: 1 to 2000 rad/s

Set the gain of the position loop.

Setting range: 1 to 1000 rad/s

Set the gain of the speed loop.

Setting range: 20 to 50000 rad/s

Set the integral time constant of the speed loop.

Setting range: 1 to 10000 (

× 0.1 ms)

Set the differential compensation.

Setting range: 0 to 1000

Set the notch frequency of the machine resonance suppression filter 1.

(Set the frequency in accordance with the mechanical resonance frequency.)

Setting range: 100 to 4500 Hz

Specify the notch shape used for the machine resonance suppression filter 1 (Notch shape selection 1).

0 0

Notch shape selection 1

Machine resonance suppression filter 2

Notch depth selection

Notch width selection

• Notch Depth

0: Deep (-40db)

1:

2:

(-14db)

(-8db)

3: Shallow (-4db)

Notch Width

0: Standard (

α=2)

1:

2:

3: Wide (

(

(

α=3)

α=4)

α=5)

Set the notch frequency of the machine resonance suppression filter 2.

(Set the frequency in accordance with the mechanical resonance frequency.)

Setting range: 100 to 4500 Hz

K0

K0

K0

K70

K24

K37

K823

K337

K980

K4500

H0000

K4500

113

12

13

A

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11 Buffer Memory (Parameters & Monitored Data)

11.2 Servo Parameters

BFM Number

X-axis Y-axis

Servo

Amplifier

Parameter No.

BFM

#15034

BFM

#15234

BFM

#15036

BFM

#15236

BFM

#15037

BFM

#15237

BFM

#15038

BFM

#15238

BFM

#15041

BFM

#15241

BFM

#15042

BFM

#15242

BFM

#15044

BFM

#15244

BFM

#15045

BFM

#15046

BFM

#15245

BFM

#15246

BFM

#15047

BFM

#15247

PB16

PB18

PB19

PB20

PB23

PB24

PB26

PB27

PB28

PB29

Name Description Default

Specify the notch shape used for the machine resonance suppression filter 2 (Notch shape selection 2).

Notch shape selection 2

Low pass filter setting

0

Mechanical resonance suppression filter selection

Notch depth selection

Notch width selection

• Select the machine resonance suppression filter 2

0: Disable

1: Enable

• Notch Depth

0: Deep (-40db)

1:

↑(-14db)

2:

↓(-8db)

3: Shallow (-4db)

Notch Width

0: Standard (

1:

2:

↑(α=3)

↓(α=4)

3: Wide (

α=5)

α=2)

Set the low pass filter.

Setting range: 100 to 18000 rad/s

Vibration suppression control vibration frequency setting

Vibration suppression control resonance frequency setting

Set the vibration frequency for vibration suppression control to suppress low-frequency machine vibration, such as enclosure vibration.

Setting range: 1 to 1000 (

×0.1 Hz)

Set the resonance frequency for vibration suppression control to suppress low-frequency machine vibration, such as enclosure vibration.

Setting range: 1 to 1000 (

× 0.1 Hz)

Select the procedure to set the low pass filter.

0 0 0

Low pass filter selection

Slight vibration suppression control selection

Low-pass filter (LPF) selection

0: Automatic setting

1: Manual setting (specify a number for the low pass filter setting)

Select the slight vibration suppression control.

0 0

Micro-vibration suppression control selection

PI-PID switch over selection

• Slight vibration suppression control selection

0: Disable

1: Enable

• PI-PID switch over selection

0: Enables PI control

3: Enables PID control all the time

Select the gain changing selections/conditions.

0 0

Gain changing selection

Gain changing condition

Gain changing selection

Gain changing condition

Gain changing time constant

Gain changing

Ratio of load inertia moment to servo motor inertia moment

• Gain changing selection

0: Disable

1: Settings designated by a gain change command take effect

2: Set command frequency as a trigger to change gain

3: Set droop pulses as a trigger to change gain

4: Set servo motor speed as a trigger to change gain

• Gain changing condition

0: Valid when a value is bigger than the set value

1: Valid when a value is smaller than the set value

Set the value for gain changing condition.

Setting range: 0 to 9999 (kpps, PLS, r/min)

Set the time constant for changing gain.

Setting range: 0 to 100 ms

Set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid.

Setting range: 0 to 3000 (

×0.1 times)

H0000

K3141

K1000

K1000

H0000

H0000

H0000

K10

K1

K70

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11.2 Servo Parameters

11

BFM Number

X-axis

BFM

#15048

BFM

#15049

BFM

#15050

Y-axis

BFM

#15248

BFM

#15249

BFM

#15250

BFM

#15051

BFM

#15251

BFM

#15052

BFM

#15252

Servo

Amplifier

Parameter No.

PB30

PB31

PB32

PB33

PB34

Name Description

Gain changing

Position loop gain

Gain changing

Speed loop gain

Gain changing

Speed integral compensation

Gain changing

Vibration suppression control vibration frequency setting

Gain changing

Vibration suppression control resonance frequency setting

Set the position loop gain when the gain changing is valid.

Setting range: 1 to 2000 rad/s

Set the speed loop gain when the gain changing is valid.

Setting range: 20 to 50000 rad/s

Set the speed integral compensation when the gain changing is valid.

Setting range: 1 to 50000 (

× 0.1 ms)

Set the vibration frequency for vibration suppression control when the gain changing is valid.

Setting range: 1 to 1000 (

× 0.1 Hz)

Set the resonance frequency for vibration suppression control when the gain changing is valid.

Setting range: 1 to 1000 (

× 0.1 Hz)

Default

K37

K823

K337

K1000

K1000

11.2.3 Servo parameters (Advanced setting)

BFM Number

X-axis Y-axis

BFM

#15064

BFM

#15264

BFM

#15065

BFM

#1565

BFM

#15066

BFM

#15266

BFM

#15067

BFM

#15267

BFM

#15068

BFM

#15268

BFM

#15070

BFM

#15270

Servo

Amplifier

Parameter No.

PC01

PC02

PC03

PC04

PC05

PC07

Name Description

Error excessive alarm level

Electromagnetic brake sequence output

Set error excessive alarm level with rotation amount of servo motor.

Setting range: 1 to 200 REV

Set the delay time from when the electronic brake interlock (MBR) turns off until the base drive circuit is shut-off.

Setting range: 0 to 1000 ms

Select the encoder output pulse direction and encoder pulse output setting.

0 0

Encoder output pulse selection

Function selection

C-1

Function selection

C-2

Zero speed

Encoder output pulse direction selection

Encoder output pulse setting selection

Encoder output pulse direction

0: 90 degrees in CCW direction (A-phase)

1: 90 degrees in CW direction (A-phase)

Encoder output pulse setting

0: With output pulses

1: With output division ratio

Select the serial encoder cable type to be used.

0: Two-wire type

1: Four-wire type

Enable or disable the motor-less operation.

0: Disable

1: Enable

Set the output range of the zero speed signal (ZSP).

Setting range: 0 to 10000 r/min

Default

K3

K0

H0000

K0

K0

K50

12

13

A

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11 Buffer Memory (Parameters & Monitored Data)

11.2 Servo Parameters

BFM Number

X-axis Y-axis

Servo

Amplifier

Parameter No.

BFM

#15072

BFM

#15272

BFM

#15073

BFM

#15273

BFM

#15074

BFM

#15075

BFM

#15274

BFM

#15275

BFM

#15080

BFM

#15280

PC09

PC10

PC11

PC12

PC17

Name

Analog monitor 1 output

Analog monitor 2 output

Analog monitor 1 offset

Analog monitor 2 offset

Function selection

C-4

Description Default

Select a signal to be output to the analog monitor 1.

0 0 0

Analog monitor 1(MO1) output selection

0: Servo motor speed (

±8V at the maximum)

1: Torque (

±8 V at the maximum)

*B

2: Servo motor speed (+8V at the maximum)

3: Torque (+8 V at the maximum)

*B

4: Current command (

±8 V at the maximum)

5: Speed command (

±8V at the maximum)

6: Droop pulses (

±10 V/1 × 10

2

PLS)

*A

7: Droop pulses (

±10 V/1 × 10

3

PLS)

*A

8: Droop pulses (

±10 V/1 × 10

4

PLS)

*A

9: Droop pulses (

±10 V/1 × 10

5

PLS)

*A

A: Feedback position (

±10 V/1 × 10

6

PLS)

*A*C

B: Feedback position (

±10 V/1 × 10

7

PLS)

*A*C

C: Feedback position (

±10 V/1 × 10

8

PLS)

*A*C

D: Bus voltage (+8 V / 400 V)

*A: Encoder pulse unit

*B: Outputs 8 V as the maximum torque

*C: Can be used for the absolute position detection system

Select a signal to be output to the analog monitor 2.

0 0 0

Analog monitor 1(MO1) output selection

0: Servo motor speed (

±8V at the maximum)

1: Torque (

±8 V at the maximum)

*B

2: Servo motor speed (+8V at the maximum)

3: Torque (+8 V at the maximum)

*B

4: Current command (

±8 V at the maximum)

5: Speed command (

±8V at the maximum)

6: Droop pulses (

±10 V/1 × 10

2

PLS)

*A

7: Droop pulses (

±10 V/1 × 10

3

PLS)

*A

8: Droop pulses (

±10 V/1 × 10

4

PLS)

*A

9: Droop pulses (

±10 V/1 × 10

5

PLS)

*A

A: Feedback position (

±10 V/1 × 10

6

PLS)

*A*C

B: Feedback position (

±10 V/1 × 10

7

PLS)

*A*C

C: Feedback position (

±10 V/1 × 10

8

PLS)

*A*C

D: Bus voltage (+8 V / 400 V)

*A: Encoder pulse unit

*B: Outputs 8 V as the maximum torque

*C: Can be used for the absolute position detection system

Set the offset voltage of the analog monitor 1 (MO1) output.

Setting range: -999 to 999 mV

Set the offset voltage of the analog monitor 2 (MO2) output.

Setting range: -999 to 999 mV

Select the home position setting condition in the absolute position detection system.

0: Need to pass motor Z-phase after power on

1: Not need to pass motor Z-phase after power on

H0000

H0001

K0

K0

K1

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11.2 Servo Parameters

11.2.4 Servo parameters (I/O setting)

BFM Number

X-axis Y-axis

Servo

Amplifier

Parameter No.

BFM

#15102

BFM

#15302

BFM

#15103

BFM

#15303

PD07

PD08

Name Description

Specify a signal assigned (output) to the CN3-13 connector of the servo amplifier.

0 0

Output signal device selection 1 (CN3-13)

Select CN3-13 pin output device

00: Always OFF

01: RDY (ready ON)

02: RD (servo ON)

03: ALM (error)

04: INP (In-position)

*A

05: MBR (electronic brake interlock)

06: DB (external dynamic brake)

07: TLC (torque is limited)

08: WNG (warning)

09: BWNG (battery warning)

0A: Always OFF

*B

0B: For manufacturer setting

*C

0C: ZSP (zero speed)

0D: For manufacturer setting

*C

0E: For manufacturer setting

*C

0F: CDPS (selecting a variable gain)

10: For manufacturer setting

*C

11: ABSV (losing the absolute position)

*A

12 to 3F: For manufacturer setting

*C

*A: Always OFF in speed control mode

*B: Becomes SA (speed achieved) in speed control mode

*C: Never specify the values for the manufacturer setting.

Specify a signal assigned (output) to the CN3-9 connector of the servo amplifier.

0 0 0

Output signal device selection 2 (CN3-9)

Select CN3-9 pin output device

00: Always OFF

01: RDY (ready ON)

02: RD (servo ON)

03: ALM (error)

04: INP (In-position)

*A

05: MBR (electronic brake interlock)

06: DB (external dynamic brake)

07: TLC (torque is limited)

08: WNG (warning)

09: BWNG (battery warning)

0A: Always OFF

*B

0B: For manufacturer setting

*C

0C: ZSP (zero speed)

0D: For manufacturer setting

*C

0E: For manufacturer setting

*C

0F: CDPS (selecting a variable gain)

10: For manufacturer setting

*C

11: ABSV (losing the absolute position)

*A

12 to 3F: For manufacturer setting

*C

*A: Always OFF in speed control mode

*B: Becomes SA (speed achieved) in speed control mode

*C: Never specify the values for the manufacturer setting.

Default

H0005

H0004

11

12

13

A

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11 Buffer Memory (Parameters & Monitored Data)

11.2 Servo Parameters

BFM Number

X-axis Y-axis

Servo

Amplifier

Parameter No.

BFM

#15104

BFM

#15304

PD09

Name Description Default

Specify a signal assigned (output) to the CN3-15 connector of the servo amplifier.

0 0

Output signal device selection 3 (CN3-15)

Select CN3-15 pin output device

00: Always OFF

01: RDY (ready ON)

02: RD (servo ON)

03: ALM (error)

04: INP (In-position)

*A

05: MBR (electronic brake interlock)

06: DB (external dynamic brake)

07: TLC (torque is limited)

08: WNG (warning)

09: BWNG (battery warning)

0A: Always OFF

*B

0B: For manufacturer setting

*C

0C: ZSP (zero speed)

0D: For manufacturer setting

*C

0E: For manufacturer setting

*C

0F: CDPS (selecting a variable gain)

10: For manufacturer setting

*C

11: ABSV (losing the absolute position)

*A

12 to 3F: For manufacturer setting

*C

*A: Always OFF in speed control mode

*B: Becomes SA (speed achieved) in speed control mode

*C: Never specify the values for the manufacturer setting.

H0003

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11 Buffer Memory (Parameters & Monitored Data)

11.3 Monitor Data

11.3

Monitor Data

Operating conditions for the positioning system are stored as monitor data. The following buffer memories for monitor data are read-only memories except for the current address (user) [BFM #1, #0 (X-axis), BFM #101,

#100 (Y-axis)].

For X-axis: BFM #0 to #99

For Y-axis: BFM #100 to #199

Caution

Do not use unlisted BFMs for changing values not described in this section.

11.3.1 Current address (User) [BFM #0, BFM #100]

The current address data is stored in units specified by the user

*1

.

BFM Number

X-axis Y-axis

BFM #1,#0

BFM

#101,#100

Description

-2,147,483,648 to 2,147,483,647 (user unit)

*1

*1.

Refer to the section shown below for details on the user units.

Value Format

Decimal

Default

-

Refer to Section 7.7

POINT

• The stored address data is always handled as an absolute address.

• The unit of the value is a user-specified one and includes a magnification setting for position data.

The unit and magnification setting can be specified by the operation parameters 1.

For details on the operation parameters 1, refer to Subsection 11.1.1

• It is possible to change the current address of a stopped axis to any address.

Overwrite the current address (user) with a new address. The current address will be changed and its pulse data will be updated.

For details on the current address change function, refer to Subsection 7.6.8

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

The current address is converted into pulses and stored.

BFM Number

X-axis Y-axis

BFM #3,#2

BFM

#103,#102

Description

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

POINT

Value Format

Decimal

Default

-

• The stored address data is always handled as an absolute address (converted pulse data).

For details on the converted pulse data, refer to Section 7.7

• It is possible to change the current address of a stopped axis to any address.

Overwrite the current address (user) with a new address. The current address will be changed and its pulse data will be updated.

For details on the current address change function, refer to Subsection 7.5.8

11

12

13

A

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11.3 Monitor Data

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

Torque limit value used for the torque limit function is stored.

The torque limit value is a torque limit setting value, torque output setting value or zero return torque limit value.

For details on the torque limit function, refer to Section 7.6.3

BFM Number

X-axis Y-axis

BFM #5,#4

BFM

#105,#104

1 to 10,000(

× 0.1%)

Description Value Format

Decimal

Default

-

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

If an error arises, BFM numbers in which the error occurred are stored.

BFM Number

X-axis Y-axis

Description

BFM #6 BFM #106

-1: No error

Others: BFM number in which an error occurred

Value Format

Decimal

Default

-

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

Each input terminal status of the 20SSC-H is allocated to a bit status corresponding to each input terminals.

BFM Number

X-axis Y-axis

BFM #7 BFM #107

Bit

Number

Description

b0 b1

Becomes ON while the START terminal is used.

Becomes ON while the DOG terminal is used.

b2 b3 b4 b5

Becomes ON while the INTO terminal is used.

Becomes ON while the INT1 terminal is used.

Becomes ON while the

φA terminal is used.

Becomes ON while the

φB terminal is used.

b6 to b15 Not available

Value Format

Bit

Default

-

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

Each input terminal status of the servo amplifier is allocated with a bit status.

