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

MELSEC iQ-F

FX5 User's Manual (Positioning Control)

SAFETY PRECAUTIONS

(Read these precautions before using this product.)

Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety in order to handle the product correctly.

In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".

WARNING

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

CAUTION

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

Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to serious consequences.

Observe the precautions of both levels because they are important for personal and system safety.

Make sure that the end users read this manual and then keep the manual in a safe place for future reference.

[DESIGN PRECAUTIONS]

WARNING

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

(1) Most importantly, have the following: an emergency stop circuit, a protection circuit, an interlock circuit for opposite movements (such as forward vs. reverse rotation), and an interlock circuit (to prevent damage to the equipment at the upper and lower positioning limits).

(2) Note that when the CPU module detects an error, such as a watchdog timer error, during selfdiagnosis, all outputs are turned off. Also, when an error that cannot be detected by the CPU module occurs in an input/output control block, output control may be disabled. External circuits and mechanisms should be designed to ensure safe machine operation in such a case.

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

(4) Note that when an error occurs in a relay, triac or transistor of an output circuit, the output might stay on or off. For output signals that may lead to serious accidents, external circuits and mechanisms should be designed to ensure safe machinery operation in such a case.

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

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

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[WIRING PRECAUTIONS]

WARNING

● Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to do so may cause electric shock or damage to the product.

● Make sure to attach the terminal cover, provided as an accessory, before turning on the power or initiating operation after installation or wiring work. Failure to do so may cause electric shock.

● The temperature rating of the cable should be 80°C or more.

● Make sure to wire the screw terminal block in accordance with the following precautions. Failure to do so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions, or damage to the product.

The disposal size of the cable end should follow the dimensions described in the User's Manual

(Hardware).

Tightening torque should follow the specifications in the manual.

Tighten the screws using a Phillips-head screwdriver No.2 (shaft diameter 6mm (0.24”) or less).

Make sure that the screwdriver does not touch the partition part of the terminal block.

● Make sure to properly wire to the terminal block (European type) in accordance with the following precautions. Failure to do so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions, or damage to the product.

The disposal size of the cable end should follow the dimensions described in the User's Manual

(Hardware].

Tightening torque should follow the specifications in the User's Manual (Hardware).

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

Do not solder-plate the electric wire ends.

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

Affix the electric wires so that neither the terminal block nor the connected parts are directly stressed.

[WIRING PRECAUTIONS]

CAUTION

● Perform class D grounding (grounding resistance: 100Ω or less) to the grounding terminal on the CPU module with a wire 2 mm2 or thicker. Do not use common grounding with heavy electrical systems

(refer to the User's Manual (Hardware)).

● Connect the power supply to the dedicated terminals specified in the User's Manual (Hardware

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

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

● Install module so that excessive force will not be applied to terminal blocks, power connectors or I/O connectors. Failure to do so may result in wire damage/breakage or PLC failure.

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

Do not bundle the power line and input/output cables together with or lay them close to the main circuit, high-voltage line, load line or power line. As a guideline, lay the power line, control line and communication cables at least 100 mm (3.94") away from the main circuit, high-voltage line, load line or power line.

[STARTUP AND MAINTENANCE PRECAUTIONS]

WARNING

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

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

● Before modifying the program in operation, forcing output, running or stopping the PLC, read through this manual carefully, and ensure complete safety. An operation error may damage the machinery or cause accidents.

[STARTUP AND MAINTENANCE PRECAUTIONS]

CAUTION

● Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions.

*For repair, contact your local Mitsubishi Electric representative.

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

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

Peripheral devices, expansion board and expansion adapter

Extension modules, bus conversion module and connector conversion module

Battery

INTRODUCTION

This manual explains the "Positioning control" provided for FX5 Programmable Controllers.

It should be read and understood before attempting to install or use the unit. 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.

Regarding use of this product

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

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

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

Note

• 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 your local

Mitsubishi Electric representative.

• Mitsubishi Electric will not accept responsibility for actual use of the product based on these illustrative examples. Please use the product after confirming the function and safety of the device and machine.

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

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

Mitsubishi Electric representative with the manual number on the end of this manual.

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CONTENTS

SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

CHAPTER 1 OUTLINE

1.1

1.2

1.3

11

Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

List of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Setup Procedure for Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

CHAPTER 2 SPECIFICATIONS

2.1

2.2

2.3

14

Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Input assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Assignment of output numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

CHAPTER 3 POSITIONING CONTROL FUNCTION

3.1

3.2

3.3

3.4

19

List of Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

OPR Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Mechanical OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

High-speed OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1-speed positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

2-speed positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Multi-speed operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Interrupt stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Interrupt 1-speed positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Interrupt 2-speed positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Variable speed operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Table operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Simple linear interpolation (2-axis simultaneous start) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Auxiliary Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Dog search function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Dwell time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

OPR zero signal count. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Forward limit and reverse limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Positioning address change during positioning operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Command speed change during positioning operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Pulse decelerate and stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Remaining distance operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Multiple axes simultaneous activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Detection of absolute position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

CHAPTER 4 POSITIONING PARAMETER

4.1

35

Setting Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Input Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

4.2

Output Confirmation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Details of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Common item . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Items related to speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Items related to positioning address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Items related to operating command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Items related to pulse Y output instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Items related to OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Items related to table operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Items related to monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

CHAPTER 5 POSITIONING INSTRUCTION

5.1

5.2

5.3

5.4

5.5

5.6

5.7

5.8

5.9

64

Common Items. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Operand specification method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Start speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Pulse output stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Operation at an error or abnormal end . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Caution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Pulse Y Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Related devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Outline of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Mechanical OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Related devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73


Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Caution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Relative Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Related devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81


Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Absolute Positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Related devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88


Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Interrupt 1-Speed Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Related devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95


Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Caution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Variable Speed Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Related devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Outline of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Caution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Single-table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Related devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109


Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

Multiple-table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

5

6

Related devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116


Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

5.10

Multiple-axis Table Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

Related devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125


Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5.11

Absolute Position Detection System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

Related devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131


Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Caution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

CHAPTER 6 TABLE OPERATION

6.1

6.2

6.3

134

How to Use the Positioning Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

Table setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

Operations of Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

No Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

1 Speed Positioning (Relative Address Specification). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

1 Speed Positioning (Absolute Address Specification) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

Interrupt 1-Speed Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Variable Speed Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Table Transition Variable Speed Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

Interrupt Stop (Relative Address Specification) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

Interrupt Stop (Absolute Address Specification) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

Condition Jump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

Interpolation Operation (Relative Address Specification) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Interpolation Operation (Relative Address Specification Target Axis) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

Interpolation Operation (Absolute Address Specification) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

Interpolation Operation (Absolute Address Specification Target Axis) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

How to Execute Multiple Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Stepping operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Continuous operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

CHAPTER 7 PROGRAMMING

7.1

7.2

7.3

7.4

161

Table Operation Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Cautions for Program Creation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

FX3 compatible SM/SD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

List of Related Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

Special relays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

Special registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

CHAPTER 8 TROUBLESHOOTING

8.1

8.2

8.3

8.4

166

LED Status during Pulse Output and Rotation Direction Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Servo Motor, Stepping Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

Stop Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

APPENDIX 170

Appendix 1 MELSERVO-J4 series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

PULSE/SIGN mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

CW/CCW mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

Absolute position detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

Appendix 2 MELSERVO-J3 series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

PULSE/SIGN mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

CW/CCW mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

Absolute position detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

Appendix 3 MELSERVO-JN series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

PULSE/SIGN mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

CW/CCW mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

INDEX 197

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .202

7

8

RELEVANT MANUALS

User's manuals for the applicable modules

Manual name <manual number>

MELSEC iQ-F FX5 User's Manual (Startup)

<JY997D58201>

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

<JY997D55301>

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

<JY997D61401>

MELSEC iQ-F FX5 User's Manual (Application)

<JY997D55401>

MELSEC iQ-F FX5 Programming Manual (Program Design)

<JY997D55701>

MELSEC iQ-F FX5 Programming Manual (Instructions, Standard

Functions/Function Blocks)

<JY997D55801>

MELSEC iQ-F FX5 User's Manual (Serial Communication)

<JY997D55901>

MELSEC iQ-F FX5 User's Manual (MODBUS Communication)

<JY997D56101>

MELSEC iQ-F FX5 User's Manual (Ethernet Communication)

<JY997D56201>

MELSEC iQ-F FX5 User's Manual (SLMP)

<JY997D56001>

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

<JY997D56301> (This manual)

MELSEC iQ-F FX5 User's Manual (Analog Control)

<JY997D60501>

GX Works3 Operating Manual

<SH-081215ENG>

Description

Performance specifications, procedures before operation, and troubleshooting of the

CPU module.

Describes the details of hardware of the FX5U CPU module, including input/output specifications, wiring, installation, and maintenance.

Describes the details of hardware of the FX5UC CPU module, including input/output specifications, wiring, installation, and maintenance.

Describes basic knowledge required for program design, functions of the CPU module, devices/labels, and parameters.

Describes specifications of ladders, ST, FBD/LD, and other programs and labels.

Describes specifications of instructions and functions that can be used in programs.

Describes N:N network, MELSEC Communication protocol, inverter communication, non-protocol communication, and predefined protocol support.

Describes MODBUS serial communication.

Describes the functions of the built-in Ethernet port communication function.

Explains methods for the device that is communicating with the CPU module by

SLMP to read and write the data of the CPU module.

Describes the built-in positioning function.

Describes the analog function.

System configuration, parameter settings, and online operations of GX Works3.

TERMS

Unless otherwise specified, this manual uses the following terms.

•  indicates a variable portion used to collectively call multiple models or versions.