BFM Number

X-axis Y-axis

BFM #8 BFM #108

Bit

Number

Description

b0 b1 b2

Becomes ON while the FLS terminal is used.

Becomes ON while the RLS terminal is used.

Becomes ON while the DOG terminal is used.

b6 to b15 Not available

Value Format

Bit

Default

-

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

At m code ON, the m code number is stored.

At no m code ON, "-1" is stored.

BFM Number

X-axis Y-axis

BFM #9 BFM #109

For details on the m code, refer to Section 10.9.

Value Format Default Description

-1 :m code is OFF

0 to 32767 :Stores the activated m code number

Decimal -

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11.3 Monitor Data

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

The current value of operation speed is stored.

The value becomes zero under suspension, or in operation with a manual pulse input.

BFM Number

X-axis Y-axis

BFM #11,#10

BFM

#111,#110

Description

0 to 2,147,483,647 (user unit)

*1

Value Format

Decimal

*1.

Refer to the section shown below for details on the user unit.

Default

-

Refer to Section 7.7

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

The number of input pulses from the manual pulse generator is stored.

Forward rotation increments the current number of pulses, and reverse rotation decrements it.

Magnification settings for the manual input pulses are not reflected on the stored value.

BFM Number

X-axis Y-axis

BFM #13,#12

BFM

#113,#112

Description

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

Value Format

Decimal

Default

-

11

12

13

A

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

Manual pulse generator input frequency is stored.

BFM Number

X-axis Y-axis

BFM #15,#14

BFM

#115,#114

-100,000 to 100,000 Hz

Description Value Format

Decimal

POINT

Magnification settings for the manual input pulses are not reflected on the stored value.

Default

-

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

While performing a table operation, table numbers in execution are stored.

BFM Number

X-axis Y-axis

Description

BFM #16 BFM #116

-1 : Not in execution

0-299 : Stores table numbers in execution

Value Format

Decimal

Default

-

11.3.12 Version information [BFM #17]

The version of 20SSC-H is stored.

BFM Number

X-axis Y-axis

BFM #17 Ver.1.00 is stored as K100.

Description Value Format

Decimal

Default

-

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11.3 Monitor Data

11.3.13 Status information [BFM #28, BFM #128]

Status of the 20SSC-H can be checked by ON/OFF statuses of each bit.

BFM Number

X-axis Y-axis

Bit

Number

Description

BFM #28 BFM #128 b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 b10 b11

READY/BUSY

Turns ON when the 20SSC-H is ready for a START command after normal completion of positioning, or when recovering from an error.

Outputting pulses for forward rotation.

Turns ON while pulses for forward rotation are output.

Outputting pulses for reverse rotation.

Turns ON while pulses for reverse rotation are output.

Completion of zero return operation.

Turns ON upon completion of mechanical zero return operation, or when the current position is established by the absolute position detection system.

Turns OFF at off-to-on transition of a mechanical zero return command, at power-off (reset), or when an absolute position is lost during the absolute position detection system.

Current value overflow.

• This bit is set when the current address value falls outside the range of 32-bit data

(-2,147,483,648 to 2,147,483,647).

• Cleared by power-off or when a zero return command becomes active.

Occurrence of an error.

• This bit is set upon occurrence of an error from the

20SSC-H or the servo amplifier.

• Cleared when an error reset command becomes active.

For details on the statuses at occurrence of errors,

refer to Subsection 11.3.13

Completion of positioning.

This bit is set upon normal completion of positioning.*1

Cleared when a START command becomes active, an error occurs, or an error reset command becomes active. When the

20SSC-H is stopped by a STOP command, the bit is kept in

OFF status.

Ready and waiting for remaining travel after stopping.

This bit is set when the 20SSC-H goes into a standby state for the remaining travel upon a STOP command.

Cleared by a START command, or when the remaining travel operation is canceled.

For details on the stop command, refer to Section 7.4 m code is active.

This bit is set when a m code becomes active.

When a m code OFF command is received, the bit is cleared.

For details on the m code, refer to Section 10.9

The unit is ready.

This bit is set upon completion of 20SSC-H boot-up after power-on.

(It is kept in ON state until the power is turned off.)

Each value of buffer memories becomes valid after the bit is set.

Transferring servo parameters is in progress.

This bit is ON state while transferring servo parameters with a transfer command.

It is automatically cleared upon completion of the transfer.

For details on the servo parameters transfer,

refer to Subsection 11.4.11

Saving data into flash-memory is in progress.

• This bit is ON while saving buffer memory data into flashmemory.

• When finished storing the data, the bit is cleared.

For details on storing buffer memory

into a flash-memory, refer to Subsection 11.4.15

Value Format

Bit

Default

-

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11.3 Monitor Data

11

BFM Number

X-axis Y-axis

Bit

Number

Description Value Format Default

BFM #28 BFM #128 b12 b13 b14 b15

Initialization of buffer memory is in progress.

• This bit is ON while initializing data in buffer memories.

• When finished initializing the data, the bit is cleared.

For details on initializing buffer memory,

refer to Subsection 11.4.15

Changing speed is in progress.

• This bit is set upon receiving a speed change command during positioning operation.

• Cleared upon completion of the speed change.

For details on the operation speed change command,

refer to Subsection 7.5.2

Changing a target address is in progress.

This bit is set upon receiving a target address change command during positioning operation.

Cleared upon completion of the change of target address.

For details on the target address change command,

refer to Subsection 7.5.3

Table operation is in progress.

This bit is kept in ON status while performing table operation.

(It is set by a START command and cleared when the operation is finished.)

Bit -

*1.

Completion of positioning

1) Operations turning the "positioning completion" bit ON.

• Operations turning the "positioning completion" bit ON.

- Mechanical zero return operation (DOG)

- 1-speed positioning operation

- Interrupt 1-speed constant quantity feed

- 2-speed positioning operation

- Interrupt 2-speed constant quantity feed

- Interrupt stop

- Multi-speed operation

- Linear interpolation

- Linear interpolation (interrupt stop)

- Circular interpolation

- Mechanical zero return operation

• Operations turning the "positioning completion" bit OFF.

- Mechanical zero return operation

(data set type)

- JOG operation

- Manual pulse generator operation

- Variable speed operation

2) When stopped at a STOP command

The "Positioning completion" bit does not turn ON at the target address.

11.3.14 Error code [BFM #29, BFM #129]

If an error occurs, the error code is stored.

1. Buffer memories to store error information

If an error occurs, the buffer memories store error information as shown in the table below.

After removing the cause of the error, the system can recover from the error by an error reset command.

Item

No. of BFM in which an error occurred

Status information

Error code

Servo parameter error number

Servo status

Description

Number of buffer memory in which an error occurred is stored.

Becomes active upon detecting an error.

The error code is stored.

The servo amplifier error code is stored.

Turns ON, when an error of the servo amplifier occurs.

2. Error codes

An error code is stored in decimal format.

For details on the error codes, refer to Subsection 13.2.3

12

13

A

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11.3 Monitor Data

11.3.15 Model code [BFM #30]

The model code of the 20SSC-H has been stored.

BFM Number

X-axis Y-axis

BFM #30

-

Description

The model code of the 20SSC-H is K5220.

11.3.16 Deviation counter value [BFM #51, #50, BFM #151, #150]

The deviation counter value of the servo amplifier is stored.

BFM Number

X-axis Y-axis

BFM #51,#50

BFM

#151,#150

Description

Deviation counter value of the servo amplifier (PLS)

Value Format

Decimal

Value Format

Hexadecimal

11.3.17 Motor speed [BFM #52, BFM #152]

The present rotation speed of the servo motor is stored.

BFM Number

X-axis Y-axis

BFM #52 BFM #152

Description

The present rotation speed of the servo motor (

×0.1 r/min)

11.3.18 Motor current value [BFM #54, BFM #154]

The present value of the servo motor current is stored.

BFM Number

X-axis Y-axis

BFM #54 BFM #154

Description

The value of the servo motor current (

× 0.1%)

Value Format

Hexadecimal

Value Format

Hexadecimal

11.3.19 Servo amplifier software number [BFM #53, #52, BFM #153, #152]

The software number of the servo amplifier is stored.

Updated at control power on to the servo amplifier.

BFM Number

X-axis Y-axis

BFM

#56, #61

BFM

#156, #161

Description

Servo amplifier software number

Note

The servo software number is stored in ASCII code as shown below.

Example: When the number is

-B35W200 A0

:

BFM Number

BFM #56

BFM #57

BFM #58

BFM #59

BFM #60

BFM #61

Monitor Value

H422D

H3533

H3257

H3030

H4120

H2030

ASCII Code

B -

5 3

2 W

0 0

A SPACE

SPACE 0

Servo amplifier software number

-B35W200 A0

Value Format

ACSII code

Default

-

Default

-

Default

-

Default

-

Default

-

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11.3 Monitor Data

11.3.20 Servo parameter error numbers [BFM #62, BFM #162]

Parameter numbers that has caused servo parameter errors are stored.

BFM Number

X-axis Y-axis

BFM #62 BFM #162 Servo parameter number

Description

Monitor Values and Servo Parameter Numbers

Value Format

Hexadecimal

Default

-

Stored value

001

002

003

004

005

006

007

008

009

010

011

012

013

014

015

016

017

Parameter

No.

PA01

PA02

PA03

PA04

PA05

PA06

PA07

PA08

PA09

PA10

PA11

PA12

PA13

PA14

PA15

PA16

PA17

Stored value

018

019

020

021

022

023

024

025

026

027

028

029

030

031

032

033

034

Parameter

No.

PA18

PB01

PB02

PB03

PB04

PB05

PB06

PB07

PB08

PB09

PB10

PB11

PB12

PB13

PB14

PB15

PB16

Stored value

042

043

044

045

046

047

048

049

050

051

035

036

037

038

039

040

041

Parameter

No.

PB17

PB18

PB19

PB20

PB21

PB22

PB23

PB24

PB25

PB26

PB27

PB28

PB29

PB30

PB31

PB32

PB33

Stored value

052

053

054

055

056

057

058

059

060

061

062

063

064

065

066

067

068

Parameter

No.

PB34

PB35

PB36

PB37

PB38

PB39

PB40

PB41

PB42

PB43

PB44

PB45

PC01

PC02

PC03

PC04

PC05

Stored value

069

070

071

072

073

074

075

080

095

096

097

098

099

100

101

Parameter

No.

PC06

PC07

PC08

PC09

PC10

PC11

PC12

Stored value

102

103

104

Parameter

No.

PD07

PD08

PD09

127 PD32

PC17

PC32

PD01

PD02

PD03

PD04

PD05

PD06

11.3.21 Servo status [BFM #64, #63, BFM #164, #163]

BFM Number

X-axis Y-axis

BFM #63

BFM #64

BFM #163

BFM #164

Bit

Number

Description

b0 b1,b2 b3

Zero-phase is passed

The bit is set when the zero-phase of the encoder is passed.

Not available

Operating at zero speed

This bit is set while the motor is driven at speeds slower than

"zero speed".

b4 to b15 Not available b0

Ready ON

This bit is set while the servo ready is ON.

b1

Servo ON

This bit is set while the servo is ON.

Cleared when the servo turns OFF.

b2 to b6 b7

Not available

An alarm has been raised

This bit is set while an alarm is raised.

b8 to b11 Not available b12 b13

In-position

This bit is set while droop pulses are within a range of "Inposition".

Torque is limited

This bit is set while the servo amplifier is limiting torque.

b14 b15

Losing an absolute position

This bit is set while the servo amplifier is losing an absolute position.

A warning is occurring

This bit is set while a warning is occurring at the servo amplifier.

Value

Format

Bit

Default

-

11

12

13

A

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11.3 Monitor Data

11.3.22 Regenerative load ratio [BFM #65, BFM #165]

The regenerative load ratio power to the maximum regenerative power is stored in percentage.

With regenerative brake option, the regenerative power ratio of the allowable capacity is stored.

BFM Number

X-axis Y-axis

BFM #65 BFM #165 Regenerative load ratio (%)

Description Value Format

Decimal

Default

-

11.3.23 Effective load torque [BFM #66, BFM #166]

The continuous effective load torque is stored.

This parameter stores the average value of the load ratio to the rated torque (100%) in the past 15 seconds.

BFM Number

X-axis Y-axis

BFM #66 BFM #166 Effective load torque (%)

Description Value Format

Decimal

Default

-

11.3.24 Peak torque ratio [BFM #67, BFM #167]

The maximum torque during operations is stored.

This parameter stores the peak value to the rated torque (100%) in the past 15 seconds.

BFM Number

X-axis Y-axis

BFM #67 BFM #167 Peak torque ratio (%)

Description Value Format

Decimal

11.3.25 Servo warning code [BFM #68, BFM #168]

Default

-

Warnings detected by the servo amplifier are stored.

Clear the cause of warning.

For details on the warnings, refer to the manual of the connected servo amplifier

For details on the warning codes, refer to Subsection 13.2.4

11.3.26 Motor feedback position [BFM #71, #70, BFM #171, #170]

Motor feedback positions are stored.

X-axis

BFM #71,#70

BFM Number

Y-axis

BFM #171,#170

Description

Motor feedback position (PLS)

Value Format

Decimal

Default

-

11.3.27 Servo status 2 [BFM #72, BFM #172]

BFM Number

X-axis Y-axis

BFM #72 BFM #172

Bit

Number

Description

b0

A parameter update completed flag

• This bit is set when an automatic update of servo parameters is completed.

• Cleared when a servo parameter save command or servo parameter initialization command is finished.

b15 to b1 Not available

Value Format

Bit

11.3.28 Flash memory write count [BFM #91, #90]

The number of times data is written to the flash memory is stored.

BFM Number

X-axis Y-axis

BFM #91,#90

-

Description

The number of writes to the flash memory

Note

The maximum number of writes to the built-in flash memory is 100,000 times.

Value Format

Decimal

Default

-

Default

-

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11.4 Control Data

11.4

Control Data

The control data is user-specified data for controlling the positioning system.

For X-axis: BFM #500 to #599

For Y-axis: BFM #600 to #699

Caution

Do not use unlisted BFMs for changing values not described in this section.

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

This data item sets a target position or travel for positioning operation distance as the target address 1.

BFM Number

X-axis Y-axis

BFM

#501,#500

BFM

#601,#600

Description

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]

*1

Set the value within -2,147,483,648 to 2,147,483,647 PLS in the converted pulse data

*1.

Refer to the section shown below for details on the user unit.

Default

K0

Refer to Section 7.7

Note

• The positioning operation differs as follows depending on the procedure to specify the absolute address or relative address.

- With absolute address: travels from the current position to the target position.

The rotation direction depends whether target address 1 is larger or smaller than the current address.

- With relative address: moves by the specified travel distance from the current position. The rotation direction depends on the target address sign (+/-).

• The units of the value are user-specified and include the position data magnification.

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

This data item sets the operation speed 1 for positioning operations.

BFM Number

X-axis Y-axis

BFM

#503,#502

BFM

#603,#602

Description

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]

*1

Set the value within 1 to 50,000,000Hz in converted pulse data.

*1.

Refer to the section shown below for details on the user unit.

Default

K1

Refer to Section 7.7

Note

• Set the operation speed 1 slower than the maximum speed.

If the operation speed 1 exceeds the maximum speed, 20SSC-H operates at the maximum speed.

• You can change the operation speed during positioning operation if changing speed is enabled (when not setting the flag for "speed change disable during operation").

For details on the operation speed change function, refer to Subsection 7.5.2

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11.4 Control Data

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

This data item sets a target position or travel for positioning operation distance as the target address 2.

BFM Number

X-axis Y-axis

Description Default

BFM

#505,#504

BFM

#605,#604

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]

*1

Set the value within -2,147,483,648 to 2,147,483,647 PLS in the converted pulse data

*1.

Refer to the section shown below for details on the user units.

K0

Refer to Section 7.7

Note

• The positioning operation differs as follows depending on the procedure to specify the, absolute address or relative address.

- With absolute address: travels from the current position to the target position.

The rotation direction depends on whether target address 2 is larger or smaller than the current address.

- With relative address: moves by the specified travel distance from the current position. The rotation direction depends on the target address sign (+/-).

• The units of the value are user-specified and include the position data magnification.

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

This data item sets the operation speed 2 for positioning operations.

BFM Number

X-axis Y-axis

BFM

#507,#506

BFM

#607,#606

Description

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]

*1

Set the value within 1 to 50,000,000 Hz in converted pulse data.

*1.

Refer to the section shown below for details on the user units.