(Example) FX5U-32MR/ES, FX5U-32MT/ES  FX5U-32M/ES

• For details of the FX3 devices that can connected with the FX5, refer to FX5 User's Manual [Hardware].

Description Terms

■Devices

FX5

FX3

FX5 CPU module

FX5U CPU module

FX5UC CPU module

Extension module

• FX5 extension module

• FX3 extension module

Extension module (extension cable type)

Extension module (extension connector type)

I/O module

Input module

• Input module (extension cable type)

• Input module (extension connector type)

Output module

• Output module (extension cable type)

• Output module (extension connector type)

Input/output modules

Powered input/output module

Extension power supply module

• FX5 extension power supply module

• FX3 extension power supply module

Intelligent module

Intelligent function module

• FX5 intelligent function module

• FX3 intelligent function module

Simple motion module

Expansion board

• Communication board

Expansion adapter

• Communication adapter

• Analog adapter

Bus conversion module

• Bus conversion module (extension cable type)

• Bus conversion module (extension connector type)

Battery

Peripheral device

GOT

Abbreviation of FX5 PLCs

Generic term for FX3S, FX3G, FX3GC, FX3U, and FX3UC PLCs

Generic term for FX5U CPU module and FX5UC CPU module

Generic term for FX5U-32MR/ES, FX5U-32MT/ES, FX5U-32MT/ESS, FX5U-64MR/ES, FX5U-64MT/ES,

FX5U-64MT/ESS, FX5U-80MR/ES, FX5U-80MT/ES, and FX5U-80MT/ESS

Generic term for FX5UC-32MT/D and FX5UC-32MT/DSS

Generic term for FX5 extension modules and FX3 function modules

Generic term for I/O modules, FX5 extension power supply module, and FX5 intelligent function module

Generic term for FX3 extension power supply module and FX3 special function blocks

Input modules (extension cable type), Output modules (extension cable type), Bus conversion module

(extension cable type), and Intelligent function modules

Input modules (extension connector type), Output modules (extension connector type), Input/output modules, Bus conversion module (extension connector type), and Connector conversion module (extension connector type)

Generic term for input modules, output modules, Input/output modules, and powered input/output modules

Generic term for Input modules (extension cable type) and Input modules (extension connector type)

Generic term for FX5-8EX/ES and FX5-16EX/ES

Generic term for FX5-C32EX/D and FX5-C32EX/DS

Generic term for output modules (extension cable type) and output modules (extension connector type)

Generic term for FX5-8EYR/ES, FX5-8EYT/ES, FX5-8EYT/ESS, FX5-16EYR/ES, FX5-16EYT/ES, and

FX5-16EYT/ESS

Generic term for FX5-C32EYT/D and FX5-C32EYT/DSS

Generic term for FX5-C32ET/D and FX5-C32ET/DSS

Generic term for FX5-32ER/ES, FX5-32ET/ES, and FX5-32ET/ESS

Generic term for FX5 extension power supply module and FX3 extension power supply module

Different name for FX5-1PSU-5V

Different name for FX3U-1PSU-5V

The abbreviation for intelligent function modules

Generic term for FX5 intelligent function modules and FX3 intelligent function modules

Generic term for FX5 intelligent function modules

Generic term for FX3 special function blocks

Different name for FX5-40SSC-S

Generic term for board for FX5U CPU module

Generic term for FX5-232-BD, FX5-485-BD, and FX5-422-BD-GOT

Generic term for adapter for FX5 CPU module

Generic term for FX5-232ADP and FX5-485ADP

Generic term for FX5-4AD-ADP and FX5-4DA-ADP

Generic term for Bus conversion module (extension cable type) and Bus conversion module (extension connector type)

Different name for FX5-CNV-BUS

Different name for FX5-CNV-BUSC

Different name for FX3U-32BL

Generic term for engineering tools and GOTs

Generic term for Mitsubishi Graphic Operation Terminal GOT1000 and GOT2000 series

9

10

Terms

■Software packages

Engineering tool

GX Works3

Description

The product name of the software package for the MELSEC programmable controllers

The product name of the software package, SWnDND-GXW3, for the MELSEC programmable controllers

(The 'n' represents a version.)

■Manuals

User's manual

• User's manual (Startup)

• FX5 User's manual (Hardware)

• FX5U User's manual (Hardware)

• FX5UC User's manual (Hardware)

• User's manual (Application)

Programming manual (Program Design)

Programming manual (Instructions, Standard

Functions/Function Blocks)

Communication manual

Generic term for separate manuals

Abbreviation of MELSEC iQ-F FX5 User's Manual (Startup)

Generic term for MELSEC iQ-F FX5U User's Manual (Hardware) and MELSEC iQ-F FX5UC User's Manual

(Hardware)

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

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

Abbreviation of MELSEC iQ-F FX5 User's Manual (Application)

Abbreviation of MELSEC iQ-F FX5 Programming Manual (Program Design)

Abbreviation of MELSEC iQ-F FX5 Programming Manual (Instructions, Standard Functions/Function Blocks)

• Serial communication manual

• MODBUS communication manual

• Ethernet communication manual

• SLMP manual

Positioning manual

Analog manual

■Positioning

OPR

Table operation instruction

Complete flag

Generic term for MELSEC iQ-F FX5 User's Manual (Serial Communication), MELSEC iQ-F FX5 User's

Manual (MODBUS Communication), MELSEC iQ-F FX5 User's Manual (Ethernet Communication), and

MELSEC iQ-F FX5 User's Manual (SLMP)

Abbreviation of MELSEC iQ-F FX5 User's Manual (Serial Communication)

Abbreviation of MELSEC iQ-F FX5 User's Manual (MODBUS Communication)

Abbreviation of MELSEC iQ-F FX5 User's Manual (Ethernet Communication)

Abbreviation of MELSEC iQ-F FX5 User's Manual (SLMP)

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

Abbreviation of MELSEC iQ-F FX5 User's Manual (Analog Control)

Abbreviation for origin point return

Generic term for the table operation (TBL) instruction, the multiple-table operation (DRVTBL) instruction, and the multiple-axis table operation (DRVMUL) instruction

Generic term for user-specified complete flags and FX3 compatible device flags that are turned on at normal/abnormal completion of the positioning instruction

1

OUTLINE

The FX5 PLCs (transistor output) can perform positioning control by outputting pulse signals to servo motors or stepping motors. Increase the pulse frequency to increase the motor speed. Increase the number of pulses to increase the number of motor revolutions. In other words, set the pulse frequency to determine the workpiece transfer (positioning) speed. Set the number of pulses to determine the workpiece transfer distance.

1.1

Features

• The general outputs (Y0 to Y3) of the CPU module (transistor output) can control up to four axes for positioning operations.

• Use positioning instructions and positioning parameters of the CPU module for positioning control.

• The general outputs (Y0 to Y3) for the CPU module (transistor output) can output a pulse train of 200 Kpps.

• The CPU module (transistor output) pulse output method can be PULSE/SIGN mode or CW/CCW mode.

• The CPU module is compatible with the MELSERVO MR-J4A series, MR-J3A series and the MR-JNA series servo amplifiers.

System

Up to four axes

Servo amplifier (drive unit) and others

Axis 1 Axis 2 Axis 3 Axis 4

FX5 CPU module (transistor output type)

1

1 OUTLINE

1.1 Features

11

1.2

List of Functions

When the positioning instructions and the positioning parameters are used together, various positioning operations are enabled.

Page 64 POSITIONING INSTRUCTION

Page 35 POSITIONING PARAMETER

The positioning functions of the FX5 PLC are shown below.

Positioning operation pattern Reference

JOG operation (substituted by variable speed operation)



Speed

Jogging speed

Positioning operation pattern

Interrupt 1-speed positioning

Speed

Operation speed

Reference

Page 24

Start

JOG command

Mechanical OPR

Speed

Page 20

OPR speed

Origin Zero DOG

High-speed OPR

Speed

OPR speed

Start

Page 21

Start Interrupt

Transfer distance


Speed

Operation speed (1)

Operation speed (2)

Start Interrupt (1) Interrupt (2)

Transfer distance

Variable speed operation

Speed Operation speed

Page 25

Page 26

Origin

1-speed positioning

Speed

Operation speed

Start

Page 21

Start Target position

2-speed positioning

Speed Operation speed (1)

Operation speed (2)

Page 22

Start

Transfer distance (1)


Multi-speed operation

Speed

Operation speed (1)

Operation speed (2)

Operation speed (3)

Start




Page 23

Interrupt stop

Speed

Operation speed

Page 24

Start Speed change

Speed change

Instruction

OFF

Simple linear interpolation (2-axis simultaneous start)

Y coordinate y

Target position (x, y)

Page 27

Start point

Table operation x

X coordinate

NO.

1

2

Device

D100

D106

3 D112

4 D118

5 D124

 

Control Method

4: Variable Speed Operation

1: 1 Speed Positioning (Relative Address Specification)



0: No Positioning



M No. for Jump Condition

0

0

0

0

0



Absolute position detection system

Reads out the current value

Page 26

Page 130

 

Start Interrupt

Transfer distance

12

1 OUTLINE

1.2 List of Functions

1.3

Setup Procedure for Positioning Control

1.

Check specifications of incorporated positioning functions

•

Performance

•

•

•

•

Input Specifications

Output Specifications

Page 14 SPECIFICATIONS

Control function

Auxiliary function

For servo amplifier specifications, refer to the manual for each servo amplifier.

Page 19 POSITIONING CONTROL FUNCTION

2.

System configuration and unit selection

Refer to the manual for each servo amplifier.

3.

Wiring

Refer to the manual for each servo amplifier.

4.

Setting of parameters

Parameter settings in GX Works3

*1

•

•

•

Setting method

Details of parameters

Page 35 POSITIONING PARAMETER

Setting method

•

Control method

Page 134 TABLE OPERATION

5.

Programming

Creating programs in GX Works3

*1

•

•

Details of each positioning instruction


Common items of positioning instruction

• Cautions for program creation

Page 161 PROGRAMMING

*1 For details on connecting procedures to a CPU module and operating procedures of GX Works3, refer to GX Works3 Operating

Manual.

1

1 OUTLINE

1.3 Setup Procedure for Positioning Control

13

2

SPECIFICATIONS

For general specifications and power supply, refer to the following manual.

FX5U User's manual (Hardware)

FX5UC User's manual (Hardware)

2.1

Performance Specifications

The following list shows performance specifications of the positioning function.

For details on each positioning parameter and setting procedures, refer to Page 35 POSITIONING PARAMETER.

Item

Number of control axes

Pulse output form

Maximum frequency

Positioning program

Position data

Positioning Pulse output mode

Positioning range

Control unit

Number of pulses per rotation

Speed

command

*3

Travel distance per rotation

Positioning data magnification

Positioning range

Speed command unit

Bias speed

Maximum speed

OPR speed

Creep speed

Acceleration time

Deceleration time

Acceleration/deceleration process

Absolute position detection (ABS current value reading)

Interpolation

Start time (time until pulse output is started after execution of the instruction is started)

Description

Independent 4 axes

*1

Pulse can be output from general-purpose outputs of the CPU module (axis1:

Y0, axis2: Y1, axis3: Y2, and axis4: Y3).

Transistor

2147483647 (200 Kpps in pulses)

Created in sequence program

Table operation (can be set in GX Works3.)

• When the positioning table data set to use device : 100 data points/axis

• When the positioning table data is set to do not use device : 32 data points/ axis

1 point (set in sequence program)

PULSE/SIGN mode, CW/CCW mode

Motor system, machine system, multiple system,

0 to 2147483647

1 to 2147483647

1, 10, 100, 1000 (times)

-2147483648 to +2147483647 (motor/mechanical/multiple unit system)

*2

Determined by the set unit system

0 to 200 Kpps (motor/multiple unit system)

0 to 2147483647 (machine unit system)

1 pps to 200 Kpps (motor/multiple unit system)






0 to 32767 ms

0 to 32767 ms

Trapezoidal acceleration/deceleration

DABS instruction used

Simple linear interpolation by 2-axis simultaneous start

When using the external start signal: 50

s or less

Interpolation operation: 300

s or less

*1 The number of control axes is two when the pulse output mode is CW/CCW mode.

*2 Set the number of output pulses per operation to 2147483647 or lower.

*3 For the start speed, refer to Page 64 Start speed.

14

2 SPECIFICATIONS

2.1 Performance Specifications

2.2

Input Specifications

The FX5 input specifications are explained below. Note that the simultaneous turning-on rate is restricted. For details on this restriction, refer to the following manual.



FX5U CPU module

Item

Input signal voltage

Input impedance

Input signal current

Input sensitivity current

Input ON current

Input response time

(H/W filter delay)

Input OFF current

FX5U-32MT

FX5U-64MT, FX5U-80MT

FX5U-32TM

FX5U-64MT, FX5U-80MT

Input response time

(Digital filter setting value)

Input signal type

Input circuit insulation

Indication of input motion

Specifications

X0 to X17

24 V DC +20%, -15%

4.3 k



X20 and subsequent 5.6 k



X0 to X17

X20 or subsequent

X0 to X17

X20 or subsequent

5.3 mA/24 V DC

4 mA/24 V DC

3.5 mA or more

3.0 mA or more

1.5 mA or less

ON: 2.5

s or less

OFF: 2.5

s or less

X0 to X5

X0 to X7

X6 to X17

X10 to X17

X20 or subsequent

ON: 30

s or less

OFF: 50

s or less

ON: 50

s or less

OFF: 150

s or less

None, 10

s, 50 s, 0.1 ms, 0.2 ms, 0.4 ms, 0.6 ms, 1 ms, 5 ms, 10 ms

(initial values), 20 ms, 70 ms

No-voltage contact input

• Sink input: NPN open collector transistor

• Source input: PNP open collector transistor

Photocoupler insulation

Turning on the input will light the LED indicator lamp

FX5UC CPU module

Item

Input signal voltage

Input impedance

Input signal current

Input sensitivity current

Input ON current

Input OFF current

Input response time

(H/W filter delay)

Input response time

(Digital filter setting value)

Input signal type FX5UC-32MT/D

FX5UC-32MT/DSS

Input circuit insulation

Indication of input motion

X0 to X5

X6 to X17

Specifications

24 V DC +20%, -15%

4.3 k



5.3 mA/24 V DC

3.5 mA or more

1.5 mA or less

ON: 2.5

s or less

OFF: 2.5

s or less

ON: 30

s or less

OFF: 50

s or less

None, 10

s, 50 s, 0.1 ms, 0.2 ms, 0.4 ms, 0.6 ms, 1 ms, 5 ms, 10 ms

(initial values), 20 ms, 70 ms


NPN open collector transistor


• Sink input: NPN open collector transistor

• Source input: PNP open collector transistor

Photocoupler insulation

Turning on the input will light the LED indicator lamp (DISP switch IN side)

2

2 SPECIFICATIONS

2.2 Input Specifications

15

Input assignment

Input numbers of the FX5 are assigned as follows.

For parameter settings in GX Works3, refer to Page 35 POSITIONING PARAMETER.

Application Remarks

Stop command

OPR command 

Input number

All input points

All input points

X0 to X17

*1

Connect a line to any input. If the line-connected input is turned on, turn off the positioning instruction signal.

ABS read

Near-point signal

(DOG) zero signal

External start signal

Interrupt input signal 1


Forward rotation limit (LSF)

X0 to X17

*1

All input points

X0 to X17

X0 to X17

X0 to X17

All input points

Connect a line to any input. When the line-connected input is turned on, drive the DSZR/DDSZR instruction.

(Page 71 Mechanical OPR)

Connect a line to the input specified in the parameter setting of GX Works3. The signal does not occupy the input interrupt function, and its edge is detected with a 1-ms interrupt. For the near-point signal, refer to

Page 55 Near-point Dog Signal.

Connect a line to the input specified in the parameter setting of GX Works3. The input interrupt function is

assigned forcibly to a specified input. For the zero signal, refer to Page 55 Zero Signal.

Connect a line if it is necessary to use the absolute position detection system. Connect a line to the input

specified by the DABS instruction. (Page 130 Absolute Position Detection System) 3 consecutive input

points are used for this function.

Connect a line to the input specified in the parameter setting of GX Works3. The input interrupt function is assigned forcibly a specified input.

Connect a line to the input specified in the parameter setting of GX Works3. The input interrupt function is assigned forcibly a specified input.

Connect a line to the input specified in the table parameter setting of GX Works3. The signal does not occupy the input interrupt function, and its edge is detected with a 1-ms interrupt.

Connect a line to any input. When the line-connected input is turned on, the forward limit relay must be turned on. The forward limit depends on the axis number as shown in the following table.

Axis 1

SM5660

Axis2

SM5661

Axis3

SM5662

Axis4

SM5663

Reverse rotation limit (LSR) All input points

Connect a line to any input. When the line-connected input is turned on, the reverse limit relay must be turned on. The reverse limit depends on the axis number as shown in the following table.

Axis 1

SM5676

Axis 2

SM5677

Axis 3

SM5678

Axis 4

SM5679

*1 In the case of FX3 compatible operand, DSZR/DDSZR instruction can use bit device other than X. In this case, the near-point signal

(DOG) and zero signal must be assigned to the same device. For details, refer to Page 71 Mechanical OPR.

2.3

Output Specifications

This section describes the transistor output specifications of the FX5. Note that the simultaneous turning-on rate is restricted.

For details on this restriction, refer to the following manual.



For MELSERVO Series amplifiers, use a sink input/sink output type CPU module.

Item

External voltage

Maximum load

Open-circuit leakage current

Voltage drop when ON

FX5U-MT

FX5UC-32MT

Y0 to Y3

Y4 or more

Specifications

5 to 30 V DC

0.5 A/point

The total load current per common terminal should be the following value or less.

• 4 output point common: 0.8 A

• 8 output point common: 1.6 A

Y0 to Y3: 0.3A/point

Y4 or more: 0.1A/point

The total load current per common terminal (8 output point) should be 0.8A

*1

or less.

0.1 mA or less at 30 V DC

1.0 V or less

1.5 V or less

16

2 SPECIFICATIONS

2.3 Output Specifications

Item

Response time FX5U-MT,

FX5UC-32MT

FX5U-MT

FX5UC-MT

Y0 to Y3

Specifications

2.5

s or less at 10 mA or more (5 to 24 V DC)

Y4 or more 0.2 ms or less at 200 mA (24 V DC)

0.2 ms or less at 100 mA (24 V DC)

Circuit insulation

Indication of output motion

Photo-coupler insulation

LED on panel turns on when output (DISP switch OUT side)

*1 When two COM (or +V) terminals are connected outside the CPU module, the total load current (16 output point) is 1.6 A or less.

Where  indicates: 0 or 1

To use the positioning instruction, adjust the load current of the NPN open collector output to 10 to 100 mA (5 to 24 V DC).

Item

Operation voltage range

Operation current range

Output frequency

Description

5 to 24 V DC

10 to 100 mA

200 Kpps or less

Sink internal output circuit

■FX5U CPU module

FX5U CPU module

Y0

COM1

Y4

COM2

Pulse train signal

Direction signal

Grounding

*1

5 to 24V DC

Servo amplifier

(Drive unit)

*1 To ground the unit, refer to the servo amplifier (drive unit) manual.

If the grounding method is not specified, carry out class-D grounding.