Default

K1

Refer to Section 7.7

Note

• Set the operation speed 1 slower than the maximum speed.

If the operation speed 1 exceeds the maximum speed, 20SSC-H operates at the maximum speed.

• You can change the operation speed during positioning operation if changing speed is enabled (when not setting the flag for "speed change disable during operation").

For details on the operation speed change function, refer to Subsection 7.5.2

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

This data item sets an override value for the override function.

For details on the override function, refer to Subsection 7.5.1

BFM Number

X-axis Y-axis

BFM #508 BFM #608 Setting range: 1 to 30000 (

× 0.1%)

Description Default

K1000

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

This data item sets an output torque for the torque limit function.

For details on the torque limit function, refer to Subsection 7.6.3

BFM Number

X-axis

BFM #510

Y-axis

BFM #610 Setting range: 0 to 10000 (

× 0.1%)

Description Default

K0

128

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11.4 Control Data

11.4.7 Velocity change value [BFM #513, #512, BFM #613, #612]

This data item sets the velocity change value.

For details on the operation speed change function, refer to Subsection 7.5.2

BFM Number

X-axis Y-axis

BFM

#513,#512

BFM

#613,#612

Description

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]

*1

Set the value within 1 to 50,000,000 Hz in converted pulse data.

*1.

Refer to the section shown below for details on the user units.

Default

K1

Refer to Section 7.7

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

This data item sets the target address for the target address change function.

For details on the target address change function, refer to Subsection 7.5.3.

BFM Number

X-axis Y-axis

Description Default

BFM

#515,#514

BFM

#615,#614

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]

*1

Set the value within -2,147,483,648 to 2,147,483,647 PLS in the converted pulse data

*1.

Refer to the section shown below for details on the user units.

K0

Refer to Section 7.7

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

This data item sets the operation speed for the target address change function.

For details on the target address change function, refer to Subsection 7.5.3

BFM Number

X-axis Y-axis

Description

BFM

#517,#516

BFM

#617,#616

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]

*1

Set the value within 1 to 50,000,000 Hz in converted pulse data.

*1.

Refer to the section shown below for details on the user units.

Default

K1

Refer to Section 7.7

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

BFM Number

X-axis Y-axis

Bit

Number

BFM

#518

BFM

#618 b0 b1 b2 b3 b4 b5

Setting Item Description

Error reset

STOP

(deceleration stop)

Forward rotation limit (LSF)

Reverse rotation limit (LSR)

Forward rotation

JOG

Reverse rotation

JOG

Set this to recover from errors and clear the following information.

Error BFM numbers (BFM #6, BFM #106)

Status information

Occurrence of an error (b5)

Error code (BFM #29)

When this bit is ON during positioning operation, decelerate to stop.

For details on the stop command, refer to Section 7.4

Set this to perform a deceleration stop while outputting pulses for forward rotation.

For details on the forward rotation limit (LSF),

refer to Subsection 7.3.2

Set this to perform a deceleration stop while outputting pulses for reverse rotation.

For details on the reverse rotation limit (LSR),

refer to Subsection 7.3.2

Pulses for forward rotation are output while this is set.

For details on the JOG operations, refer to Section 8.2

Pulses for reverse rotation are output while this is set.

For details on the JOG operations, refer to Section 8.2

Detection

*1

Default

Edge

Level

Level

Level

Level

Level

H0000

11

12

13

A

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11.4 Control Data

BFM Number

X-axis Y-axis

Bit

Number

Setting Item Description

Detection

*1

BFM

#518

BFM

#618 b6 b7 b8 b9 b10

*2 b11 b12 b13 b14 b15

Mechanical zero return command

Not available

Relative/Absolute address specification

START command

Simultaneous

START flag m code OFF

When this is set, mechanical zero return operation is started.

For details on the mechanical zero return,

refer to Section 8.1

-

OFF: An absolute address is used (moves to the specified target address based on the base position).

ON: A relative address is used (moves by a specified amount of travel from the current address).

Set this to start a positioning operation selected from the operation patterns.

ON: Starts X and Y positioning operations simultaneously when a START command for X-axis becomes active.

(includes JOG and zero return operations)

OFF: X and Y positioning operations start individually by their respective START commands.

(excludes interpolation and XY-table operations)

Set this to disable m codes.

For details on the m code, refer to Section 10.9

Set this to disable an operation speed change command and target position change command during operations.

Change commands during operations are disabled

Speed change command during positioning operation

Target position change command during positioning operation

Not available

Changes the operation speed to the speed preset as a velocity change value during operation.

For details on the operation speed change,

refer to Subsection 7.5.2

Changes the target address to the address preset as a target position change value (address or speed) during operations.

For details on the target address change,

refer to Subsection 7.5.3

-

*1.

Timing of detection

1) Level detection: activated when the bit is set or cleared.

2) Edge detection: activated at off-to-on transition.

*2.

The simultaneous START flag is b10 in the X-axis operation command 1 (BFM #518).

Do not use b10 in the Y-axis operation command 1 (BFM #618).

Note

Edge

-

Level

Edge

Level

Edge

Level

Edge

Edge

-

Default

H0000

• Priority of start flag and stop flag

The STOP command has higher priority over the forward / reverse rotation JOGs and the START command.

• Handling of each flag ON/OFF state

- The 20SSC-H retains stop and start flag ON/OFF states until power OFF.

- The commands with level detection executes/stops at writing ON/OFF.

- For commands with edge detection, create a program so that the bits are always turned OFF upon completion of ON operations.

(The second and subsequent cycles cannot be performed without turning the bits OFF.)

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11.4 Control Data

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

BFM Number

X-axis Y-axis

BFM

#519

BFM

#619

Bit

Number

Setting Item Description

b0 b1 to b3 b4 b5 to b7 b8 b9 b10

Remaining travel cancel command

Not available

Positioning parameters enable command

Not available

Servo OFF command

Servo parameters transfer command

Set this to cancel the standby status for the remaining travel after the STOP command.

For details on the stop command, refer to Section 7.4

-

Set this to enable positioning parameters in the buffer memories.

Whenever you make a change to positioning parameters, this bit must be set before starting operation.

-

Set this to turn the servo OFF.

For details on the servo ON/OFF state, refer to

Subsection 7.6.5

0: servo ON

1: servo OFF

Set this to transfer servo parameters in the buffer memories to the servo amplifier.

Gain changing command b11 to b15 Not available

Changes the gain of the amplifier from the 20SSC-H.

For details on changing gain, refer to the manual shown below.

MR-J3- B Servo Amplifier Instruction Manual

-

Detection

*1

Edge

-

Edge

-

Level

Edge

Level

-

Default

H0000

*1.

Timing of detection

1) Level detection: activated when the bit is set or cleared.

2) Edge detection: activated at off-to-on transition.

POINT

1) Changing positioning parameters

When the 20SSC-H is powered ON, operation starts with the positioning parameters in the flash memory.

During operation, when the buffer memory positioning parameters are changed via FX Configurator-FP or a sequence program, it is necessary to reboot the positioning parameters enable command. Without rebooting the command, changes will not be reflected in actual operation.

2) Transferring servo parameters a) The following servo parameters are transferred to the servo amplifier when rebooting the servo parameter transfer command.

- Auto tuning mode

- Auto tuning response

- Feed forward gain

- Ratio of load inertia moment to servo motor inertia moment

- Model loop gain

- Position loop gain

- Speed loop gain

- Speed integral compensation

- Speed differential compensation b) During positioning operations, the servo parameter transfer command is ignored.

c) "Transferring servo parameters" in the status information is ON during the transfer.

For details on the status information, refer to Subsection 11.3.13

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11 Buffer Memory (Parameters & Monitored Data)

11.4 Control Data

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

BFM Number

X-axis Y-axis

Bit

Number

Setting Item Description

BFM

#520

BFM

#620 b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 b10

1-speed positioning operation

Interrupt 1-speed constant quantity feed

2-speed positioning operation

Interrupt 2-speed constant quantity feed

Interrupt stop

Variable speed operation

Operation using the manual pulse generator

Linear interpolation

Linear interpolation

(interrupt stop)

Table operation

(individual)

Table operation

(simultaneous)

Set this to perform 1-speed positioning operation.

For details on the 1-speed positioning operation,

refer to Section 9.2

Set this to perform an interrupt 1-speed constant quantity feed.

For details on the interrupt 1-speed constant

quantity feed, refer to Section 9.3

Set this to perform 2-speed positioning operation.

For details on the 2-speed positioning operation,

refer to Section 9.4

Set this to perform an interrupt 2-speed constant quantity feed.

For details on the interrupt 2-speed constant

quantity feed, refer to Subsection 9.5

Set this to perform an interrupt stop.

For details on the interrupt stop, refer to Section 9.6

Set this to perform a variable speed operation.

For details on the variable speed operation,

refer to Section 9.7

Set this to perform an operation with the manual pulse generator.

For details on the manual pulse generator operation,

refer to Section 8.3

Set this to perform a linear interpolation operation.

For details on the linear interpolation operation,

refer to Section 9.9

Set this to perform a linear interpolation operation (interrupt stop).

For details on the linear interpolation operation

(interrupt stop), refer to Section 9.10

Set this to perform an individual table operation.

For details on the table operation (individual),

refer to Section 10.1

Set this to perform a simultaneous table operation.

For details on the table operation (samultaneous),

refer to Section 10.1

Not available b11 to b15

*1.

Timing of the detection

1) Level detection: activated when the bit is set or cleared.

2) Edge detection: activated at off-to-on transition.

Note

Detection

*1

Default

Level

-

H0000

• The selected operation is started at a START input or START flag.

• The program must be created so that the operation pattern selection is executed before the START input or the START command.

• A positioning operation cannot be started even by the START input or START command when all bits of the operation patterns are OFF, or multiple bits are ON.

(An error occurs if multiple bits are set to ON.)

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

This data item sets a table information number for the table operation.

For details on the table operation, refer to Chapter 10

BFM Number

X-axis Y-axis

BFM #521 BFM #621 Setting range: 0 to 299

Description Default

K0

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11 Buffer Memory (Parameters & Monitored Data)

11.4 Control Data

11.4.14 Control command enable/disable [BFM #522]

This data item enables or disables control commands.

Once the model code is stored, control commands are enabled.

BFM Number

X-axis Y-axis

Description

BFM #522

Model code (K5220) :enables control commands

Values other than the model code :disables control commands

Default

K0

Note

Write the model code (K5220) to the "control command enable/disable" before executing control commands.

After control commands are executed, "0" is automatically stored in the "control command enable/disable."

11.4.15 Control command [BFM #523]

This data item sets data to the buffer memory/the flash memory, or initializes the data.

BFM Number

X-axis Y-axis

Bit

Number

Setting Item Description

BFM #523 b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 b10 b11 b12 b13 b14

Positioning parameters save command

Table information save command

Y-axis

XYaxes

Servo parameters save command

X-axis

Y-axis

Not available

Positioning parameters initialization command

X-axis

Table information initialization command

Y-axis

XYaxes

Servo parameters initialization command

X-axis

Y-axis b15 Not available

X-axis

Y-axis

X-axis

X-axis

Y-axis

Writes X-axis positioning parameters (BFM #14000 to

BFM #14199) into the flash memory.

Writes Y-axis positioning parameters (BFM #14200 to

BFM #14399) into the flash memory.

Writes X-axis table information (BFM #1000 to BFM

#3999) into the flash memory.

Writes Y-axis table information (BFM #4000 to BFM

#6999) into the flash memory.

Writes XY-axes table information (BFM #7000 to BFM

#12999) into the flash memory.

Writes X-axis servo parameters (BFM #15000 to BFM

#15199) into the flash memory.

Writes Y-axis servo parameters (BFM #15200 to BFM

#15399) into the flash memory.

-

Resets X-axis positioning parameters (BFM #14000 to

BFM #14199) to their factory default.

Resets Y-axis positioning parameters (BFM #14200 to

BFM #14399) to their factory default.

Resets X-axis table information (BFM #1000 to BFM

#3999) to their factory default.

Resets Y-axis table information (BFM #4000 to BFM

#6999) to their factory default.

Resets XY-axes table information (BFM #7000 to BFM

#12999) to their factory default.

Resets X-axis servo parameters (BFM #15000 to BFM

#15199) to their factory default.

Resets Y-axis servo parameters (BFM #15200 to BFM

#15399) to their factory default.

-

Detection

*1

Edge

-

Edge

-

Default

H0000

*1.

Timing of the detection

1) Level detection: activated when the bit is set or cleared.

2) Edge detection: activated at off-to-on transition.

Before executing control commands:

Write the model code (K5220) to the "control command enable/disable" before executing control commands.

After control commands are executed, "0" is automatically stored in the "control command enable/disable."

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11 Buffer Memory (Parameters & Monitored Data)

11.4 Control Data

Notes on saving data into flash memory

• The save command is ignored during a positioning operation.

• Be sure to note the following points while saving data into the flash memory (status information: ON).

- Do not turn the power OFF while saving data into the flash memory.

- Do not write any data to buffer memories until saving data into flash memory is completed.

• A memory error occurs when failed to save data into the flash memory.

• The maximum number of times data can be written to the flash memory is 100,000 times.

The number of times data has been written to the flash memory can be checked by the number of writes.

For details on the flash memory maximum number of writes, refer to Section 11.3.28

Notes on initializing buffer memories

While initialization is in progress, the "initializing" status of the status information is ON and READY/BUSY is

OFF (BUSY).

11.4.16 Manual pulse generator input magnification (numerator)

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

This data item sets the magnification to be applied to the numerator of a pulse train input by the manual pulse generator.

For details on the manual pulse generator, refer to Section 8.3

BFM Number

X-axis Y-axis

BFM

#525,#524

BFM

#625,#624

Setting range: 1 to 1,000,000 times

Description Default

K1

11.4.17 Manual pulse generator input magnification (denominator)

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

This data item sets the magnification to the denominator of a pulse train input by the manual pulse generator.

For details on the manual pulse generator, refer to Section 8.3

BFM Number

X-axis

BFM

#527,#526

Y-axis

BFM

#627,#626

Setting range: 1 to 1,000,000 times

Description Default

K1

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11 Buffer Memory (Parameters & Monitored Data)

11.5 Table Information

11.5

Table Information

This section shows BFMs for positioning in table operation.

Table numbers and BFM numbers are assigned as shown in the table below.

For details on the table operation, refer to the following.

For X-axis :BFM #1000 to #3999

For Y-axis :BFM #4000 to #6999

For XY-axes :BFM #7000 to #12999

Table No.

X-axis

BFM

#1001,#1000

0

-

BFM

#1003,#1002

-

-

-

BFM Number

Y-axis

BFM

-

#4001,#4000

XY axes

BFM

#7001,#7000

BFM

#7003,#7002

BFM

-

#4003,#4002

BFM

#7005,#7004

BFM

#7007,#7006

-

-

BFM

#7009,#7008

BFM

#7011,#7010

BFM #1004 BMF# 4004 BFM #7012

1

BFM #1005

BFM

#1011,#1010

-

BFM

#1013,#1012

-

BMF# 4005

BFM

-

#4011,#4010

-

BFM

#4013,#4012

-

-

BFM #1014

BFM #1015

-

BFM #4014

BFM #4015

BFM #7013

BFM

#7021,#7020

BFM

#7023,#7022

BFM

#7025,#7024

BFM

#7027,#7026

BFM

#7029,#7028

BFM

#7031,#7030

BFM #7032

BFM #7033

Name

Speed information

Speed information x

Speed information y

Circular information

Center coordinate i

Radius r

Center coordinate j

Operation information m code information

Refer to Chapter 10

Description

Position information

Position information

Position information y

Set target addresses or etc. for the table operation.

Speed information

Speed information x

Speed information y

Set the operation speed.

Circular information

Center coordinate i

Radius r

Center coordinate j

Set center coordinate and radius of a circular line for circular interpolation operation

Operation information m code information

Set actions by the table operation.

m code is output each time at positioning operation.

Position information

Position information x

Position information y

Same as the table 0

Default

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

11

12

13

A

299

BFM

#3991,#3990

-

BFM

#3993,#3992

-

-

-

BFM

#6991,#6990

-

BFM

#6993,#6992

-

-

BFM #3994

BFM #3995

-

BFM #6994

BFM #6995

BFM

#12981,#12980

BFM

#12983,#12982

BFM

#12985,#12984

BFM

#12987,#12986

BFM

#12989,#12988

BFM

#12991,#12990

BFM #12992

BFM #12993

Position information

Position information x

Position information y

Speed information

Speed information x

Circular information

Speed information y

Center coordinate i

Radius r

Center coordinate j

Operation information m code information

Same as the table 0

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

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11 Buffer Memory (Parameters & Monitored Data)

11.5 Table Information

1. Position information

Set the following items according to the table operations set in the operation information.