■FX5UC CPU module

FX5UC CPU module

Pulse train signal

Y0

2

Direction signal

Y4

COM0

Grounding

*1

5 to 24V DC

Servo amplifier

(Drive unit)



2 SPECIFICATIONS


17

Source internal output circuit

■FX5U CPU module

FX5U CPU module

Y0

+V0

Y4

+V1

Pulse train signal

Direction signal

Grounding

*1

5 to 24V DC

Servo amplifier

*2

(Drive unit)



*2 For MELSERVO series amplifiers, use a sink output type FX5U CPU module.

■FX5UC CPU module

FX5UC CPU module

Pulse train signal

Y0

Direction signal

Y4

+V0

Grounding

*1

Servo amplifier

*2

(Drive unit)

5 to 24V DC



*2 For MELSERVO series amplifiers, use a sink output type FX5UC CPU module.

Assignment of output numbers

Output numbers of the FX5 CPU module are assigned as follow.

For parameter settings in GX Works3, refer to Page 35 POSITIONING PARAMETER.

Application Remarks

Pulse output destination

Rotation direction signal

Output number

PULSE Y0 to Y3

CW

SIGN

Y0, Y1

Y0 to Y17

*1

The assignment is determined according to the output mode specified in GX Works3.

Clear signal

CCW Y2, Y3

Y0 to Y17

Axis1

Axis2

Axis3

Axis4

Output mode

PULSE/SIGN

CW/CCW

PULSE/SIGN

CW/CCW

CW

PULSE/SIGN SIGN PLS

CW/CCW

-

-

CW

SIGN

CCW

-

PLS

CCW

PULSE/SIGN

CW/CCW

Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7 Y10 Y11 Y12

PLS

SIGN PLS

-

-

SIGN

SIGN

-

SIGN

-

SIGN

Y13 Y14 Y15 Y16 Y17

PLS: Pulse train signal, SIGN: Direction signal, CW: Forward pulse train, CCW: Reverse pulse train

When using the clear signal in the DSZR/DDSZR instruction, wire to the output specified in the high speed I/O

parameter of GX Works3. (Page 71 Mechanical OPR)

*1 Specify an output number for transistor output. Any output can be selected.

18

2 SPECIFICATIONS


3

POSITIONING CONTROL FUNCTION

The positioning control of the FX5 PLC (transistor output) output pulses with each positioning instruction and operate based on the positioning parameters (such as for speed and for operation flag). This chapter describes control patterns that are available for combinations of the positioning instructions and the positioning parameters.

For details on each positioning instruction, refer to Page 64 POSITIONING INSTRUCTION.

For details on the control method of the table operation, refer to Page 136 Operations of Control Method.

For details on each positioning parameter, refer to Page 39 Details of Parameters.

3.1

List of Control Functions

The following list shows the positioning functions.

List of control patterns

The following list shows the positioning function patterns.

Each control pattern is operated by corresponding positioning instruction.

Operation pattern

OPR control

Positioning control

Mechanical OPR

High-speed OPR

1-speed positioning

2-speed positioning


Interrupt stop




Table operation


Reference

Page 20

Page 21

Page 21

Page 22

Page 23

Page 24

Page 24

Page 25

Page 26

Page 26

Page 27

List of auxiliary functions

The following list shows the auxiliary positioning functions that can be added to the control patterns above.

Auxiliary function

Dog search function

Dwell time

OPR zero signal counts

Forward limit and reverse limit

Positioning address change during positioning operation

Command speed change during positioning operation

Pulse deceleration and stop

Remaining distance operation

Multiple axes simultaneous activation

Detection of absolute position

Reference

Page 28

Page 29

Page 30

Page 30

Page 31

Page 32

Page 33

Page 33

Page 34

Page 34

3

3 POSITIONING CONTROL FUNCTION

3.1 List of Control Functions

19

3.2

OPR Control

This section describes details of the OPR control.

Mechanical OPR

The DSZR/DDSZR instruction starts the OPR operation in the direction set by the OPR direction setting. (Page 52 OPR

Direction) After the speed has reached the OPR speed, the operation will be performed at the specified OPR speed.

Deceleration is started when the near-point dog signal is detected and the operation continues at creep speed. (Page 55

Near-point Dog Signal) The pulse output is stopped when the zero signal is detected for the specified number of times after the near-point dog signal is detected, and the mechanical OPR is completed. (Page 55 Zero Signal) When the OPR dwell

time is set, the mechanical OPR is not completed until the dwell time has elapsed. (Page 29 Dwell time)

Deceleration time

Acceleration time

Maximum speed

OPR speed

Origin

Creep speed

Rear end Near-point DOG Forward end

Bias speed

Start

Zero signal

CLEAR signal

20


3.2 OPR Control

High-speed OPR

The positioning is performed for the zero point address established by the mechanical OPR.

The OPR can be performed at high-speed without using the near-point signal and the zero signal.

Set operands of instructions so that positioning address = zero position address

*1

, command speed = OPR speed in the 1-

speed positioning (absolute address). (Page 52 Starting Point Address)

*1 Set the OPR address (can be specified in word device). With the table operation, the high-speed OPR can be performed only when the positioning table data is set to use device.

Deceleration time

Acceleration time

3

Maximum speed

Command speed

(OPR speed)

Bias speed

Positioning address

(Origin address)

Start

The following table shows applicable positioning instructions and control methods of the table operation.

Positioning instruction

Absolute positioning (DRVA/DDRVA) instruction

Table operation (TBL/DRVTBL/DRVMUL) instruction

Table operation control method

2: 1 Speed Positioning (Absolute Address Specification)

3.3

Positioning Control

This section describes details of the positioning control.

1-speed positioning

Acceleration is started at the bias speed when pulses are output by the positioning instruction. After the speed has reached the specified speed, the operation will be performed at the specified speed up to the point that deceleration must be performed. The operation decelerates in the vicinity of the target position and stops the pulse output at the position specified by the positioning address.

Both the relative address and the absolute address can be used for 1-speed positioning.

Acceleration time

Deceleration time

Maximum speed

Command speed

Bias speed Bias speed

Current position Positioning address



Relative positioning (DRVI/DDRVI) instruction




• 1: 1 Speed Positioning (Relative Address Specification)

• 2: 1 Speed Positioning (Absolute Address Specification)


3.3 Positioning Control

21

2-speed positioning

The 1-speed positioning of table 1 (excluding the deceleration stop) is performed by the table operation instruction. (Page

21 1-speed positioning) After the target position is reached, the 1-speed positioning of table 2 is performed from acceleration/

deceleration.

2-speed positioning is performed when two 1-speed positionings are operated continuously by the continuous operation of the

DRVTBL/DRVMUL instruction. Both relative address and absolute address can be used for the two 1-speed positionings.

(Page 159 Continuous operation)

Control method of table 1:

1: 1 Speed Positioning

(Relative Address Specification)


(Absolute Address Specification)

Acceleration time






Maximum speed Deceleration time

Command speed 1

Command speed 1


Current position Positioning address 1

The following table shows applicable control methods of the table operation.


Table operation (DRVTBL/DRVMUL) instruction

Positioning address 2




22



Multi-speed operation

1-speed positioning operation (excluding the deceleration stop) is continued several times by the table operation instruction.

(Page 21 1-speed positioning) At the last table, the operation decelerates and stops in the point that the speed can be

reduced.

The multi-speed positioning is performed when two or more 1-speed positionings are operated continuously by the continuous

operation of the DRVTBL/DRVMUL instruction. (Page 159 Continuous operation) Both relative address and absolute

address can be used for the 1-speed positionings. The figure shows an example of a 4-speed operation.











Acceleration time






Maximum speed






Deceleration time

3

Command speed 1

Command speed 2

Command speed 3

Command speed 4


Current position Positioning address 1





Table operation (DRVTBL/DRVMUL) instruction







23

Interrupt stop

1-speed positioning is performed by the table operation instruction. (Page 21 1-speed positioning) When the interruption

input signal 1 detected during pulse output operation, the operation decelerates and stops. (Page 48 Interrupt Input

Signal 1) Both relative address and absolute address can be used for the interrupt stop.

Acceleration time

Deceleration time

Maximum speed

Command speed

Bias speed

Current position Stop position Positioning address






• 6: Interrupt Stop (Relative Address Specification)

• 7: Interrupt Stop (Absolute Address Specification)

Precautions

When the interrupt input signal 1 does not turn on, the operation is the same as the 1-speed positioning.

Interrupt 1-speed positioning

Acceleration is started at the bias speed when pulses are output by the positioning instruction. After the speed has reached the specified speed, the operation will be performed at the specified speed. When the interrupt input signal 1 is detected, the operation continues at the same speed as the command speed up to the point that deceleration must be performed, and

decelerates and stops the pulse output at the position specified by the positioning address. (Page 48 Interrupt Input

Signal 1)

Acceleration time

Deceleration time

Maximum speed

Command speed

Bias speed

Current position

Positioning address




Interrupt 1-speed positioning (DVIT/DDVIT) instruction



3: Interrupt 1 Speed Positioning

24



Precautions

The pulse output is not stopped unless the interrupt input signal 1 is turned on.

When using continuous operation of the table operation instruction, the interrupt 1-speed positioning can be used only when the previous table is set to Table Transition Variable Speed Operation.

Interrupt 2-speed positioning

The variable speed operation of table 1 is performed by the table operation instruction. (Page 26 Variable speed operation) When the interrupt input signal 2 is turned on, the interrupt 1-speed positioning of table 2 is performed from

acceleration/deceleration. (Page 24 Interrupt 1-speed positioning) The operation command speed can be changed until

the interrupt input signal 2 turns on.

Interrupt 2-speed positioning is achieved when control method [5: Table Transition Variable Speed Operation] is transferred to control method [3: interrupt 1-speed positioning] by the table operation instruction.


5: Table Transition Variable Speed Operation


3: Interrupt 1 Speed

3

Acceleration time Deceleration time

Command speed 1

Maximum speed

Command speed 2

Bias speed


Current position







• 5: Table Transition Variable Speed Operation

• 3: Interrupt 1 Speed Positioning

Precautions

• The pulse output is not stopped unless the interrupt input signal 1 and 2 are turned on.

• When 0 is set for the command speed in the Table Transition Variable Speed Operation, the operation decelerates and stops. When the drive contact of the table operation instruction is on, the operation can be restarted when the command speed is set again.



25

Variable speed operation

Acceleration is started at the bias speed when pulses are output by the positioning instruction. After the speed has reached the specified speed, the operation will be performed in the specified speed. When the command speed is changed, the operation can change the speed to the specified speed. When the drive contact of the positioning instruction turns off, the operation decelerates and stops. The pulse output at the command speed is not stopped unless the instruction drive contact is turned off.

When setting 0 for the acceleration time and the deceleration time, speed change will be performed without the acceleration/ deceleration operation.

 With acceleration/deceleration operation  Without acceleration/deceleration

(0 is set to the acceleration time and the deceleration time.)

Acceleration time

Deceleration time

Maximum speed

Maximum speed

Bias speed

Instruction drive contact

Current position

Command speed

Stop position

Bias speed

Command speed

Current position

Bias speed

Instruction drive contact



Variable speed operation (PLSV/DPLSV) instruction




Stop position

Precautions

When 0 is set for the command speed, the operation decelerates and stops (when 0 is set for the deceleration time, the operation stops immediately). When the drive contact of the positioning instruction is on, the operation can be restarted when the command speed is set again.

Table operation

A positioning control program can be set with the table set in GX Works3. The specified table operation is started by the table operation instruction.

The TBL instruction performs the operation of a single table, the DRVTBL performs the stepping operation and continuous operation of multiple tables, and the DRVMUL instruction can handle tables of multiple axes (continuous operation possible).

(Page 157 Stepping operation, Page 159 Continuous operation)

For details of the table operation, refer to Page 134 TABLE OPERATION.

NO.

Device



1 D100

2 D106

3 D112

4 D118

5 D124

6 D130

7 D136

8 D142

9 D148

10 D154



Control Method

Axis to be

Interpolateds

Positioning

Address

Command

Speed

Dwell

Time

Interrupt

Counts

Interrupt

Input Signal 2

Device No.

4: Variable Speed Operation Axis 2 Specification 0 pulse 10000 pps 0 ms 1 Times X0

1: 1 Speed Positioning (Relative Address Specification) Axis 2 Specification 100000 pulse 30000 pps 0 ms 1 Times X0

1: 1 Speed Positioning (Relative Address Specification) Axis 2 Specification -10000 pulse 2000 pps 0 ms 1 Times X0

1: 1 Speed Positioning (Relative Address Specification) Axis 2 Specification 20000 pulse 140000 pps 0 ms 1 Times X0

0: No Positioning Axis 2 Specification 0 pulse 1 pps 0 ms 1 Times X0

0: No Positioning

0: No Positioning

Axis 2 Specification 0 pulse


1 pps

1 pps

0 ms 1 Times X0

0 ms 1 Times X0

0: No Positioning





1 pps 0 ms 1 Times X0

Axis 2 Specification 30000 pulse 100000 pps 10 ms 1 Times X0

20000 pps 10 ms 1 Times X0

      

Jump

Destination

Table No.

1

1

1

1

1

1

1

1

1

1



M No. for Jump

Condition

0

0

0

0

0

0

0

0

0

0



26



Simple linear interpolation (2-axis simultaneous start)

The work piece will travel to the target position at the specified vector speed (interpolation operation) by the table operation instruction. In this interpolation operation of two axes, the CPU module calculates the start timing based on the positioning address and the command speed set in the table. The interpolation speed can be specified by combined speed and

reference-axis speed. (Page 59 Interpolation Speed Specified Method) For maximum speed, bias speed, the acceleration

time, and deceleration time, use the reference-axis setting.


Y coordinate

(Positioning address 1, positioning address 2)

3


21: Interpolation Operation

(Relative Address Specification Target Axis)

23: Interpolation Operation

(Absolute Address Specification Target Axis)

Moves at the interpolation speed.

X coordinate

Current position



20: Interpolation Operation (Relative Address Specification)

22: Interpolation Operation (Absolute Address Specification)





• 20: Interpolation Operation (Relative Address Specification)

• 21: Interpolation Operation (Relative Address Specification Target Axis)

• 22: Interpolation Operation (Absolute Address Specification)

• 23: Interpolation Operation (Absolute Address Specification Target Axis)



27

3.4

Auxiliary Function

This section describes auxiliary functions of the positioning.

Dog search function

If the forward rotation limit and the reverse rotation limit are used, the DOG search function can be used for OPR. (Page

30 Forward limit and reverse limit) The OPR operation depends on the OPR start position.

Reverse rotation limit 1

(Reverse limit)

Rear end

Near-point

DOG Forward end

Creep speed

Forward rotation limit 1

(Forward limit)

Operation in reverse rotation direction

OPR speed

OPR direction

(4) (3) (2) (1)

Origin

OPR speed

Operation in forward rotation direction

(1) If the start position is before the near-point dog:

(a) When the DSZR/DDSZR instruction is executed, OPR will be started.

(b) Transfer operation will be started in the OPR direction at the OPR speed.

(c) If the front end of the near-point dog is detected, the speed will be reduced to the creep speed.

(d) After detecting the rear end of the near-point dog, if the zero signal is detected for the specified number of times is detected, the operation will be stopped.

(2) If the start position is in the near-point dog area:


(b) Transfer operation will be started in the opposite direction of the OPR direction at the OPR speed.

(c) If the front end of the near-point dog is detected, the speed will decelerate and the operation will stop. (The workpiece will come out of the near-point dog area.)

(d) Transfer operation will be started in the OPR direction at the OPR speed. (The workpiece will enter the near-point dog area again.)

(e) If the front end of the near-point dog is detected, the speed will be reduced to the creep speed.

(f) After detecting the rear end of the near-point dog, if the zero signal is detected for the specified number of times is detected, the operation will be stopped.

(3) If the start position is after the near-point dog:


(b) Transfer operation will be started in the OPR direction at the OPR speed.

(c) If the reverse rotation limit 1 (reverse rotation limit) is detected, the speed will decelerate, and the operation will stop.

(d) Transfer operation will be started in the opposite direction of the OPR direction at the OPR speed.

(e) If the front end of the near-point dog is detected, the speed will decelerate and the operation will stop. (The workpiece will detect (come out) the near-point dog area.)

(f) Transfer operation will be started in the OPR direction at the OPR speed. (The workpiece will enter the near-point dog area again.)

(g) If the front end of the near-point dog is detected, the speed will be reduced to the creep speed.

(h) After detecting the rear end of the near-point dog, if the zero signal is detected for the specified number of times is detected, the operation will be stopped.

28


3.4 Auxiliary Function

(4) If the limit switch in the OPR direction turns on (if the start position is at reverse rotation limit 1):


(b) Transfer operation will be started in the opposite direction of the OPR direction at the OPR speed.

(c) If the front end of the near-point dog is detected, the speed will decelerate and the operation will stop. (The workpiece will detect (come out) the near-point dog area).

(d) Transfer operation will be started in the OPR direction at the OPR speed. (The workpiece will enter the near-point dog area again.)

(e) If the front end of the near-point dog is detected, the speed will be reduced to the creep speed.

(f) After detecting the rear end of the near-point dog, if the zero signal is detected for the specified number of times is detected, the operation will be stopped.

When the same device is specified for the near-point dog signal and the zero signal and OPR zero signal counts is 1, OPR is stopped when the OPR is completed by the near-point dog signal detection, not by the zero signal detection. When the timing of counting start of the number of zero signals is set to the front end of near-point dog, the number of zero signals is counted from when the near-point dog signal is detected.

Dwell time

Set the time (dwell time) until the complete flag turns on after positioning operation is completed between 0 to 32767 ms.

When the positioning operation is completed, the complete flag remains off until the dwell time has elapsed.

Dwell time applies to the DSZR/DDSZR instruction and the table operation instruction. If the CLEAR signal is output by the

DSZR/DDSZR instruction, the dwell time applies when the CLEAR signal turns off.

Set the dwell time of DSZR/DDSZR instruction with the positioning parameter. (Page 54 OPR Dwell Time) Set the dwell

time of the table operation instruction for the control method of each table with the table operation parameter. (Page 57

Dwell Time)

 OPR (DSZR/DDZR) instruction

Deceleration time

OPR speed

 Table operation instruction

(control method: [1 Speed Positioning])

Command speed

Deceleration time

3

Zero signal

Complete flag

(With dwell time)

Complete flag

(Without dwell time)

Origin

Creep speed

Near-point

DOG

Dwell time

Complete flag

(With dwell time)

Complete flag

(Without dwell time)

Positioning address

Dwell time



29

OPR zero signal count

When the DSZR/DDSZR instruction is used, the OPR zero signal counts is counted after the zero signal count start timing.

(Page 55 Zero Signal) When the number of the zero signals has reached specified number, pulse output is stopped. The

setting range is from 0 to 32767. When not counting the OPR zero signal counts, set 1. The pulse output is stopped when the

OPR zero signal counts has reached specified number even during the deceleration operation.

Deceleration time

OPR speed

Creep speed

Near-point DOG

Zero signal

Complete flag

OPR zero signal counts : 5

Precautions

When the OPR zero signal counts is set to 0, the motor stops immediately after the forward end or rear end (selected by parameter) of near-point dog is detected. Note that immediate stop may damage the machine because the motor stops immediately.