Table Operation

Action

Item Description

Positioning operation

Changes the current address

Dwell

Jump

Set the target address.

Specify the current address after changed.

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]

*1

Set the value within -2,147,483,648 to 2,147,483,647PLS in the converted pulse data

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]

*1

Set the value within -2,147,483,648 to 2,147,483,647PLS in the converted pulse data

Set wait time to be spent for shifting operations.

Sets the table number of the jump address.

Setting range: 0 to 32767 (

× 10 ms)

Setting range: 0 to 299

*1.

Refer to the section shown below for details on the user units.

Refer to Section 7.7

2. Speed data (fx, f, fy)

Sets the operation speed of the positioning operation to be used for table operation.

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]*

1

Set the value within 1 to 50,000,000 Hz in converted pulse data

*1.

Refer to the section shown below for details on the user units.

Refer to Section 7.7

3. Circular information (i, r, j)

Sets center coordinate and radius for a circular line to be used in circular interpolation operation

Setting range: -2,147,483,648 to 2,147,483,647 [User unit]

*1

Set the value within -2,147,483,648 to 2,147,483,647PLS in the converted pulse data.

*1.

Refer to the section shown below for details on the user units.

Refer to Section 7.7

4. Operation information

Sets the positioning operation for table operation and changes the current address.

Designate instruction words (such as DRV, DRVZ) in numerical values for operation information.

Type

No processing

Abbreviation

NOP

Setting value

-1

Meaning

Position information x

y

-

Speed information fx/f

-

fy

-

Circular information i/r

-

j

m code

End

NOP -1

Does not cause any operation.

Does not cause any operation.

Used to activate m code.

Terminates the table operation.

-

1-speed positioning operation

Interrupt 1-speed constant quantity feed

END

X-axis DRV_X

Y-axis DRV_Y

XY-axes DRV_XY

X-axis SINT_X

Y-axis SINT_Y

XY-axes SINT_XY

X-axis DRV2_X

2-speed positioning operation

(two tables are used)

Y-axis DRV2_Y

XY-axes DRV2_XY

5

6

3

4

0

1

2

7

8

9

Performs 1-speed positioning operation.

Performs interrupt 1-speed constant quantity feed.

Performs 2-speed positioning operation.

-

"

-

-

"

" "

" -

"

-

-

" "

"

"

-

-

"

"

" "

" "

"

"

-

-

"

"

-

"

-

"

"

-

"

-

-

-

-

-

-

-

-

-

-

-

-

-

-

"

"

-

-

"

"

"

-

-

"

"

"

-

-

-

-

-

-

-

-

-

-

-

-

-

m code information

-

"

"

"

-

"

"

"

"

"

-

"

-

-

"

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11 Buffer Memory (Parameters & Monitored Data)

11.5 Table Information

11

Interrupt 2-speed constant quantity feed (two tables are used)

Type

Interrupt stop

Multi-speed operation (multiple tables are used)

Linear interpolation

X-axis

Y-axis

Abbreviation

DINT_X

DINT_Y

XY-axes DINT_XY

X-axis INT_X

Y-axis INT_Y

XY-axes INT_XY

X-axis DRVC_X

Y-axis DRVC_Y

LIN

Linear interpolation

(interrupt stop)

Circular interpolation

(center, CW direction)

LIN_INT

CW_i

Circular interpolation

(center, CCW direction)

Circular interpolation

(radius, CW direction)

CCW_i

CW_r

Circular interpolation

(radius, CCW direction)

Mechanical zero return operation

CCW_r

X-axis DRVZ_X

Y-axis DRVZ_Y

XY-axes DRVZ_XY

X-axis SET_X

Changes the current address

Y-axis SET_Y

XY-axes SET_XY

Setting value

10

11

12

13

14

15

16

17

Meaning

Performs interrupt 2-speed constant quantity feed.

Performs interrupt stop operation.

Position information x

"

-

-

-

" " y

-

-

"

-

"

-

" "

-

"

" -

Performs multi-speed operation.

"

19

20

Performs linear interpolation operation.

Performs linear interpolation operation (interrupt stop).

"

"

"

"

Speed information

-

"

"

"

-

-

"

-

-

"

fy

-

-

"

"

"

"

-

-

"

"

fx/f

"

"

"

-

"

"

21

22

23

24

25

26

27

90

91

92

Performs circular interpolation operation.

Performs mechanical zero return operation.

"

"

"

"

-

-

-

"

-

"

"

"

"

-

-

-

-

"

" "

"

"

"

"

-

-

-

-

-

-

-

-

-

-

Absolute address

Relative address

Dwell

Jump

ABS

INC

TIM

JMP

93

94

95

96

The current address is replaced with a specified address (user units) by this command.

When this command is issued, the position information (x, y) of the table operation becomes an absolute address, which specifies positions from the (0, 0) point.

(absolute address is specified by default)

When this command is issued, the position information (x, y) of the table operation becomes a relative address based on the current address.

The 20SSC-H waits for the specified time period. Use this to specify waiting time for shifting operations.

Jumps to the specified table number.

Jumping from X-axis table to Y-axis table is not allowed.

-

-

"

-

"

-

-

-

-

"

-

"

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

5. m code information

m code is output each time at positioning operation.

For instructions on how to use the m code, refer to the following.

-

-

"

"

"

"

-

-

-

-

-

-

-

-

-

-

-

-

Circular information m code information

-

-

-

-

i/r

-

-

-

-

-

-

-

-

-

-

-

j

-

-

-

-

-

-

"

-

"

-

"

"

-

"

"

"

"

-

-

"

"

-

-

-

-

-

-

-

-

-

-

-

-

-

-

"

"

"

"

"

"

"

"

"

-

-

Refer to Section 10.9

"

"

"

"

"

"

"

No code•••••••••••••-1 m code after mode••••••0 to 9999 m code with mode••••••10000 to 32767

12

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12 Program Example

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12. Program Example

STARTUP AND MAINTENANCE

PRECAUTIONS

• Do not touch any terminal while the PLC's power is on.

Doing so may cause electrical shock or malfunctions.

• Before cleaning or retightening terminals, externally cut off all phases of the power supply.

Failure to do so may expose you to shock hazard.

• Before modifying the program under operation or performing operation for forcible output, running or stopping, carefully read the manual, and sufficiently ensure the safety.

An operation error may damage the machine or cause accidents.

• To test Zero-return, JOG operation and Positioning data, throughly read this manual, ensure the safe system operation

An operation error may damage the machine or cause accidents.

STARTUP AND MAINTENANCE

PRECAUTIONS

• Do not disassemble or modify the PLC.

Doing so may cause failures, malfunctions or fire.

For repair, contact your local Mitsubishi Electric distributor.

• Before connecting or disconnecting any extension cable, turn off power.

Failure to do so may cause unit failure or malfunctions.

• Before attaching or detaching the following devices, turn off power.

Failure to do so may cause device failure or malfunctions.

Peripheral devices, expansion boards and special adapters

I/O extension blocks/units and terminal blocks

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12.1

Reading/Writing Buffer Memory

12 Program Example

12.1 Reading/Writing Buffer Memory

11

12.1.1 Assigned unit number

1. Assigned unit number

The unit number for the 20SSC-H is automatically assigned No.0 to No.7 starting from the special function unit/block closest to the PLC main unit.

• In the FX

3U

series

Unit No.0

Unit No.1

Unit No.2

12

13

FX

3UC

Main unit

Input/output extension block

Special function block

Special function block

Input/output extension block

Special function unit

A

• In the FX

3UC

series

Unit No.0

(built-in CC-Link/LT)

Unit No.1

Unit No.2

Unit No.3

FX

3UC

-

32MT-LT

Main unit

Input/output extension block

Special function block

Special function block

Input/output extension block

Special function unit

12.1.2 How to read/write from/to buffer memory

To read/write from/to buffer memory in 20SSC-H, use the FROM/TO instructions or applied instructions that directly specify the buffer memory.

To directly specify the buffer memory, FX

3U

/FX

3UC

PLC applicable software (GX Developer) is required.

Note

Buffer memory that is assigned in 32 bits must use 32-bit instructions to read/write.

Data cannot be correctly read/written from/to buffer memory assigned in 32 bits if 16-bit read/write instructions are used.

1. Direct specification of buffer memory

The following setting device is specified for the source or destination of an applied instruction.

Unit No. (0 to 7)

U \G

is substituted with a number

Buffer memory No. (0 to 15399)

1) Example 1

In the following program example, data is read from the buffer memory (BFM #1,#0) in unit No.1 to data registers (D11, D10).

Read command

FNC 12

DMOV

U1\G0 D10

Unit No.

Buffer memory No.

Transfer result

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12 Program Example

12.1 Reading/Writing Buffer Memory

2) Example 2

In the following program example, 32-bit data in data registers (D21,D20) is written to buffer memory

(BFM #501,#500) in unit No.1.

Write command

FNC 12

DMOV

D20 U1\G500

Transfer source

Unit No.

Buffer memory No.

2. FROM/TO instructions (conventional method)

1) FROM instruction (read from BFM to PLC)

The FROM instruction is used to read data from the buffer memory.

The following shows how to use this instruction in a sequence program.

Read command

FNC 78

DFROM

K1 K0 D10 K1

Unit No.

Buffer memory No.

Number of transfer points

Transfer destination

In the above program example, a 32-bit data is read from buffer memory (BFM #1,#0) in unit No.1 to data registers (D11,D10).

2) TO instruction (write from PLC to BFM)

The TO instruction is used to write data to buffer memory.

The following shows how to use this instruction in sequence program.

Write command

FNC 79

DTO

K1 K500 D20 K1

Unit No.

Buffer memory No.

Number of transfer points

Transfer source

In the above program example, 32-bit data in data registers (D21,D20) is written to buffer memory

(BFM #501,#500) in unit No.1.

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12 Program Example

12.2 Device Assignments

12.2

Device Assignments

Name

Input

Error reset

STOP

Forward rotation limit

Reverse rotation limit

Forward rotation JOG

Reverse rotation JOG

Mechanical zero return command

START command

Selection of 1-speed positioning operation

Selection of table operation (individual)

Selection of table operation (simultaneous)

Control data

1-speed Positioning operation

Interrupt 1-speed constant quantity feed

2-speed Positioning operation

Interrupt 2-speed constant quantity feed

Interrupt stop

Variable speed operation

Operation pattern selection

Manual pulse generator

Linear interpolation operation

Linear interpolation (interrupt stop) operation

Table operation (individual)

Table operation (simultaneous)

Not available

Error reset

STOP

Forward rotation limit

Reverse rotation limit

Forward rotation JOG

Reverse rotation JOG

Mechanical zero return command

Operation command 1

Target address 1

Operation speed 1

Table operation start No.

Not available

Relative/absolute address specification

START command

Simultaneous start flag m code OFF command

Change command in operation disabled

Speed change command in positioning control

Target position change command in positioning control

Not available

X000

X001

X002

X003

X004

X005

X006

X007

X020

X022

X024

Device No.

X-axis Y-axis

X010

X011

X012

X013

X014

X015

X016

X017

X021

X023

-

Remark

Use external wiring with NC contacts.

M0

M1

M2

M3

M4

M5

M6

M7

M8

M27

M28

M29

M30

M31

M32

M9

M10

M11 to M15

M20

M21

M22

M23

M24

M25

M26

M33

M100

M101

M102

M103

M104

M105

M106

M107

M108

M127

M128

M129

M130

M131

M132

M109

M110

M111 to M115 Always OFF

M120

M121

M122

M123

M124

M125

M126

Always OFF

M133

M34

M35

D501, D500

D503, D502

D521

M134

M135

D601, D600

D603, D602

D621

Always OFF

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12 Program Example

12.3 Explanation of Operation

Name

Monitor data

READY

During forward rotation pulse output

During reverse rotation pulse output

Zero return completed

Current value overflow

Error occurrence

Positioning completion

Standby for remaining travel distance at STOP

Status information

Current address (user)

Error BFM No.

m code No.

Operation speed present value

Number of the table in operation

Error code

Motor rotation speed

Servo status

Servo warning code

Motor feedback position m code ON

Unit ready

During servo parameters transfer

Saving to flash memory

Initializing buffer memory

During operation speed change

During target address change

During table operation execution

Device No.

X-axis Y-axis

M40

M41

M42

M43

M44

M45

M46

M47

M48

M49

M50

M51

M52

M53

M54

M55

D1, D0

D6

D9

D11, D10

D16

D29

D53, D52

D64

D68

D71, D70

M140

M141

M142

M143

M144

M145

M146

M147

M148

M149

M150

M151

M152

M153

M154

M155

D101, D100

D106

D109

D111, D110

D116

D129

D153, D152

D164

D168

D171, D170

Remark

12.3

Explanation of Operation

This section describes operation of the example program.

Positioning control parameters are used with their default settings.

For details on device assignments, refer to section 12.2

For details on sequence programs, refer to section 12.4

Note

• Set the servo series in the servo parameters according to the servo amplifier to be used.

Refer to Section 7.1 and 11.2

• Set the following parameters if necessary.

For details, refer to Section 7.1 and Chapter 11

- Function selection (C-4) for servo parameters

- Zero return interlock setting in positioning parameters

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12 Program Example

12.3 Explanation of Operation

12.3.1 Mechanical zero return

Speed

Acceleration time

(200ms)

Maximum speed

(4,000,000Hz)

OPR speed(High-speed)

4,000,000Hz

Deceleration time

(200ms)

OPR speed

(creep)

100,000Hz

11

12

Time

DOG

Zero-phase signal

X-axis

1) When turning X006 "X-axis mechanical zero return command" to ON at the PLC main unit, DOG type mechanical zero return operation starts in the current value decrementing direction.

2) When turning the DOG ON, the operation decelerates to the zero return speed (creep).

3) When turning the DOG OFF, the operation stops at the zero-phase signal of the motor, and the mechanical origin address is stored to the current value. (zero-point signal count: 1 time)

Y-axis

mechanical zero return operation starts in the current value decrementing direction.

2) When turning the DOG ON, operation decelerates to the zero return speed (creep).

3) When turning the DOG OFF, the operation stops at the zero-phase signal of the motor, and the mechanical origin address is stored to the current value. (zero-point signal count: 1 time)

12.3.2 JOG operation

Speed

Acceleration time

(200ms)

Maximum speed

(4,000,000Hz)

Deceleration time

(200ms)

13

A

JOG speed

(2,000,000Hz)

Time

Forward rotation JOG

ON

JOG command

Determination time

(300ms)

X-axis

• When turning X004 "X-axis forward rotation JOG" to ON at the PLC main unit, the JOG operation starts in the current value incrementing direction.

• When turning X005 "X-axis reverse rotation JOG" to ON at the PLC main unit, the JOG operation starts in the current value decrementing direction.

Y-axis

• When turning X014 "Y-axis forward rotation JOG" to ON at the PLC main unit, the JOG operation starts in the current value incrementing direction.

• When turning X015 "Y-axis reverse rotation JOG" to ON at the PLC main unit, the JOG operation starts in the current value decrementing direction.

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12 Program Example

12.3 Explanation of Operation

12.3.3 1-speed positioning operation

The 1-speed positioning operation operates by the drive for incrementing. The positioning operates at constant quantity feed.

Speed

Acceleration time

(200ms)

Maximum speed

(4,000,000Hz)

Deceleration time

(200ms)

Operation speed 1

(2,000,000Hz)

Target address 1

(5,000,000PLS)

Time

START command

X-axis

• When turning X007 "X-axis START command" to ON with X020 "X-axis selection of 1-speed positioning operation" turned ON at the PLC main unit, the 1-speed positioning operation starts. After 5,000,000 pulses of travel in the current value incrementing direction, the operation decelerates to stop.

• When X007 is turned ON again, positioning starts with the same travel distance again.

(The state of X020 "X-axis selection of 1-speed positioning operation" on the PLC main unit changes from

OFF to ON ).

• When turning X001 "X-axis stop" to ON during positioning, the operation decelerates to stop.

Y-axis

• When turning X017 "X-axis START command" to ON with X021 "X-axis selection of 1-speed positioning operation" turned ON at the PLC main unit, the 1-speed positioning operation starts. After 5,000,000 pulses of travel in the current value incrementing direction, the operation decelerates to stop.