Forward limit and reverse limit

When using the servo motor, the forward rotation limit and the reverse rotation limit can be set for the servo amplifier.

To use the DOG search function for OPR, or to set the forward rotation limit or the reverse rotation limit for operations other than OPR using the CPU module, set the forward rotation limit 1 (LSF) and reverse rotation limit 1 (LSR) for the CPU module so that these limit switches can be activated before the forward rotation limit 2 or reverse rotation limit 2 of the servo amplifier.

As shown in the following figure, interlock the forward rotation limit 1 (LSF) with the forward limit, and the reverse rotation limit

1 (LSR) with the reverse limit.



(Servo amplifier side) (CPU module side)

LSR


(CPU module side)

LSF


(Servo amplifier side)

Servo motor

Operation in forward rotation direction Operation in reverse rotation direction


SM5660

Forward limit (axis 1)


SM5676

Reverse limit (axis 1)

The following table lists the corresponding devices.

Name

Forward limit

Reverse limit

Axis 1

SM5660

SM5676

Axis 2

SM5661

SM5677

Axis 3

SM5662

SM5678

Axis 4

SM5663

SM5679

30



Precautions

If the forward rotation limit 1 (LSF) and the reverse rotation limit 1 (LSR) cannot be set, observe the following items:

• Even if forward rotation limit 2 or reverse rotation limit 2 turns on and the servo motor is automatically stopped, the positioning instruction currently being driven cannot recognize the motor being stopped. Therefore, pulses will be continuously output until the instruction is deactivated.

• The dog search function cannot be used.

Positioning address change during positioning operation

This function changes positioning address during positioning operation.

• For positioning instructions, by specifying a word device as an operand and changing the value, positioning address can be changed during positioning operation.

• For the table operation, by setting the positioning table data in devices and changing the operand value of the control method of a table, positioning address can be changed during positioning operation. Only the last table can be changed in the case of continuous operation.

The changed value is applied when the positioning instruction is executed at the next scan.



Pulse Y output (PLSY/DPLSY) instruction










*1


*1

*1 A change in the positioning address after the interrupt input signal 1 is detected is applied when the positioning instruction is next driven again.

Precautions

• The current address at start of a positioning instruction is used as the basis, thus, positioning operation is performed with the current address at startup as the basis even when the positioning address is changed during positioning operation.

• The PLSY/DPLSY instruction is stopped immediately when set to a value equal to or less than the number of pulses that have been already output.

• If the positioning address is changed to a value that reverses the current rotation direction, the rotation direction is reversed after deceleration stop and the positioning is started for the positioning address.

• When an address that positioning address cannot decelerate in time is set, the transfer direction is reversed

*2

after

deceleration stop and the positioning is started for the positioning address.

• A reversed operation makes it impossible to change the positioning address during positioning operation until positioning operation is reactivated.

• When positioning address is changed to a large remaining transfer distance during the deceleration operation with small remaining transfer distance, the positioning operation is performed after re-acceleration.

• When the transfer distance from the current address exceeds -2147483647 to +2147483647 in pulse in the positioning operation with relative address specification, the operation ends with an error after deceleration stop.

• If a table other than the last one is changed in the case of continuous operation, the change may not be reflected on the operation correctly.

*2 The waiting time for the reverse pulse after deceleration stop is ”1 ms + scan time”. Set the new positioning address after confirming that it does not affect the system. At this time, pulse output in the reversed direction is started regardless of the dwell time.

3



31

Command speed change during positioning operation

This function changes operation speed during positioning operation.

• For positioning instructions, by specifying a word device as an operand that specifies the command speed (for the DSZR/

DDSZR instruction, the OPR speed and the creep speed) and changing the value, operation speed can be changed during operation.

• For the table operation, by setting the positioning table data in devices and changing the operand value of the corresponding control method, command speed can be changed during positioning operation.

The changed value is applied when the positioning instruction is executed at the next scan.



Pulse Y output (PLSY/DPLSY) instruction

Mechanical OPR (DSZR/DDSZR) instruction

*1




Variable speed operation (PLSV/DPLSV) instruction






• 4: Variable Speed Operation

• 5: Table Transition Variable Speed Operation


*2


*2

*1 A change in the command speed after the zero signal is detected is applied when the positioning instruction is next driven again.

*2 A change in the command speed after the interrupt input signal 1 is detected is applied when the positioning instruction is next driven again.

Precautions

• When command speed is lower than bias speed, the bias speed is applied. The PLSY/DPLSY instruction, PLSV/DPLSV instruction and the table operation instruction (control method: [4: Variable Speed Operation] or [5: Table Transition Variable

Speed Operation] can be changed to lower than the bias speed.).

• Do not change command speed to 200 kpps or more in pulse.

• If the creep speed is changed to a speed equal to or faster than the OPR speed during operation at creep speed by the

DSZR/DDSZR instruction, the speed is changed to the OPR speed.

• For instruction or control method other than the PLSY/DPLSY instruction, PLSV/DPLSV instruction and the table operation instruction (control method: [4: Variable Speed Operation] or [5: Table Transition Variable Speed Operation]), do not set 0 for the command speed. The operation ends with an error.

• If the command speed is changed to 0 during PLSY/DPLSY instruction operation, the operation does not end with error but it immediate stops. As long as the drive contact is on, changing the command speed restarts pulse output. However, if the command speed is changed to negative value during operation, the operation ends with an error.

• If the command speed of the PLSV/DPLSV instruction or the table operation instruction (control method: [4: Variable Speed

Operation] or [5: Table Transition Variable Speed Operation]) is changed to 0 during operation, the operation does not end with error but it decelerates to a stop. As long as the drive contact is on, changing the command speed restarts pulse output.

• If the speed is changed to reverse the rotation direction, pulses are output inversely after deceleration stop. The waiting time for the pulse reverse after deceleration stop is "1 ms + scan time". Set the new command speed after confirming it does not affect the system.

• When operation speed is changed for acceleration with small remaining travel distance, the speed is increased to a speed at which deceleration stop is still possible (the operation is not performed at the changed speed), then decelerates.

32



Pulse decelerate and stop

When the pulse decelerate and stop command is turned on during positioning operation, the positioning operation can be

decelerated and stopped. (Page 49 Pulse decelerate and stop command) When positioning operation is stopped by the

pulse decelerate and stop command, remaining distance operation can be performed with positioning instructions. (Page

33 Remaining distance operation)

The following table lists the corresponding devices.

Name

Pulse decelerate and stop command

Axis 1

SM5644

Axis 2

SM5645

Axis 3

SM5646

Axis 4

SM5647

Precautions

• When this function is used with remaining distance operation-compatible instructions with remaining distance operation enabled and non-table operation control method (other than remaining distance operation), the operation ends with an error.

• PLSY/DPLSY instruction stops immediately.

• For the PLSV/DPLSV instruction and table operation instruction (control method: [4: Variable Speed Operation] or [5: Table

Transition Variable Speed Operation]), the operation ends normally. When operation is performed without acceleration/ deceleration operation, the operation stops immediately.

• When this function is used during stepping operation and the table operation instruction (control method: [5: Table

Transition Variable Speed Operation]) the following table is activated after deceleration stop.

Remaining distance operation

When pulse output is stopped by the pulse decelerate and stop command during positioning instruction operation and the

remaining distance operation enabled is ON, the remaining distance operation ready status is acquired. (Page 50

Remaining distance operation, Page 33 Pulse decelerate and stop) When the pulse decelerate and stop command turns off,

the remaining distance operation starts. Or if the external start signal (when enabled) is detected, remaining transfer amount

from deceleration stop is output. After the remaining distance operation is completed, the complete flag turns on. (Page

49 External Start Signal)

Acceleration time

Deceleration time

Forced deceleration stop by the pulse decelerate and stop command

3

Command speed

Maximum speed


Current position

Remaining distance operation enabled

Remaining distance operation start

*1

Complete flag

*1 The external start signal can start the remaining distance operation as well.

Remaining transfer amount

Bias speed

Positioning address



33







• 1: 1-speed positioning (relative address specification)

• 2: 1-speed positioning (absolute address specification)

• 6: Interrupt stop (relative address specification)

• 7: Interrupt stop (absolute address specification)

The following table lists operation of the remaining distance operation when positioning address and the command speed is changed while the operation is decelerated by the pulse decelerate and stop command.

Instruction (control method)

DRVI/DDRVI instruction

1-speed positioning (relative address specification)

Interrupt stop (relative address specification)

*2

DRVA/DDRVA instruction

1-speed positioning (absolute address specification)

Interrupt stop (absolute address specification)

*2

Positioning address

Applied when the positioning instruction is restarted.

Applied when the remaining distance operation is started.

Command speed

Applied when the remaining distance operation is started.

*2 After the interrupt input signal 1 is detected, remaining distance operation cannot be performed.

When dwell time is set, and the remaining distance operation start command is turned on immediately after deceleration stop, remaining distance operation is started regardless of the dwell time.

Precautions

• For positioning instructions or control methods of the table operation that are not compatible with the remaining distance operation, only deceleration stop is performed. The operation ends with an error. For the PLSV/DPLSV instruction and table operation instruction (control method: [4: Variable Speed Operation] or [5: Table Transition Variable Speed

Operation]), after the deceleration stop the operation ends normally.

• When the operation is stopped by other than the pulse decelerate and stop command remaining distance operation

enabled is ON, the operation ends with an error. (Page 64 Pulse output stop)

Multiple axes simultaneous activation

Tables for up to four axes can be activated at the same time with the DRVMUL instruction. Continuous operation can be

performed. (Page 159 Continuous operation) After the operation is started, each axis operates independently, thus, table

shift timing during continuous operation does not need to be considered.

Detection of absolute position

The absolute position (ABS) data of the servo amplifier can be read with the DABS instruction. Write the read results in the pulse unit side of the current address since the data is read in pulse unit.

For the absolute position detection operation, refer to Page 131 Outline of operation.

34



4

POSITIONING PARAMETER

This chapter explains the parameters for the positioning function and relevant devices.

Set the parameters of the CPU module using the high speed I/O parameter, operand, and special devices. The positioning parameters are handled as a part of parameters for the high speed I/O.

For the parameters of the table operation, refer to Page 134 TABLE OPERATION.

4.1

Setting Method

The following list shows the setting methods for the positioning parameter.

High Speed I/O Parameter

High speed I/O parameter settings can be made from GX Works 3. The following describes the details of the positioning setting.

• Basic Setting (Page 36 Basic Setting)

• Axis #1 Positioning Data to Axis #4 Positioning Data (Page 134 How to Use the Positioning Table)

• Input Check (Page 38 Input Check)

• Output Confirmation (Page 38 Output Confirmation)

Operand

The command speed or positioning address can be set by operand for each positioning instruction or control method for table operation. When specifying a word device (if table operation, when the positioning table data is set to use device) as an operand, the value can be changed during operation. For the details of operand, refer to the following.


Page 134 TABLE OPERATION

Special Device

Values of special devices for positioning parameters can be read or written from engineering tool or program. Changes to the special devices during positioning operation are applied when the positioning instruction is started again. However, the changed pulse output stop command, pulse decelerate and stop command, forward limit, reverse limit, table shift command, remaining distance operation enabled and remaining distance operation start are applied in the next scan.

The values of special registers for positioning parameters can be also read or written to by high-speed current value transfer

(HCMOV/DHCMOV) instruction and data transfer (MOV/DMOV) instructions.

For the details of special device that can be read or written to, refer to the following.

Page 39 Details of Parameters

Page 164 List of Related Devices

4

4 POSITIONING PARAMETER

4.1 Setting Method

35

Basic Setting

The items set in basic setting correspond to the positioning parameters of each axis. In special devices corresponding to parameters, values set in the basic setting are stored as the initial values when the power is turned on from off or system is reset.

When items occupying I/O are changed, the high speed I/O assignment parameters are also refreshed together.

For parameters, refer to Page 39 Details of Parameters.

Window

Navigation window Parameter  FX5UCPU  Module Parameter  High Speed I/O  Output Function 

Positioning  Detailed Setting  Basic Setting

36


4.1 Setting Method

Parameter list

The following table lists the positioning parameters that can be set in Basic Setting.

Item Setting value Initial value

■Basic Parameter 1

Pulse Output Mode

Output Device PULSE/CW

SIGN/CCW

Rotation Direction Setting

Unit Setting

0: Not Used, 1: PULSE/SIGN, 2: CW/CCW

Y0 to Y3

*1

Y0 to Y17

*2

0: Current Address Increment with Forward

Run Pulse Output

1: Current Address Increment with Reverse

Run Pulse Output

0: Motor System (pulse, pps)

1: Machine System (

m, cm/min)

2: Machine System (0.0001 inch, inch/min)

3: Machine System (mdeg, 10 deg/min)

4: Multiple System (

m, pps)

5: Multiple System (0.0001 inch, pps)

6: Multiple System (mdeg, pps)

0: Not Used





0: Current Address Increment with Forward

Run Pulse Output


Pulse No. of per Rotation

Movement Amount per Rotation

Position Data Magnification

1 to 2147483647

1 to 2147483647

1:

 Single, 10:  10 Times, 100:  100 Times,

1000:

 1000 Times

2000

1000

1:

 Single


Interpolation Speed Specified Method

Max. Speed

Bias Speed

Acceleration Time

Deceleration Time

■Detailed Setting Parameter

External Start

Signal

Enabled/Disabled

Device No.

0: Composite Speed, 1: Reference Axis Speed 0: Composite Speed

1 to 2147483647

0 to 2147483647

0 to 32767

0 to 32767

Interrupt Input

Signal 1

Logic

Enabled/Disabled

Device No.

Logic

Interrupt Input Signal 2 Logic

■OPR Parameter

OPR Enabled/Disabled

OPR Direction

0: Invalid, 1: Valid

X0 to X17

0: Positive Logic, 1: Negative Logic


X0 to X17



Starting Point Address

Clear Signal

Output

Enabled/Disabled

Device No.

OPR Dwell Time

Near-point Dog

Signal

Zero Signal

Device No.

Logic

Device No.

Logic


0: Negative Direction (Address Decrement

Direction)

1: Positive Direction (Address Increment

Direction)

-2147483648 to +2147483647


Y0 to Y17

0 to 32767 ms

X0 to X17


X0 to X17


OPR Zero Signal Counts 0 to 32767

Count Start Time 0: Near-point Dog Latter Part

1: Near-point Dog Front Part

100000

0

100 ms

100 ms

0: Invalid

X0

0: Positive Logic

0: Invalid

X0

0: Positive Logic

0: Positive Logic

0: Invalid

0: Negative Direction (Address Decrement

Direction)

0

1: Valid

Y0

0 ms

X0

0: Positive Logic

X0

0: Positive Logic

1

0: Near-point Dog Latter Part

*1 PULSE/CW is fixed to the output device (Y) of "axis number - 1".

*2 CW/CCW is fixed to Y0(CW)/Y2(CCW), Y1(CW)/Y3(CCW).

Reference

Page 39

Page 40

Page 40

Page 41

Page 42

Page 43

Page 43

Page 59

Page 44

Page 45

Page 45

Page 45

Page 49

Page 48

Page 57

Page 52

Page 52

Page 52

Page 54

Page 54

Page 55

Page 55

4


4.1 Setting Method

37

Input Check

The usage status of the built-in input (X0 to X17) can be checked from input check.

Inputs do not need to be set in this window because the basic setting is applied.

Window

Navigation window  Parameter  FX5UCPU  Module Parameter  High Speed I/O  Input Check  Positioning

Output Confirmation

The usage status of the built-in output (Y0 to Y17) can be checked from output check.

Outputs do not need to be set in this window because the basic setting is applied.

Window

Navigation window  Parameter  FX5UCPU  Module Parameter  High Speed I/O  Output Confirmation 

Positioning

38


4.1 Setting Method

4.2

Details of Parameters

The following describes the details of the parameters and relevant devices.

Common item

The following lists the setting items related to common aspects of positioning operation.

Pulse Output Mode

Setting method: High Speed I/O Parameter

Specify the pulse output method.

When [0: Not Used] is selected, the positioning function is not used.

When [1: PULSE/SIGN] is selected, the positioning function is executed with the pulse train and direction signal output.

When [2: CW/CCW] is selected, the positioning function is executed with the outputs of the forward pulse train and reverse pulse train.

The following describes the output configuration in the PULSE/SIGN mode and CW/CCW mode.

■PULSE/SIGN mode





PULSE

SIGN

Pulse output destination Y0

Optional output Y

(rotation direction specification)

*1

H

L

H

L

ON

*2

OFF

*2

PULSE

SIGN




*1

H

L

H

L

ON

*2

OFF

*2

PULSE

SIGN




*1

H

L

H

L

ON

*2

OFF

*2

PULSE

SIGN




*1

H

L

H

L

*1 "H" and "L" respectively represent the HIGH status and the LOW status of the waveform.

*2 "ON" and "OFF" represent the statuses of the FX5 PLC output.

The following table lists the output assignment in the PULSE/SIGN mode.

PULSE

SIGN

Axis 1 Axis 2

Y0 Y1

Unused device among Y0 to Y17 (Any device can be set.)

Axis 3

Y2

ON

*2

Axis 4

Y3

OFF

*2

■CW/CCW mode

CW


(Forward pulse train)

*1

H

L



OFF *2

CW


(Forward pulse train)

*1

H

L



OFF *2

CCW

Rotation direction specification Y2

(Reverse pulse train)

*1

H

L

OFF *2

CCW

Rotation direction specification Y3

(Reverse pulse train)

*1

H

L

OFF *2

*1 "H" and "L" respectively represent the HIGH status and the LOW status of the waveform.

*2 "ON" and "OFF" represent the statuses of the FX5 PLC output.

The following table lists the output assignment in the CW/CCW mode. The positioning function can be executed for up to two axes.

CW

CCW

Axis 1

Y0

Y2

Axis 2

Y1

Y3

Axis 3



Axis 4

The PULSE/SIGN mode and CW/CCW mode can be used together.

When axis 1 is used in CW/CCW mode, PULSE/SIGN mode can be set in axis 2 and 4.


4.2 Details of Parameters

39

4

When axis 2 is used in CW/CCW mode, PULSE/SIGN mode can be set in axis 1 and 3.

Output Device


Set outputs that are used as positioning outputs. Outputs that are not used as positioning outputs (Y0 to Y17) can be used as general-purpose output or PWM output. For PWM output, refer to User's manual (Application).

■PULSE/CW

PULSE output in PULSE/SIGN mode or CW output in CW/CCW mode is selected.

For the CW/CCW mode, this parameter does not need to be set for CW because the axis number and output device (Y) that executes outputs are fixed.

■SIGN/CCW

SIGN output in PULSE/SIGN mode or CCW output in CW/CCW mode is selected.

For the CW/CCW mode, this parameter does not need to be set for CCW because the axis number and output device (Y) that executes outputs are fixed.

Rotation Direction Setting

Setting method: High Speed I/O Parameter, Special Device

Set the relationship between motor rotation direction and increase or decrease of the current address.

 High Speed I/O Parameter

When [0: Current Address Increment with Forward Run Pulse Output] is selected, the current address increases when forward pulses are output and decreases when reverse pulses are output.

When [1: Current Address Increment with Reverse Run Pulse Output] is selected, the current address increases when reverse pulses are output and decreases when forward pulses are output.