• When X017 is turned ON again, positioning starts with the same travel distance again.

(The state of X021 "X-axis selection of 1-speed positioning operation" on the PLC main unit changes from

OFF to ON ).

• When turning X011 "X-axis stop" to ON during positioning, the operation decelerates to stop.

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

Multi-speed operation works in table operation. In this example, multi-speed operation functions by the drive to increment.

1. Operation details

Speed

Acceleration time

(200ms) Maximum speed

(4,000,000Hz)

Deceleration time

(200ms)

Operation information

(1,000,000Hz)

Position data

(2,000,000PLS)

Operation information

(2,000,000Hz)

Operation information

(1,200,000Hz)

Position data

(5,000,000PLS)

Position data

(3,000,000PLS)

Time

START command m code No m code ON m code OFF command

10001/11001 10002/11002

10003/11003

-1

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12 Program Example

12.3 Explanation of Operation

X-axis

• When turnig X007 "X-axis START command" to ON with X022 "X-axis selection of table operation

(individual)" turned ON, multi-speed operation preset to X-axis table information starts. After 10,000,000 pulses of travel in the current value incrementing direction, operation decelerates to stop.

• When turning X007 "X-axis START command" to ON after the table operation ends, the positioning operates by the same travel distance again.

• When turnig X001 "X-axis stop" to ON during positioning, the positioning decelerates to stop.

• m codes are output in the with mode. At the start of each operation, the m code ON flag becomes "1" and the m code number is stored.

When the m code number of 10003, the m code OFF command turns ON, and the m code turns OFF.

Y-axis

• When turnig X017 "X-axis START command" to ON with X023 "X-axis selection of table operation

(individual)" turned ON, multi-speed operation preset to X-axis table information starts. After 10,000,000 pulses of travel in the current value incrementing direction, operation decelerates to stop.

• When turning X017 "X-axis START command" to ON after the table operation ends, the positioning operates by the same travel distance again.

• When turnig X011 "X-axis stop" to ON during positioning, the positioning decelerates to stop.

• m codes are output in the with mode. At the start of each operation, the m code ON flag becomes "1" and the m code number is stored.

When the m code number of 11003, the m code OFF command turns ON, and the m code turns OFF.

2. Setting table information

Set the X-axis/Y-axis table information as follows in FX Configurator-FP.

1) X-axis table information

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2) Y-axis table information

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12.3.5 Circular interpolation operation [table operation (simultaneous)]

12 Program Example

12.4 Sequence Program

functions by the drive to increment.

1. Operation details

Y-axis

2,000,000

1,000,000

X-axis

2,000,000 4,000,000

XY-axis

• When turnig X007 "X-axis START command" to ON with X024 "X-axis selection of table operation

(simultaneous)" turned ON, operation starts in the order of the XY-table information.

1) Linear interpolation operation

2) Dwell

3) Circular interpolation operation

4) End

• When turnig X001 "X-axis stop" to ON during positioning, operation decelerates to stop.

2. Setting table information

Set the XY-axis table information as follows on FX Configurator-FP.

12.4

Sequence Program

This program example describes the sequence program as unit No.0.

Rewrite the unit No. with the actual system configuration to be used.

For details on the unit No., refer to subsection 12.1.1

For details on device assignments, refer to section 12.2

For an explanation of operation, refer to section 12.3

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12 Program Example

12.4 Sequence Program

11

RUN monitor

M8000

Unit ready

M200

X-axis unit ready

M49

Y-axis unit ready

M149

Select X-axis operation pattern.

Selection of X-axis 1-speed positioning operation

X020

RUN monitor

M8000

FNC 12

MOV

U0\G28 K4M40

FNC 12

MOV

U0\G128 K4M140

NC NO M200

X-axis status information

BFM #28 M40 to M55

Y-axis status information

BFM #128 M140 to M155

Selection of X-axis table operation (individual)

X022

Selection of X-axis table operation (simultaneous)

X024

RUN monitor

M8000

M5

M6

M7

M8

M1

M2

M3

M4

M0

M9

M10

X-axis 1-speed positioning operation

X-axis interrupt 1-speed constant quantity feed

X-axis 2-speed positioning operation

X-axis interrupt 2-speed constant quantity feed

X-axis interrupt stop

X-axis variable speed operation

X-axis manual pulse generator operation

Linear interpolation operation

Linear interpolation (interrupt stop) operation

X-axis table operation

(individual)

Table operation

(simultaneous)

To next page

M11

M12

M13

M14

M15

Always OFF

Always OFF

Always OFF

Always OFF

Always OFF

To next page

12

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12 Program Example

12.4 Sequence Program

148

From previous page

Select Y-axis operation pattern.

Selection of Y-axis 1-speed positioning operation

X021

From previous page

M100

Y-axis 1-speed positioning operation

RUN monitor

M8000

M101

M102

M103

M104

M105

M106

M107

M108

Y-axis interrupt 1-speed constant quantity feed

Y-axis 2-speed positioning operation

Y-axis interrupt 2-speed constant quantity feed

Y-axis interrupt stop

Y-axis variable speed operation

Y-axis manual pulse generator operation

Linear interpolation operation

Linear interpolation (interrupt stop) operation

Selection of Y-axis table operation (individual)

X023

M109

Y-axis table operation

(individual)

RUN monitor

M8000

M110

M111

M112

M113

M114

M115

Always OFF

Always OFF

Always OFF

Always OFF

Always OFF

Always OFF

Write the X- and Y-axis operation pattern selection to 20SSC-H.

RUN monitor

M8000

FNC 12

MOV

FNC 12

MOV

Set the table operation start No. for the X-, Y- and XY-axes.

Unit ready(X,Y-axis)

M200

FNC 12

MOVP

K4M0 U0\G520

K4M100 U0\G620

X-axis operation pattern selection

M0 to M15 BFM #520

Y-axis operation pattern selection

M100 to M115 BFM #620

K0 D521

Table operation start No. for

X-axis (XY-axis) K0 D521

FNC 12

MOVP

K0 D621

Set the target address I and operation speed I for X- and Y-axes 1-step positioning.

Unit ready(X,Y-axis)

M200

FNC 12

DMOVP

K5000000 D500

To next page

FNC 12

DMOVP

FNC 12

DMOVP

FNC 12

DMOVP

K2000000

K5000000

K2000000

D502

D600

D602

Table operation start No. for

Y-axis K0 D621

Target address 1 for X-axis

1-speed positioning

K5,000,000 D501,D500

Operation speed 1 for X-axis

1-seed positioning

K2,000,000 D503,D502

Target address 1 for Y-axis

1-speed positioning

K5,000,000 D601,D600

Operation speed 1 for Y-axis

1-speed positioning

K2,000,000 D603,D6502

To next page

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12 Program Example

12.4 Sequence Program

11

From previous page From previous page

Select X-axis operation command.

X-axis error reset

X000

X-axis STOP

X001

X-axis forward rotation limit

X002

X-axis reverse rotation limit

X003

X-axis forward rotation JOG

X004

X-axis reverse rotation JOG

X005

X-axis machine zero return

X006

RUN monitor

M8000

RUN monitor

M8000

X-axis start command

X007

X-axis positioning at 1-step speed

M0

To next page

X-axis table operation (individual)

M9

M10

X-axis table operation (simultaneous)

12

M20 X-axis error reset

M21 X-axis STOP

M22

M23

M24

M25

M26

X-axis forward rotation limit

X-axis reverse rotation limit

X-axis forward rotation JOG

X-axis reverse rotation JOG

X-axis mechanical zero return command

M27 Always OFF

M28

X-axis relative/absolute address specification

M29

FNC 12

DMOV

FNC 12

DMOV

D500 U0\G500

D502 U0\G502

X-axis START command

Target address 1 for X-axis

1-speed positioning

D501,D500 BFM #501,#500

Operation speed 1 for X-axis

1-speed positioning

D503,D502 BFM #503,#502

FNC 12

MOV

D521 U0\G521

Table operation start No. for X-axis

(XY-axis) D521 BFM #521

13

A

To next page

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From previous page

RUN monitor

M8000

X-axis M code ON

M48

FNC232

AND=

RUN monitor

M8000

D9 K10003

Select Y-axis operation command.

Y-axis error reset

X010

Y-axis STOP

X011

Y-axis forward rotation limit

X012

Y-axis reverse rotation limit

X013

Y-axis forward rotation JOG

X014

Y-axis reverse rotation JOG

X015

Y-axis machine zero return

X016

RUN monitor

M8000

RUN monitor

M8000

Y-axis start command

X017

Y-axis positioning at 1-step speed

M100

To next page

Y-axis table operation (individual)

M109

12 Program Example

12.4 Sequence Program

M32

M33

M34

M35

M30

From previous page

Simultaneous start flag

(In this example, always OFF)

M31

M31 X-axis m code

OFF command

X-axis change command in operation disable

(In this example, always OFF)

X-axis speed change command in positioning control

(In this example, always OFF)

X-axis target position change command in positioning control

(In this example, always OFF)

Always OFF

M120 Y-axis error reset

M121

M122

M123

M124

M125

M126

M127

M128

M129

FNC 12

DMOV

FNC 12

DMOV

FNC 12

MOV

D600 U0\G600

D602 U0\G602

D621 U0\G621

To next page

Y-axis STOP

Y-axis forward rotation limit

Y-axis reverse rotation limit

Y-axis forward rotation JOG

Y-axis reverse rotation JOG

Y-axis mechanical zero return command

Always OFF

Y-axis relative/absolute address specification

Y-axis START command

Target address 1 for Y-axis

1-speed positioning

D601,D600 BFM #601,#600

Operation speed 1 for Y-axis

1-speed positioning

D603,D602 BFM #603,#602

Table operation start No. for

Y-axis D621 BFM #621

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12 Program Example

12.4 Sequence Program

11

From previous page

RUN monitor

M8000

Y-axis M code ON

M148

M8000

FNC232

AND=

RUN monitor

D109 K11003

From previous page

M130

M131

M132

M133

M134

Always OFF

Y-axis m code OFF command

Y-axis change command in operation disable

(In this example, always OFF)

Y-axis speed change command in positioning control

(In this example, always OFF)

Y-axis forget position change command in positioning control

(In this example, always OFF)

Always OFF

M135

Write the X- and Y-axis operation command to 20SSC-H.

RUN monitor

M8000

FNC 12

MOV

FNC 12

MOV

K4M20 U0\G518

K4M120 U0\G618

Read X-axis monitor data from 20SSC-H.

RUN monitor

M8000

FNC 12

DMOV

FNC 12

MOV

FNC 12

MOV

FNC 12

DMOV

FNC 12

MOV

FNC 12

MOV

FNC 12

DMOV

FNC 12

MOV

FNC 12

MOV

FNC 12

DMOV

U0\G0

U0\G6

U0\G9

U0\G10

U0\G16

U0\G29

U0\G52

U0\G64

U0\G68

U0\G70

D0

D6

D9

D10

D16

D29

D52

D64

D68

D70

X-axis operation command

M20 to M35 BFM #518

X-axis operation command

M120 to M135 BFM #618

X-axis current address (user)

BFM #1,#0 D1,D0

X-axis error BFM No.

BFM #6 D6

X-axis m code No.

BFM #9 D9

X-axis operation speed present value

BFM #11,#10 D11,D10

X-axis number of the table in operation

BFM #16 D16

X-axis error code

BFM #29 D29

X-axis motor rotation speed

BFM #53,#52 D53,D52

X-axis servo status

BFM #64 D64

X-axis servo warning code

BFM #68 D68

X-axis motor feedback position

BFM #71,#70 D71,D70

To next page To next page

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From previous page

Read Y-axis monitor data from 20SSC-H.

RUN monitor

M8000

12 Program Example

12.4 Sequence Program

From previous page

FNC 12

DMOV

U0\G100 D100

FNC 12

MOV

U0\G106 D106

FNC 12

MOV

U0\G109 D109

FNC 12

DMOV

U0\G110 D110

FNC 12

MOV

U0\G116 D116

FNC 12

MOV

U0\G129 D129

FNC 12

DMOV

U0\G152 D152

FNC 12

MOV

U0\G164 D164

FNC 12

MOV

U0\G168 D168

FNC 12

DMOV

U0\G170 D170

MCR NO

END

Y-axis current address (user)

BFM #101,#100 D101,D100

Y-axis error BFM No.

BFM #106 D106

Y-axis m code No.

BFM #109 D109

Y-axis operation speed present value

BFM #111,#110 D111,D110

Y-axis Namber of the table in operation

BFM #116 D116

Y-axis error code

BFM #129 D129

Y-axis motor rotational speed

BFM #153,#152 D153,D152

Y-axis servo status

BFM #164 D164

Y-axis servo warning code

BFM #168 D168

Y-axis motor feedback position

BFM #171, #170 D171, D170

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11

13. Diagnostics

.

When a fault occurs, check the power supply voltage, the PLC main unit and I/O devices for loose terminal screws, and examine the connectors for a defective contact.

STARTUP AND MAINTENANCE

PRECAUTIONS

• Do not touch any terminal while the PLC's power is on.

Doing so may cause electrical shock or malfunctions.

• Before cleaning or retightening terminals, externally cut off all phases of the power supply.

Failure to do so may expose you to shock hazard.

• Before modifying the program under operation or performing operation for forcible output, running or stopping, carefully read the manual, and sufficiently ensure the safety.

An operation error may damage the machine or cause accidents.

• To test Zero-return, JOG operation and Positioning data, throughly read this manual, ensure the safe system operation

An operation error may damage the machine or cause accidents.

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13

A

STARTUP AND MAINTENANCE

PRECAUTIONS

• Do not disassemble or modify the PLC.

Doing so may cause failures, malfunctions or fire.

For repair, contact your local Mitsubishi Electric distributor.

• Before connecting or disconnecting any extension cable, turn off power.

Failure to do so may cause unit failure or malfunctions.

• Before attaching or detaching the following devices, turn off power.

Failure to do so may cause device failure or malfunctions.

Peripheral devices, expansion boards and special adapters

I/O extension blocks/units and terminal blocks

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13.1

Check LEDs

13 Diagnostics

13.1 Check LEDs

13.1.1 Check LEDs

LED

Indication

Color

Indication

POWER

X-READY

Y-READY

X-ERROR

Y-ERROR

Green

Green

Red

State

Off

Content of Error Action

No power supply from the external

• Correctly connect the extension cable and power cable.

• Correctly connect the wiring to the external power supply.

• When the service power supply of the PLC main unit is in

On

Off

On

Off

operation commands.

No error

Flashing An error has occurred.

On exceeded.

Power is supplied from the external

The power supply is normal.

An error has occurred on the X-axis/

Y-axis, or positioning control is being executed.

When the stop command is input, the positioning operation stops, and the LED lights.

If the LED does not light even after a stop, an error has occuerd. Check the error and remove the cause.

CPU error

-

-

An error has occurred on the 20SSC-H. Check the error code, and perform the action according to the content of the error.

For details on error codes, refer to the following:

Refer to subsection 13.2.3

If the 20SSC-H does not restore the problem at power ON again, consult a Mitsubishi Electric distributor.

13.1.2 Input LED state indications

LED

Indication

X-START

Y-START

X-DOG

Y-DOG

X-INT0

Y-INT0

X-INT1

Y-INT1

X-

Y-

φ

A

φ

A

X-

Y-

φ

B

φ

B

Color

Indication

Red

Red

Red

Red

Red

State

Off

Off

Content of Error

Off START input OFF

Off DOG input OFF

Off INT0, INT1 input OFF

Action

If the LED does not light even if input is ON, check the input wiring.

The 20SSC-H inputs START, DOG, INT0, and INT1 require an external power supply (24VDC).

Manual pulse generator A phase input OFF

Manual pulse generator B phase input OFF

If the LED does not flash even at pulse input from the manual pulse generator, check the input wiring.

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13.2

Check Error Code

13 Diagnostics

13.2 Check Error Code

11

13.2.1 Checking errors

When an error or warning (servo amplifier) occurs, error or warning information is stored to the following buffer memories.

FX Configurator-FP and GX-Developer check the error by monitoring, and so does a sequence program.

Item

BFM number

X-axis Y-axis

Content

Monitor data

Error occurrence BFM No.

BFM #6 BFM #106

When an error occurs, the BFM No. with error is stored.

-1: No error occurrence

Other: BFM No. with error

Refer to subsection 11.3.4

Status information

Error code

Error occurrence

BFM #28 b5

BFM #29

BFM #128 b5

BFM #129

This can be reset by an error reset.

Refer to subsection 11.3.13

When an error occurs, the error code is stored.

Refer to subsection 13.2.3

Servo parameter error No.

Servo status

Servo warning code

In alarm

In warming

BFM #62 BFM #162

BFM #64 b5 BFM #164 b5

BFM #164 b15 BFM #164 b15

BFM #68 BFM #168 servo parameter that is in error is stored.

Refer to subsection 11.3.20

This turns ON at a servo alarm.

Refer to subsection 11.3.21

This turns ON at the servo amplifier warning.

Refer to subsection 11.3.21

The warning detected by the servo amplifier is stored.

Refer to subsection 13.2.24

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13.2.2 How to reset an error

After detecting and removing the cause of the error

, reset the error by performing an error reset.

How to reset an error

1) Turn the following bit from OFF to ON in the sequence program or on GX Developer.

Item

BFM number

X-axis Y-axis

Content

Control data

Error reset BFM #518 b0 BFM #618 b0

When this turns ON at an error, an error reset is performed, and the following information is cleared.

Error occurrence BFM No. (BFM #6, #106)

Status information

Error occurrence (b5)

Error code (BFM #29)

Refer to subsection 11.4.10

2) Perform an error reset with FX Configurator-FP.

Point

• At a servo parameter error

Correct the servo parameter, save the correct parameter to 20SSC-H flash memory, and reboot the

20SSC-H and servo amplifier.

• Alarms and warnings detected on the servo amplifier

The servo amplifier requires rebooting depending on the content of the alarm and warning.

For details on countermeasures, refer to subsection 13.2.3 and 13.2.4

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13 Diagnostics

13.2 Check Error Code

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

When an error occurs

, an error code is stored in decimal to BFM #29 (X-axis) and BFM #129 (Y-axis).

Error category

-

Setting error

Control errors

Error

Code

(decimal)

0

2

3

4

5

6

3000

3001

3002

3004

Error Content Action

No error

Incorrect value range

A value outside of the setting range is set to the buffer memory.

Value overflow

The converted pulse data (e.g. travel distance or operation speed) exceeds 32 bits.

The zero return, STARTand JOG commands are ON at the same time.

The operation pattern has Multiple operation patterns

Center coordinate setting error

When one of the following applies:

Start point = center coordinate

End point = center coordinate

Center coordinate is outside of the

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

Table operation start No. error

The table No. is executed outside of the range 0 to

299.

Jump No. fault

Change the setting value in buffer memory so that it is within the setting range.

Change the setting value of the corresponding buffer memory so that the converted pulse data is smaller than 32-bit data.

Change the program in the PLC main unit so that positioning control start commands do not overlap.

Change the program in the PLC main unit so that only one operation pattern is selected.

circle is formed.

-

Change the table operation start No. to 0 to 299.

Change the jump No. for the table information to 0 to

299. the range 0 to 299.

Command format fault set by a non-defined number.

Current value overflow at absolute value detection system

The converted pulse data of the current address exceeds 32 bits.

Change the operation information of the table information.

Turn the power OFF, or perform a mechanical zero return or data set type zero return.

External errors

3005

4002

4003

4004

4005

4006

4007

4008

Manual pulse generator input error pulse generator input (denominator) settings.

Servo end error

The in-position signal did not turn ON during the servo end determination time.

Servo ready error

Increase the servo end determination time setting.

Check the servo motor and encoder cable.

operation start or during operation.

Forward rotation limit, reverse rotation limit error

• The forward rotation limit (LSF) and reverse rotation limit (LSR) are ON.

• The forward rotation limit 2 (FLS) and reverse rotation 2 (RLS) limit are ON.

Software limit error

The current address exceeds the software upper and lower limits.

The servo amplifier emergency switch is ON.

ABS error

The current position could not be established.

• Check the wiring of the forward/reverse rotation limit, limit switches and the program.

• Check the external signal selection (positioning parameter) settings.

• Retract from the

JOG operation or manual pulse generator input operation.

• Correct the target address.

• Set the current value to within the software limit range by JOG operation manual pulse generator input operation.

Check the servo motor and encoder cable.

• Make sure to use a servo motor with absolute position detection.

• Make sure to use the battery for the servo motor to retain the origin position.

• Make sure that the absolute position detection system in servo parameters is valid.

• Check the servo motor and encoder cable.

Illegal origin data

The backup data for restoring the absolute position is illegal.

Execute a zero return.

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13 Diagnostics

13.2 Check Error Code

11

Error category

External errors

Major errors

Servo amplifier

Error

Code

(decimal)

Error Content Action

4009

Encoder error 1

During operation, the variation of the encoder current value changes as follows:

"Encoder current value variation/1.7[ms]

>

motor

180

°"

• Check the servo motor and encoder cable.

• Adopt the noise suppression measures as described in the manual for the servo amplifier.

4010

Encoder error 2

During operation, the following condition occurred:

"encoder current value (encoder unprocessed data)

[PLS]

feedback current value (servo amplifier internal data) [PLS] (number of encoder valid bits)".

SSNET III communication error

SSCNET III cable communication error

• Check the servo motor and encoder cable.

• To reduce noise, follow the servo amplifier manual.

4011

• Check the SSCNET cable connection.

• Wipe off any dirt from the end surface.

• Change the SSCNET cable.

• To reduce noise, follow the servo amplifier manual.

9000

9001

9002

9003

Memory error

Sum check error

Watchdog timer error

Hardware error

Consult a Mitsubishi Electric distributor.

Parentheses ( ) in the error code column indicate the LED display on the servo amplifier.

For details on how to check errors and actions, refer to the manual of the servo amplifier to be connected.

2010

(10)

Undervoltage

• MR-J3- B:

Power supply voltage dropped to 160VAC or less

• MR-J3- B1:

Power supply voltage dropped to 83VAC or less

Review the power supply

2012

(12)

The servo amplifier must be repaired. Consult a

Mitsubishi Electric distributor.

2013

(13)

2014

(14)

2015

(15)

Memory error 1 (RAM)

RAM, memory fault (in servo amplifier)

Clock error

• Faulty board

• Clock error transmitted from 20SSC-H

CPU watchdog error

• Servo amplifier hardware error

Memory error 2 (EEPROM)

• EEPROM error (in servo amplifier)

• The EEPROM write count exceeds 100,000 operations.

The servo amplifier or 20SSC-H must be repaired.

Consult a Mitsubishi Electric distributor.

The servo amplifier must be repaired. Consult a

Mitsubishi Electric distributor.

2016

(16)

Sensor fault 1 (after power-on)

• Communication error occurred between sensor and servo amplifier.

• Connect correctly.

• Change the servo motor.

• Repair or change the cable.

• Correct the setting of the 4th digit of parameter

No. PC04.

2017

(17)

2019

(19)

2020

(20)

2024

(24)

Board error

• CPU/part fault

Memory error 3 (Flash ROM)

• ROM memory fault

Sensor fault 2

• Communication error occurred between sensor and servo amplifier.

Main circuit error

• Ground fault occurred at the servo motor power

(U, V and W phases) of the servo amplifier.

The servo amplifier must be repaired. Consult a

Mitsubishi Electric distributor.

• Connect correctly.

• Change the servo motor.

• Repair or change the cable.

• Correct the wiring.

• Change the cable.

• Change the servo amplifier.

• After leaving the alarm

2025

(25)

Absolute position erase

• Absolute position data in error

• Power was switched ON for the first time in the absolute position detection system.

Always create the home position setting again.

• Change the battery Always make the home position again.

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13 Diagnostics

13.2 Check Error Code

Error category

Servo amplifier

Error

Code

(decimal)

Error Content Action

Parentheses ( ) in the error code column indicate the LED display on the servo amplifier.

For details on how to check errors and actions, refer to the manual of the servo amplifier to be connected.

2030

(30)

Regenerative alarm

• The permissible regenerative power of the builtin regenerative brake resistor or regenerative brake option is exceeded.

• Regenerative transistor fault

• Correct the setting of the regenerative brake option (servo parameter).

Refer to subsection 11.2.1

• Correctly connect the built-in regenerative brake resistor or regenerative brake option.

• High-duty operation or continuous regenerating operation to exceed the permissible regenerative power of the regenerative brake option.

Reduce the frequency of positioning.

Change the regenerative brake option to the one with a larger capacity.

Reduce the load.

• Review the power supply

• Change the servo amplifier or regenerative brake option.

Overspeed

• The rotation speed has exceeded the instantaneous permissible speed.

2031

(31)

2032

(32)

Overcurrent

• The current flow is higher than the permissible current of the servo amplifier.

• When the acceleration/deceleration overshoots, check the acceleration/deceleration time constant in the fixed parameters.

• If the servo gain cannot be set to a proper value:

Reduce the load inertia moment ratio (servo parameter) to the servo motor.

Refer to subsection 11.2.2

Review the acceleration/deceleration time constant.

• Change the servo motor.

• Correct the wiring.

• Change the servo amplifier.

• Adopt noise suppression measures.

Overvoltage

• The converter bus voltage exceeded

400VDC.

2033

(33)

2034

(34)

2035

(35)

2036

(36)

2037

(37)

Receive error 1

• SSCNET III communication error

(continuous communication error for about

3.5ms)

Command frequency error

• The input pulse frequency of the command pulse is too high.

Receive error 2

• SSCNET III communication error

(intermittent communication error for about

70ms)

Parameter error

• Parameter setting is wrong.

• Use the regenerative brake option.

• Correct the setting of the regenerative brake option (servo parameter).

→Refer to subsection 11.2.1.

• Change the regenerative brake option leads.

• Correctly connect the regenerative brake option leads.

• Replace the servo amplifier.

• For a wire break of the built-in regenerative brake resistor, change the servo amplifier.

• For a wire break of the regenerative brake option, change the regenerative brake option.

• Add the regenerative brake option or increase the capacity.

• Review the power supply

• Correct the wiring.

• Connect after turning the control circuit power supply of the servo amplifier OFF.

• Wipe off any dirt from the end surface.

• Change the cable.

• Adopt noise suppression measures.

• Review the operation program.

• Change the servo system controller.

• Adopt noise suppression measures on the I/O signals.

• Adopt noise suppression measures on the controller side.

• Connect after turning the control circuit power supply of the servo amplifier OFF.

• Wipe off any dirt from the end surface.

• Change the cable.

• Adopt noise suppression measures.

• Change the servo amplifier.

• Set the parameter value within the setting range.

• Change the servo amplifier.

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13 Diagnostics

13.2 Check Error Code

11

Error category

Servo amplifier

Error

Code

(decimal)

Error Content Action

Parentheses ( ) in the error code column indicate the LED display on the servo amplifier.

For details on how to check errors and actions, refer to the manual of the servo amplifier to be connected.

2045

(45)

Main circuit device overheat

• Main circuit device overheat

Replace the servo amplifier.

Review the drive method.

• Review the environment so that the ambient temperature is within the range 0 to 55

°C.

• Use within the specification range.

2046

(46)

Servo motor overheat

• A servo motor temperature rise actuated the thermal sensor.

• Review the environment so that the ambient temperature is within the range 0 to 40

°C.

• Reduce the load.

• Review the operation pattern.

• Use a servo motor that provides larger output.

• Replace the servo motor.

2047

(47)

Cooling fan alarm

• The cooling fan of the servo amplifier stopped.

• The rotation speed of the fan fell below the alarm level.

Overload 1

The load exceeded the overload protection characteristics of the servo amplifier.

Replace the cooling fan of the servo amplifier.

Remove any debris

Replace the servo amplifier.

2050

(50)

2051

(51)

Overload 2

• A machine collision or other simiar factor has caused the max. output current to flow continuously for several seconds.

Servo motor

-

-

Locked :1s or more

During rotation :2.5s or more

• The servo amplifier is exceeding its continuous output current rating.

Reduce the load.

Review the operation pattern.

Use a servo motor that provides larger output.

• Machine collision occurred.

Review the operation pattern.

Install limit switches.

• Connect the servo motor correctly.

• Servo system is unstable due to servo hunting

(jittering).

Repeat acceleration/deceleration to execute auto tuning.

Change the auto tuning response setting

(servo parameter).

Refer to subsection 11.2.1

Set the auto tuning mode (servo parameter) to

OFF and manually adjust the the gain.

Refer to subsection 11.2.1

• Replace the servo motor.

• Machine collision occurred.

Review the operation pattern.

Install limit switches.

• Connect the servo motor correctly.

• Hunting is occurring due to an unstable servo system.

Repeat acceleration/deceleration to execute auto tuning.

Change the auto tuning response setting

(servo parameter).

Refer to subsection 11.2.1

Set the auto tuning mode (servo parameter) to

OFF and manually adjust gain.

Refer to subsection 11.2.1

• Replace the servo motor.

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13 Diagnostics

13.2 Check Error Code

Error category

Servo amplifier

Error

Code

(decimal)

Error Content Action

Parentheses ( ) in the error code column indicate the LED display on the servo amplifier.

For details on how to check errors and actions, refer to the manual of the servo amplifier to be connected.

2052

(52)

Excessive error

The deviation between the model position and the actual servo motor position exceeds the excessive error alarm level (servo parameter) setting value

(default: 3 rotations).

Refer to subsection 11.2.3

Increase the acceleration/deceleration time constant.

Increase the torque limit value.

• The motor cannot be started due to insufficient torque caused by a power supply voltage drop.

Review the power supply capacity.

Use a servo motor with larger output.

• Increase the value of model control gain (servo parameter) and adjust to ensure proper operation.

Refer to subsection 11.2.2

• The servo motor shaft was rotated by external force.

When the torque is limited, increase the limit value.

Reduce the load.

Use a servo motor with larger output.

• Machine collision occurred.

Review the operation pattern.

Install limit switches.

• Replace the servo motor.

• Connect the servo motor correctly.

• Replace the SSCNET III cable.

2060

(1A)

2088

(888)

Motor combination error

• Wrong combination of servo amplifier and servo motor

Watchdog

• CPU/part fault

Select the correct combination.

The servo amplifier must be repaired. Consult a

Mitsubishi Electric distributor.

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

The warning detected by the servo amplifier is stored.

Remove the cause of the warning.

For details on warnings, refer to the manual of the servo amplifier to be connected.

1. State when a warning code occurs

Warning code

2102

2106

2116

2140

2141

Servo amplifier

LED indication

92

96

9F

E0

E1

Name

Open battery cable warning

Home position setting warning

Battery warning

Excessive regenerative warning

Overload warning 1

State when a warning occurs

Servo amplifier 20SSC-H

Servo ON is continued

Operation is continued

2143

2144

2146

2147

2148

2149

2152

2153

E3

E4

E6

E7

E8

E9

EC

ED

Absolute position counter warning

Parameter warning

Servo forced stop warning

Controller forced stop warning

Cooling fan speed reduction warning

Main circuit OFF warning

Overload warning 2

Output watt excess warning

Servo OFF

Servo ON is continued

Operation is continued warning(zero return completed: OFF)

Open battery cable warning

Servo OFF

(An error has occurred.)

Operation is continued

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13 Diagnostics

13.2 Check Error Code

2. Content of warning and action

20SSC-H error

code

Servo

amplifier

LED indication

2102

2106

2116

2140

2141

2143

2144

2146

2147

2148

2149

2152

2153

92

96

9F

E0

E1

E3

E4

E6

E7

E8

E9

EC

ED

Content Action

Open battery cable warning

The absolute position detection system battery voltage is low.

Home position setting warning

The zero return could not be set to the accurate position.

Battery warning

The voltage of the battery for the absolute position detection system is low.

Replace the servo amplifier battery.

• Remove the cause of droop pulses.

• Reduce the creep speed.

Replace the servo amplifier battery.

Excessive regenerative warning

There is a possibility that regenerative power may exceed the permissible regenerative power of the built-in regenerative brake resistor or the regenerative brake option.

Overload warning

There is a possibility that overload (error code:

2050) or overload (error code: 2051) may occur.

Absolute position counter warning

Absolute position encoder pulses are faulty.

Parameter warning

Parameters are outside the setting range.

Servo forced stop warning

Servo amplifier input signal EM1 is OFF.

Refer to the manual of the servo amplifier.

Reduce the frequency of positioning.

Change the regenerative brake option to the one with a larger capacity.

Reduce the load.

To reduce the noise, follow the servo amplifier manual.

Replace the servo motor.

Set the servo parameters correctly.

Ensure safety and deactivate the forced stop.

The watchdog error occurred on the 20SSC-H.

If this error occurs after rebooting and initializing the

20SSC-H the module needs repair.

Consult a Mitsubishi Electric distributor.

Cooling fan speed reduction warning

The rotation speed of the servo amplifier's cooling fan fell below the warning level.

*1

• Replace the cooling fan of the servo amplifier.

• Replace the servo amplifier.

Main circuit OFF warning

Turn the main circuit power ON.

circuit power OFF.

Overload warning 2

Operation, in which a current exceeding the rating flow intensity in any of the U, V or W phases of the servo motor, was repeated.

• Reduce the positioning frequency at the specific positioning address.

• Reduce the load.

• Exchange the servo amplifier/servo motor with one of a larger capacity.

Output watt excess warning

The status, in which the output wattage (speed

× torque) of the servo motor exceeded the rated output, continued steadily.

• Reduce the rotation speed of the servo motor.

• Reduce the load.

*1.

This warning is not displayed on MR-J3-70B/100B servo amplifiers with cooling fans.

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13 Diagnostics

13.3 Diagnostics on the PLC Main Unit

13.3

Diagnostics on the PLC Main Unit

The following describes some of the PLC errors from the LED lights on the PLC.

For details related to the PLC main unit wiring, special auxiliary relays, and special data registers

, refer to the following respective manuals.

FX

3U

Hardware Edition

FX

3UC

Hardware Edition (Japanese document only)

13.3.1 POWER LED [on/flashing/off]

LED state

On

Flashing

Off

PLC state

Power of the specified voltage is being supplied to the power supply terminal.

One of the following causes may have occurred:

• Power and current of the specified voltage is not being supplied to the power supply terminal.

• Incorrect external wiring.

• Internal errors in the PLC.

One of the following causes may have occurred:

• The power supply is OFF.

• Incorrect external wiring.

• Power of the specified voltage is not being supplied to the power supply terminal.

• The power cable is broken.

The power supply is normal.

Action

• Check the supply voltage.

• After disconnecting cables other than the power cable, turn the power ON again, and check for changes in the state. If no improvement is obtained,

Consult a Mitsubishi Electric distributor.

• If the power is not OFF, check the power supply and the power supply route.

If power is being supplied correctly, consult a Mitsubishi Electric distributor.

• After disconnecting cables other than the power cable, turn the power ON again, and check for changes in the state. If no improvement is obtained,

Consult a Mitsubishi Electric distributor.

13.3.2 BATT LED [on/off]

LED state

On

Off

PLC state

The battery voltage is low.

The battery voltage is higher than the value with D8006.

Immediately replace the battery.

Normal

Action

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13 Diagnostics

13.3 Diagnostics on the PLC Main Unit

11

13.3.3 ERROR LED [on/flashing/off]

LED state

On

Flashing

Off

A watchdog timer error may have occurred, or the hardware of the PLC may be damaged.

PLC state

No errors to stop the PLC have occurred.

Action

1) Stop the PLC, and turn the power ON again.

If the ERROR LED goes out, a watchdog timer error may have occurred.

Adopt any of the following measures:

Review the program.

Set the maximum value (D8012) lower than the watchdog timer value.

Check that the input used for input interrupt or pulse catch is not being abnormally turned ON and OFF in one scan.

Check that the frequency of the pulse (duty 50%) input to the highspeed counter is not exceeding the specified range.

Add WDT instructions.

Add some WDT instructions to the program, and reset the watchdog timer several times in one scan.

Change the watchdog timer value.

Change the watchdog timer setting (D8000) in the program so that the setting is larger than the maximum value of the scan time (D8012).

2) Remove the PLC and supply the power to it from another power source.

If the ERROR LED goes out, noise may have affected the PLC. Adopt the following measures:

Check the ground wiring, and re-examine the wiring route and installation location.

Fit a noise filter onto the power supply line.

3) If the ERROR LED does not go out even after measures in 1) and 2) are adopted, consult a Mitsubishi Electric distributor.

One of the following errors has occurred on the PLC:

• Parameter error

• Syntax error

• Ladder error

Perform PLC diagnosis and program check with the programming tool.

If the operations of the PLC are abnormal, perform PLC diagnosis and program check with the programming tool.

An I/O error, parallel link/communication error, or operation error may have occurred.

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Appendix A: LIST OF PARAMETERS AND DATA

Appendix A-1 Monitor Data List

Appendix A: LIST OF PARAMETERS AND DATA

Appendix A-1 Monitor Data List

BFM Number

X axis Y axis

BFM #1,#0

BFM #3,#2

BFM

#101,#100

BFM

#103,#102

BFM #5,#4

BFM #6

Item

Current address (user)

Current address (pulse)

BFM

#105,#104

Torque limit storing value

BFM #106 Error BFM number

Description

-2,147,483,648 to 2,147,483, 647 (user unit)

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

1 to 10000(

×0.1%)

*1

BFM #7

BFM #8

BFM #107

BFM #108

Terminal information

Servo terminal information

Stores error BMF number b0 START terminal input: ON b1 DOG terminal input: ON b2 INT0 terminal input: ON b3 INT1 terminal input: ON b4

φA terminal input: ON b5

φB terminal input: ON b15 to b6 Not available b0 FLS terminal input: ON b1 RLS terminal input: ON b2 DOG terminal input: ON b15 to b3 Not available

Stores m code number which is ON.

BFM #9

BFM

#11,#10

BFM

#13,#12

BFM

#15,#14

BFM #16

BFM #17

BFM #109 m code number

BFM

#111,#110

Operation speed present value

BFM

#113,#112

BFM

#115,#114

Manual pulse generator input current value

Manual pulse generator input frequency

BFM #116

-

Number of the table in operation

Version information

0 to 2,147,483,647(user unit)

*1

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

-100000 to 100000Hz

Stores the number of the table in operation

BFM #28

BFM #29

BFM #128

BFM #129

Status information

Error code

Example: In Ver.1.00, K100 is stored.

b0 READY/BUSY b1 During forward rotation pulse output b2 During reverse rotation pulse output b3 Zero return completed b4 Current value overflow b5 Error occurrence b6 Positioning control completion b7 Standby for remaining travel distance at stop b8 m code is ON b9 Unit ready b10 During servo parameter transfer b11 Saving to flash memory b12 Initializing buffer memory b13 During operation speed change b14 During target address change b15 During table operation execution

Stores the error code

Value of monitor

Decimal

Decimal

Decimal

Decimal

Bit

Bit

Decimal

Decimal

Decimal

Decimal

Decimal

Decimal

Bit

Decimal

BFM #30

BFM

#51,#50

-

BFM

#151,#150

Model code

Deviation counter value

BFM #52 BFM #152 Motor rotation speed

BFM #54 BFM #154 Motor current value

BFM

#61 to#56

BFM

#161 to#156

Software number of servo amplifier

Stores the model code of 20SSC-H Decimal

Deviation counter value of servo amplifier (PLS) Hexadecimal

Rotation speed of servo motor (

Current value of servo motor (

×0.1 r/min.)

×0.1%)

Stores software number of servo amplifier

Hexadecimal

Hexadecimal

ASCII code

Default value

-

-

-

-

-

-

-

-

-

-

-

-

-

-

Reference

subsection 11.3.1

subsection 11.3.2

subsection 11.3.3

subsection 11.3.4

subsection 11.3.5

subsection 11.3.6

subsection 11.3.7

subsection 11.3.8

subsection 11.3.9

subsection 11.3.10

subsection 11.3.11

subsection 11.3.12

subsection 11.3.13

subsection 11.3.14

K5220 subsection 11.3.15

-

-

-

subsection 11.3.16

subsection 11.3.17

subsection 11.3.18

subsection 11.3.19

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Appendix A: LIST OF PARAMETERS AND DATA

Appendix A-1 Monitor Data List

11

BFM Number

X axis Y axis

Item Description

BFM #62 BFM #162

Servo parameter error number

Stores parameter number of servo parameter

BFM #63

BFM #64

BFM #72

BFM

#91,#90

BFM #163

BFM #164

BFM #172

-

Servo status

Servo status 2

Flash memory write count b0 b2,b1

Zero phase passed

Not available b3 Zero speed b15 to b4 Not available b16 Ready ON b17 Servo ON b22 to b18 Not available b23 Servo alarm is arising b24 to b27 Not available b28 In-position b29 b30

Torque is limited

Absolute position is lost b31 Warning is arising

BFM #65 BFM #165 Regenerative load ratio Regenerative load ratio(%)

BFM #66 BFM #166 Effective load torque Effective load torque (%)

BFM #67 BFM #167 Peak torque ratio

BFM #68 BFM #68 Servo warning Code

BFM

#71,#70

BFM

#171,#170

Peak torque ratio (%)

Stores servo warning number

Motor feedback position Motor feedback position (PLS) b0 Flag indicating parameter update is completed b1 to b15 Not available

Number of writing to flash memory

(max:100,000 times)

*1.

For details on the user units, refer to the section given below.

Value of monitor

Hexadecimal

Bit

Bit

Decimal

Decimal

Decimal

Decimal

Decimal

Bit

Decimal

Default value

-

-

-

-

-

-

-

-

-

-

Reference

subsection 11.3.20

subsection 11.3.21

subsection 11.3.21

subsection 11.3.22

subsection 11.3.23

subsection 11.3.24

subsection 11.3.25

subsection 11.3.26

subsection 11.3.27

subsection 11.3.28

Refer to Section 7.7

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Appendix A: LIST OF PARAMETERS AND DATA

Appendix A-2 Control Data Table

Appendix A-2 Control Data Table

BFM number

X axis Y axis

BFM

#501,#500

BFM

#601,#600

BFM

#503,#502

BFM

#505,504

BFM

#507,#506

BFM

#603,#602

BFM

#605,#604

BFM

#607,#606

Item

Target address1

Operation speed1

Target address2

Operation speed2

BFM #508 BFM #608 Override setting

BFM #510 BFM #610

Torque output setting value

BFM

#513,#512

BFM

#613,#612

Speed change value

BFM

#515,#514

BFM

#517,#516

BFM

#615,#614

BFM

#617,#616

Target position change value

(address)

Target position change value

(speed)

-2,147,483,648 to 2,147,483,647 (user unit)

*1

-2,147,483,648 to 2,147,483,647 (user unit)

*1

-2,147,483,648 to 2,147,483,647 (user unit)

*1

-2,147,483,648 to 2,147,483,647 (user unit)

*1

1 to 30000(

×0.1%)

0 to 10000(

×0.1%)

Description/Setting range

-2,147,483,648 to 2,147,483,647 (user unit)

*1

-2,147,483,648 to 2,147,483,647 (user unit)

-2,147,483,648 to 2,147,483,647 (user unit)

*1

*1

BFM #518

BFM #519

BFM #520

BFM #618

BFM #619

BFM #620

Operation command 1

Operation command 2

Operation pattern selection b0 Error reset b1 STOP (Deceleration stop) b2 Forward rotation limit (LSF) b3 Reverse rotation limit (LSR) b4 Forward rotation JOG b5 Reverse rotation JOG b6 Mechanical zero return command b7 Not available b8 Relative/absolute address specification b9 START command b10 Simultaneous START flag b11 m code OFF b12 Change command in operation disabled b13 Speed change command in positioning operation b14 Target position change command in positioning operation b15 Not available b0 Remaining distance operation cancel command b3 to b1 Not available b4 Positioning parameter enable command b7 to 5 Not available b8 Servo OFF command b9 b10

Servo parameter transfer command

Gain change command b15 to 11 Not available b4 b5 b6 b7 b0 b1 b2 b3

1-speed positioning

Interrupt 1-speed constant quantity feed

2-speed positioning

Interrupt 2-speed constant quantity feed

Interrupt stop

Variable speed operation

Manual pulse generator operation

Linear interpolation b8 b9

Linear interpolation (interrupt stop)

Table operation (independent) b10 Table operation (simultaneous) b15 to 11 Not available

BFM #521

BFM #522

BFM #621

Table operation start number

Control command enable/disable

0 to 299

Model code: control command enabled

Other than model code: control command disabled

Default value

K0

Reference

subsection 11.4.1

K1

K0

K1

K1000

K0

K1

K0

K0 subsection 11.4.2

subsection 11.4.3

subsection 11.4.4

subsection 11.4.5

subsection 11.4.6

subsection 11.4.7

subsection 11.4.8

subsection 11.4.9

H0000 subsection 11.4.10

H0000 subsection 11.4.11

H0000 subsection 11.4.12

K0 subsection 11.4.13

H0000 subsection 11.4.14

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Appendix A: LIST OF PARAMETERS AND DATA

Appendix A-2 Control Data Table

11

BFM number

X axis Y axis

BFM #523

BFM

#525,#524

BFM

#527,#526

Item Description/Setting range

Control command b0 Stores positioning parameters of X axis (BFM#14000 to

BFM #14199) to flash memory b1 Stores positioning parameters of Y axis(BFM#14200 to

BFM #14399) to flash memory b2 Stores table information of X axis (BFM #1000 to

BFM #3999) to flash memory b3 Stores table information of Y axis (BFM #4000 to

BFM #6999) to flash memory b4 Stores table information of XY axes (BFM #7000 to

BFM #12999) to flash memory b5 Stores servo parameters of X axis (BFM #15000 to

BFM #15199) to flash memory b6 Stores servo parameters of Y axis (BFM #15200 to

BFM #15399) to flash memory b7 Not available b8 Initializes positioning parameters of X axis (BFM #14000 to

BFM #14199) b9 Initializes positioning parameters of Y axis (BFM #14200 to

BFM #14399) b10 Initializes table information of X axis (BFM #1000 to

BFM #3999) b11 Initializes table information of Y axis (BFM #4000 to

BFM #6999) b12 Initializes table information of XY axes (BFM #7000 to

BFM #12999) b13 Initializes servo parameters of X axis (BFM #15000 to

BFM #15199) b14 Initializes servo parameters of Y axis (BFM #15200 to

BFM #15399) b15 Not available

BFM

#625,#624

BFM

#627,#626

Manual pulse input magnification

(numerator)

Manual pulse input magnification

(denominator)

1 to 1,000,000 times

1 to 1,000,000 times

*1.

For details on the user units, refer to the section given below.

Default value

Reference

H0000 subsection 11.4.15

K1

K1 subsection 11.4.16

subsection 11.4.17

Refer to Section 7.7

12

13

A

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Appendix A-3 Table Information List

Appendix A: LIST OF PARAMETERS AND DATA

Appendix A-3 Table Information List

X axis

BFM

#1001,#1000

-

BFM number

Y axis

BFM

-

#4001,#4000

XY axis

BFM

#7001,#7000

BFM

#7003,#7002

BFM

#1003,#1002

-

-

-

BFM #1004

BFM #1005

BFM

#1011,#1010

-

BFM

#1013,#1012

-

-

-

-

BFM

#4003,#4002

-

-

BFM #4004

BFM #4005

-

BFM

#4011,#4010

-

BFM

#4013,#4012

-

-

BFM #1014

BFM #1015

BFM #4014

BFM #4015

:

:

:

BFM

#3991,#3990

-

-

BFM

#6991,#6990

BFM

#3993,#3992

-

-

BFM

-

#6993,#6992

-

-

BFM #3994

BFM #3995

-

BFM #6994

BFM #6995

BFM

#12981,#12980

BFM

#12983,#12982

BFM

#12985,#12984

BFM

#12987,#12986

BFM

#12989,#12988

BFM

#12991,#12990

BFM #12992

BFM #12993

BFM

#7005,#7004

BFM

#7007,#7006

BFM

#7009,#7008

BFM

#7011,#7010

BFM #7012

BFM #7013

BFM

#7021,#7020

BFM

#7023,#7022

BFM

#7025,#7024

BFM

#7027,#7026

BFM

#7029,#7028

BFM

#7031,#7030

BFM #7032

BFM #7033

Table number

0

Item Description/Setting range

Position data

Position data y

Positioning:

2,147,483,648 to 2,147,483,647

(user unit)

*1

Present address changing:

-2,147,483,648 to 2,147,483,647

(user unit)

*1

Dwell: 0 to 32,767 (

×10ms)

Jump: 0 to 299

Speed data x

1 to 50,000,000 (user unit)

*1

Speed data y

Center coordinate i, radius r

Center coordinate j

-2,147,483,648 to 2,147,483,647

(user unit)

*1

Operation information

Sets operation/command (-1 to 99) m code information Stores m code in execution

*1

Position data x

1

299

Position data y

Speed data x

Speed data y

Center coordinate i, radius r

Center coordinate j

Operation information m code information

Position data x

Position data y

Speed data x

Speed data y

Center coordinate i, radius r

Center coordinate j

Operation information m code information

Same as table number 0

:

:

:

Same as table number 0

Default value

K-1

Reference

K-1

K-1

K-1

K-1

K-1

K-1

K-1

:

:

:

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1

K-1 section

11.5

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Appendix A: LIST OF PARAMETERS AND DATA

Appendix A-3 Table Information List

*1.

The operation information includes the following items.

-1: No processing (NOP)

-1: m code (NOP)

0: End (END)

1: 1-speed positioning (DRV_X)

2: 1-speed positioning (DRV_Y)

2: 1-speed positioning (DRV_XY)

4: Interrupt 1-speed constant quantity feed (SINT_X)

5: Interrupt 1-speed constant quantity feed (SINT_Y)

6: Interrupt 1-speed constant quantity feed (SINT_XY)

7: 2-speed positioning (DRV2_X)

8: 2-speed positioning (DRV2_Y)

9: 2-speed positioning (DRV2_XY)

10: Interrupt 2-speed constant quantity feed (DINT_X)

11: Interrupt 2-speed constant quantity feed (DINT_Y)

12: Interrupt 2-speed constant quantity feed (DINT_XY)

13: Interrupt stop (INT_X)

14: Interrupt stop (INT_Y)

15: Interrupt stop (INT_XY)

16: Multi speed operation (DRVC_X)

17: Multi speed operation (DRVC_Y)

19: Linear interpolation (LIN)

20: Linear interpolation (interrupt stop) (LIN_INT)

21: Circular interpolation (center, CW direction)(CW_i)

22: Circular interpolation

(center, CCW direction) (CCW_i)

23: Circular interpolation (radius, CW direction) (CW_r)

24: Circular interpolation

(radius, CCW directio) (CCW_r)

25: Mechanical zero return operation (DRVZ_X)

26: Mechanical zero return operation (DRVZ_Y)

27: Mechanical zero return operation (DRVZ_XY)

90: Current address change (SET_X)

91: Current address change (SET_Y)

92: Current address change (SET_XY)

93: Absolute address specification (ABS)

94: Relative address specification (INC)

95: Dwell (TIM)

96: Jump (JMP)

11

12

13

A

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Appendix A: LIST OF PARAMETERS AND DATA

Appendix A-4 Positioning parameter List

Appendix A-4 Positioning parameter List

BFM

#14005,

#14004

BFM

#14007,

#14006

BFM

#14009,

#14008

BFM

#14013,

#14012

BFM

#14014

BFM

#14018

BFM

#14020

BFM

#14022

BFM

#14025,

#14024

BFM

#14027,

#14026

BFM

#14029,

#14028

BFM

#14030

BFM

#14031

BFM

#14032

BFM

#14035,

#14034

BFM

#14037,

#14036

BFM

#14038

BFM

#14040

BFM number

X axis Y axis

BFM

#14000

BFM

#14002

BFM

#14200

BFM

#14202

Item Description/Setting range

Operation parameter 1

Operation parameter 2 b1,b0 System of units (user unit)

*1

(motor, mechanical, composite system) b3,b2 Unit of measurement for the user units

(

µm, Ccm/min, 10

-4 inch, inch/min, mdeg, 10deg/min) b5,b4 Position data magnification (1 to 1000 times) b9 to b6 Not available b10 Zero return direction b11 Acceleration/deceleration mode b12 DOG input logic b13 Zero-phase signal count start timing b14 Not available b15 STOP mode b0 b1

Servo end check enabled/disabled

Servo ready check enabled/disabled b2 Zero return interlock setting enabled/disabled b3 to b15 Not available

BFM

#14205,

#14204

BFM

#14207,

#14206

BFM

#14209,

#14208

BFM

#14213,

#14212

BFM

#14214

BFM

#14218

BFM

#14220

BFM

#14222

BFM

#14225,

#14224

BFM

#14227,

#14226

BFM

#14229,

#14228

BFM

#14230

BFM

#14231

BFM

#14232

BFM

#14235,

#14234

BFM

#14237,

#14236

BFM

#14238

BFM

#14240

Pulse rate

Feed rate

Maximum speed

JOG speed

JOG command determination time

Acceleration time

Deceleration time

Interpolation time constant

Zero return speed

(high speed)

Zero return speed

(creep)

Machine zero-point address

1 to 200,000,000 PLS/REV

1 to 200,000,000 (

0 to 5000 ms

1 to 5000 ms

1 to 5000 ms

1 to 5000 ms

µm/REV, 10

1 to 2,147,483,647 (user unit)

1 to 2,147,483,647 (user unit)

1 to 2,147,483,647 (user unit)

1 to 2,147,483,647 (user unit)

-4

*1

*1

*1

*1 inch/REV, mdeg)

-2,147,483,648 to 2,147,483,647 (user unit)

*1

Zero signal count

Zero return mode

Servo end evaluation time

0 to 32767 PLS

Selects zero return mode

(DOG, Data set, Stopper #1, Stopper #2)

1 to 5000 ms

Software limit (upper)

Sets upper limit of software limit

-2,147,483,648 to 2,147,483,647 (user unit)

*1

Software limit (lower)

Sets lower limit of software limit

-2,147,483,648 to 2,147,483,647 (user unit)

*1

Torque limit value

1 to 10000(

×

0.1

%)

Zero return torque limit value

1 to 10000(

×

0.1

%)

Default value

K300

K200

K200

K100

K100

K0

Reference

H0000 subsection 11.1.1

H0007 subsection 11.1.2

K262,144 subsection 11.1.3

K52,428,800 subsection 11.1.4

K4,000,000 subsection 11.1.5

K2,000,000 subsection 11.1.6

K1

K0

K5000 subsection 11.1.14

subsection 11.1.15

subsection 11.1.16

K0

K0 subsection 11.1.7

subsection 11.1.8

subsection 11.1.9

subsection 11.1.10

K4,000,000 subsection 11.1.11

subsection 11.1.12

subsection 11.1.13

subsection 11.1.17

K3000

K3000 subsection 11.1.18

subsection 11.1.19

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Appendix A: LIST OF PARAMETERS AND DATA

Appendix A-4 Positioning parameter List

11

BFM number

X axis Y axis

BFM

#14044

Item Description/Setting range

BFM

#14244

External input selection b0 b1

Use/ not use FLS, RLS signal servo amplifier

Use/ not use DOG signal of servo amplifier b7 to b2 Zero return interlock setting enabled/disabled b8 FLS/RLS signal logic of servo amplifier b9 DOG signal logic of servo amplifier b15 to b10 Not available

*1.

For details on the user units, refer to the section given below.

Default value

Reference

H0100 subsection 11.1.20

Refer to Section 7.7

12

13

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Appendix A: LIST OF PARAMETERS AND DATA

Appendix A-5 Servo Parameter List

Appendix A-5 Servo Parameter List

BFM

#15022

BFM

#15024

BFM

#15025

BFM

#15026

BFM

#15027

BFM

#15028

BFM

#15029

BFM

#15031

BFM

#15032

BFM

#15033

BFM

#15034

BFM

#15036

BFM

#15037

BFM

#15038

BFM

#15008

BFM

#15009

BFM

#15010

BFM

#15014

BFM

#15015

BFM number

X axis Y axis

BFM

#15000

BFM

#15200

BFM

#15002

BFM

#15003

BFM

#15004

BFM

#15202

BFM

#15203

BFM

#15204

BFM

#15208

BFM

#15209

BFM

#15210

BFM

#15214

BFM

#15215

BFM

#15019

BFM

#15219

BFM

#15020

BFM

#15220

BFM

#15022

BFM

#15224

BFM

#15225

BFM

#15226

BFM

#15227

BFM

#15228

BFM

#15229

BFM

#15231

BFM

#15232

BFM

#15233

BFM

#15234

BFM

#15236

BFM

#15237

BFM

#15238

Item

Servo amplifier series

Settings

Setting of servo amplifier series connected to 20SSC-H

Default value

K0

Reference

Regeneration option

Absolute position detection system

Selecting functions A-1

Auto tuning mode

Setting of with/without regeneration option

Setting of with/without absolute detection system

Setting of with/without emergency stop input (EMI) to servo amplifier

Setting of gain adjustment

H0000

K0

H0000

H0001 subsection 11.2.1

Auto tuning response Setting of auto tuning response (low to high) K12

In-position range

Rotation direction selection

0 to 50000 PLS

Setting of rotation direction (CCW/CW) when viewed from the servo motor load

Encoder output pulses 1 to 65535 PLS/REV

Adaptive tuning mode

(Adaptive filter 2)

Vibration suppression control tuning mode

(advanced vibration suppression control)

Setting of adaptive filter tuning

Setting of vibration suppression control tuning mode

Feed forward Gain 0 to 100

%

Ratio of load inertia moment to servo motor inertia moment

Model loop gain

0 to 3000 (

×0.1 time)

1 to 2000rad/s

K100

K0

K4000

K0

K0

K0

K70

K24

Position loop gain 1 to 1000rad/s K37

Speed loop gain

Speed integral compensation

Speed differential compensation

Machine resonance suppression filter 1

20 to 50000rad/s

1 to 10000(

0 to 1000

×0.1ms)

100 to 4500Hz

Notch shape selection 1 Setting of notch form (depth, width)

Machine resonance suppression filter 2

100 to 4500Hz

Notch shape selection 2

Settings of validity for machine resonance suppression filter 2 and notch shape (depth, width of notch)

Low-pass filter 100 to 18000rad/s

Vibration suppression

Vibration frequency setting

Vibration suppression

Resonance frequency setting

1 to 1000(

1 to 1000(

×0.1Hz)

×0.1Hz)

K823

K337

K980

K4500

H0000

K4500

H0000

K3141

K1000

H0000 subsection 11.2.2

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Appendix A: LIST OF PARAMETERS AND DATA

Appendix A-5 Servo Parameter List

11

BFM

#15052

BFM

#15072

BFM

#15073

BFM

#15074

BFM

#15075

BFM

#15080

BFM

#15064

BFM

#15065

BFM

#15066

BFM

#15067

BFM

#15068

BFM

#15070

BFM

#15102

BFM

#15103

BFM

#15104

BFM

#15252

BFM

#15272

BFM

#15273

BFM

#15274

BFM

#15275

BFM

#15280

BFM

#15264

BFM

#15265

BFM

#15266

BFM

#15267

BFM

#15268

BFM

#15270

BFM

#15302

BFM

#15303

BFM

#15304

BFM

#15047

BFM

#15048

BFM

#15049

BFM

#15050

BFM number

X axis Y axis

BFM

#15041

BFM

#15241

BFM

#15042

BFM

#15044

BFM

#15045

BFM

#15046

BFM

#15242

BFM

#15244

BFM

#15245

BFM

#15246

BFM

#15247

BFM

#15248

BFM

#15249

BFM

#15250

BFM

#15051

BFM

#15251

Item Settings

Low-pass filter selection Selects setting method (auto/manual) of low-pass filter

Slight vibration suppression control selection

Selects slight vibration suppression control (validity of the function, PI-PID switching method)

Gain changing selection Setting of the selection/condition for gain changing

Default value

H0000

H0000

H0000

K10

K1

Gain changing condition 0 to 9999 (kpps, PLS, r/min)

Gain changing time constant

Gain changing

Ratio of load inertia moment to servo motor inertia moment

Gain changing

Position loop gain

Gain changing

Speed loop gain

Gain changing

Speed integral compensation

Gain changing

Vibration suppression control Vibration frequency setting

Gain changing

Vibration suppression control Resonance frequency setting

Error excessive alarm level

Electromagnetic brake sequence output

Encoder output pulses selection

0 to 100 ms

0 to 3000 (

×0.1 time)

1 to 2000 rad/s

20 to 50000 rad/s

1 to 50000 (

×0.1ms)

1 to 1000 (

×0.1Hz)

1 to 1000 (

×0.1Hz)

1 to 200 rev

0 to 1000 ms

Selects the direction/setting for encoder pulse output

Function selection C-1 Selection of serial encoder cable (2-wire or 4-wire type)

Function selection C-2 Selects validity for operations without motor

Zero speed 0 to 10000 r/min.

K70

K37

K823

K337

K1000

K1000

K3

K0

H0000

K0

K0

K50

Reference

subsection 11.2.2

subsection 11.2.3

Analog monitor output 1 Setting of output signal to analog monitor 1 H0000

Analog monitor output 2 Setting of output signal to analog monitor 2

Analog monitor 1

Offset

Analog monitor 2

Offset

Function selection C-4

-999 to 999 mV

-999 to 999 mV

Output signal device

Selection 1 (CN3-13)

Output signal device

Selection 2 (CN3-9)

Output signal device

Selection 3 (CN3-15)

Select the home position setting condition in the absolute position detection system

Setting of output signal to the connector (CN3-13 pin) of servo amplifier

Setting of output signal to the connector (CN3-9 pin) of servo amplifier

Setting of output signal to the connector (CN3-15 pin) of servo amplifier

H0000

K0

K0

K1

H0005

H0004

H0003 subsection 11.2.4

12

13

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MEMO

Appendix A: LIST OF PARAMETERS AND DATA

Appendix A-5 Servo Parameter List

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Warranty

Warranty

Please confirm the following product warranty details before using this product.

1. Gratis Warranty Term and Gratis Warranty Range

If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or

Mitsubishi Service Company. However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module.

2. Onerous repair term after discontinuation of production

1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued.

Discontinuation of production shall be notified with

Mitsubishi Technical Bulletins, etc.

2) Product supply (including repair parts) is not available after production is discontinued.

3. Overseas service

Overseas, repairs shall be accepted by Mitsubishi's local overseas FA Center. Note that the repair conditions at each FA Center may differ.

[Gratis Warranty Term]

The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place. Note that after manufacture and shipment from

Mitsubishi, the maximum distribution period shall be six (6) months, and the longest gratis warranty term after manufacturing shall be eighteen (18) months. The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs.

4. Exclusion of loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi, loss in opportunity, lost profits incurred to the user or third person by Failures of Mitsubishi products, special damages and secondary damages whether foreseeable or not , compensation for accidents, and compensation for damages to products other than Mitsubishi products, replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

[Gratis Warranty Range]

1) The range shall be limited to normal use within the usage state, usage methods and usage environment, etc., which follow the conditions and precautions, etc., given in the instruction manual, user's manual and caution labels on the product.

2) Even within the gratis warranty term, repairs shall be charged for in the following cases. a) Failure occurring from inappropriate storage or handling, carelessness or negligence by the user.

Failure caused by the user's hardware or software design. b) Failure caused by unapproved modifications, etc., to the product by the user. c) When the Mitsubishi product is assembled into a user's device, Failure that could have been avoided if functions or structures, judged as necessary in the legal safety measures the user's device is subject to or as necessary by industry standards, had been provided. d) Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the instruction manual had been correctly serviced or replaced. e) Relay failure or output contact failure caused by usage beyond the specified Life of contact

(cycles).

f) Failure caused by external irresistible forces such as fires or abnormal voltages, and failure caused by force majeure such as earthquakes, lightning, wind and water damage. g) Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi. h) Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user.

5. Changes in product specifications

The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice.

6. Product application

1) In using the Mitsubishi MELSEC programmable logic controller, the usage conditions shall be that the application will not lead to a major accident even if any problem or fault should occur in the programmable logic controller device, and that backup and fail-safe functions are systematically provided outside of the device for any problem or fault.

2) The Mitsubishi programmable logic controller has been designed and manufactured for applications in general industries, etc. Thus, applications in which the public could be affected such as in nuclear power plants and other power plants operated by respective power companies, and applications in which a special quality assurance system is required, such as for

Railway companies or Public service purposes shall be excluded from the programmable logic controller applications.

In addition, applications in which human life or property that could be greatly affected, such as in aircraft, medical applications, incineration and fuel devices, manned transportation, equipment for recreation and amusement, and safety devices, shall also be excluded from the programmable logic controller range of applications.

However, in certain cases, some applications may be possible, providing the user consults their local

Mitsubishi representative outlining the special requirements of the project, and providing that all parties concerned agree to the special circumstances, solely at the users discretion.

175

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Revised History

Date

12/2005

Revision

A First Edition

Discription

Revised History

176

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USER’S MANUAL

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

HIMEJI WORKS: 840, CHIYODA CHO, HIMEJI, JAPAN

MODEL

MODEL CODE

FX3U-20SSC-U-E

09R622

JY997D21301A

(MEE)

Effective Dec. 2005

Specifications are subject to change without notice.

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