 Special Device

Name

Rotation direction setting

FX5 dedicated

Axis 1

SM5772

Axis 2

SM5773

Axis 3

SM5774

Axis 4

SM5775

R/W

R/W

R/W: Read/Write

When rotation direction setting is turned off: The current address increases when forward pulses are output and decreases when reverse pulses are output.

When rotation direction setting is turned on: the current address increases when reverse pulses are output and decreases when forward pulses are output.

For the PLSV/DPLSV instruction and table operation instruction (control method: [4: Variable Speed

Operation] or [5: Table Transition Variable Speed Operation]), the direction of increase/decrease in the address and pulse output direction are determined by the sign of the command speed and rotation direction setting, as shown below.

Command speed

Positive direction

0

Negative direction


Current Value Increment with Current Value Increment with

Forward Run Pulse Output

Output direction: Forward

Reverse Run Pulse Output

Output direction: Reverse

Address: Increment Address: Increment

Output direction: No pulse output, Address: No increase or decrease


Address: Decrement


Address: Decrement

For the DSZR/DDSZR instruction, the direction of increase/decrease in the address and the pulse output direction are determined by the OPR direction and rotation direction setting.

40



Unit Setting


Set the unit system (user unit) to be used for the positioning function.

The selected unit system is applied to the speed used for positioning instructions and operands of positioning-related special devices and positioning instructions (command speed, positioning address) as a unit. The unit types of the positioning control include the motor system unit, machine system unit, and multiple system unit.

Unit system

Motor System

Machine System

Multiple System

Item

[0: Motor System (pulse, pps)]

Position unit Speed unit Remarks

pulse

[1: Machine System (

m, cm/min)] m

[2: Machine System (0.0001 inch, inch/min)] 10

-4

inch

[3: Machine System (mdeg, 10 deg/min)]

[4: Multiple System (

m, pps)]

[5: Multiple system (0.0001 inch, pps)] mdeg

m

10

-4

inch

[6: Multiple system (mdeg, pps)] mdeg pps cm/min inch/min

10 deg/min pps

Based on the number of pulses for position commands and speed commands.

Based on position commands and

 m, 10

-4

inch and mdeg of speed.

Uses the machine system unit for position commands and motor system unit for speed command.

The following indicates the relation between the motor system unit and machine system unit.

• Transfer distance (pulse) = Transfer distance (

m, 10

-4

inch, mdeg)

 No. of pulses per rotation  Positioning data magnification

 Transfer distance per rotation

• Speed command (pps) = Speed command (cm/min, inch/min, 10 deg/min)

 No. of pulses per rotation  10

4


 60

Precautions



Command error when the machine system unit or multiple system unit is used:

Under the condition of the number of pulses per rotation = A, transfer distance per rotation = B, and relative transfer distance = C, the number of pulses that the CPU module should output is calculated from "C

 (A/B)". Even if the result of (A/B) is not an integer, no calculation error occurs as long as the result of C

 (A/B) is an integer. However, if the result of C

 (A/B) is not an integer, a rounding error within one pulse occurs.

For positioning operations using absolute address, a rounding error within one pulse may occur. For positioning operations using relative address, errors may accumulate in the current address.



The position unit when the machine system unit or multiple system unit is used:

When the machine system or multiple system is set as the unit system, the number of pulses and transfer distance per rotation must be set. When the machine system or multiple system is set, the position unit is handled as the machine system unit of

m, 1.0E

-4

inch or mdeg. The unit can be selected from

m, 10

-4

inch, and mdeg in the unit setting.

However, consider that other positioning address and command speed all have the same unit, and then the same pulse output can be acquired as long as the setting value is the same even with different units. The following is a setting example.

Ex.

Setting example of control unit

Condition

Setting item




Electronic gear of servo amplifier

(Setting of servo amplifier)

Setting value

4000 [pulse/REV]

100 [

m/REV,10

-4 inch/REV, mdeg/REV]

 Single

1/1

Remarks





The transfer distance is handled in

m, 10

-4

inch or mdeg.



4



41



When set in

m

In the positioning operation with transfer distance of 100 [

m] and operation speed of 6 [cm/min], pulses are output as follows.

Number of pulses to be generated = Transfer distance

 Transfer distance per rotation  Number of pulses per

Pulse frequency rotation

= 100 [

m]  100 [m/REV]  4000 [pulse/REV]

= 4000 [pulse]

= Operation speed

*1


*1

 Number of pulses per rotation

= 6 [cm/min]

 10

4

 60  100 [m/REV]  4000 [pulse/REV]

= 40000 [pps]

*1 Adjust the units at calculation. 1 cm = 10

4

m, 1 min = 60 s



When set in 10

-4

inch

In the positioning operation with transfer distance of 100 [

 10

-4

inch] and operation speed of 6 [inch/min], pulses are output as follows.




= 100 [

 10

-4

inch]

 100 [ 10

-4

inch/REV]

 4000 [pulse/REV]

= 4000 [pulse]

= Operation speed

*2


*2




= 6 [inch/min]



10

4

 60  100 [ 10

-4

inch/REV]

 4000 [pulse/REV]

= 40000 [pps]

*2 Adjust the units at calculation. 1 min = 60 s



When set in mdeg

In the positioning operation with transfer distance of 100 [mdeg] and operation speed of 6 [deg/min], pulses are output as follows.




= 100 [mdeg]

 100 [mdeg/REV]  4000 [pulse/REV]

= 4000 [pulse]

= Operation speed

*3


*3




= 6 [10 deg/min]



10

4

 60  100 [mdeg/REV]  4000 [pulse/REV]

= 40000 [pps]

*3 Adjust the units at calculation. 1 deg = 10

3

mdeg, 1 min = 60 s

Pulse No. of per Rotation


Set the number of pulses required to rotate a motor once, within 1 to 2147483647. This parameter must be set when the unit setting is set to [Machine System] or [Multiple System]. When [Motor System] is set, the setting of this parameter is ignored.

Precautions

When the servo amplifier has an electronic gear setting, set this parameter considering the multiplication of the electronic gear. The relation between the number of pulses per rotation and electronic gear is as follows.

Number of pulses per rotation = Encoder resolution (positioning feedback pulse)

 Electronic gear

For electronic gear, refer to the manual for each servo amplifier.

42



Movement Amount per Rotation


Set the transfer distance of the machine per motor rotation within 1 to 2147483647. This parameter must be set when the unit setting is set to [Machine system] or [Multiple system]. When [Motor system] is set, the setting of this parameter is ignored.

Position Data Magnification


The values of positioning addresses can be multiplied by the Position Data Magnification. The available multiplying factors include single, 10 times, 100 times, and 1000 times. The following shows a setting example.

Ex.

For magnification by 1000 times

For the positioning address of 123, the following shows the actual address and transfer distance.

Motor System unit : 123

 10

3

= 123000 [pulse]

Machine/Multiple System unit : 123

 10

3

= 123000 [

m, 10

-4

inch, mdeg]

= 123 [mm, 10

-1

inch, deg]

The following table lists the relation between the positioning data magnification of each unit system.

Position Data

Magnification

Single

10 times

100 times

1000 times

Unit system setting (position unit) pulse

m

0.0001 inch mdeg

pulse

m  0.0001 inch mdeg

10 pulse

 100 pulse

 1000 pulse

 10 m

 100 m mm

 0.001 inch

 0.01 inch

 0.1 inch

 10 mdeg

 100 mdeg deg

Unit system setting (speed unit) pps cm/min inch/min

pps cm/min inch/min

10 deg/min

 10 deg/min

Items related to speed

The following describes the setting items related to speed.

Command speed

Setting method: Operand

Set the speed used in positioning operation. The user unit is set by unit setting. (Page 41 Unit Setting)

The setting range differs depending on the positioning instruction and table operation control method. Set the command speed to 200 Kpps or lower in pulse (-200 Kpps to +200 Kpps for the PLSV/DPLSV instruction or table operation instruction

(control method: Variable Speed Operation or Table Transition Variable Speed Operation)).

Even within the setting range, the following relation must be followed: bias speed

 command speed  maximum speed.

When command speed is faster than the maximum speed, the maximum speed is applied. When positioning instruction start, if bias speed is faster than command speed, the bias speed is applied.



Operand: Positioning Instruction

Instruction

Pulse Y output

*1

PLSY

Operand

(s)

Range

0 to 65535

Ladder Reference

Page 66

(s) (n) (d)

DPLSY 0 to 2147483647

Relative positioning (s2)

Page 79

Absolute positioning


DRVI

DDRVI

DRVA

DDRVA

DVIT

DDVIT

(s2)

(s2)

1 to 65535

1 to 2147483647

1 to 65535

1 to 2147483647

1 to 65535

1 to 2147483647

(s1) (s2) (d1) (d2)

(s1) (s2) (d1) (d2)

(s1) (s2) (d1) (d2)

Page 86

Page 93

4



43

Instruction

Variable speed

operation

*1

PLSV

DPLSV

Operand

(s)

 Operand: Table operation control method






*1


*1

6: Interrupt Stop (Relative Address Specification)

7: Interrupt Stop (Absolute Address Specification)



Range

-32768 to -1,

+1 to 32767

-2147483648 to -1,

+1 to +2147483647

Ladder

(s) (d1) (d2)

Operand

Operand 2

(When the positioning table data is set to use device : Head device +2, +3)

Range

1 to 2147483647

-2147483648 to +2147483647

1 to 2147483647

*1 When 0 is set for the command speed at start of a positioning instruction, instruction ends with an error.

Reference

Page 101

Reference

Page 137

Page 138

Page 139

Page 141

Page 142

Page 144

Page 146

Page 149

Page 153

The command speed can be changed during operation. (Page 32 Command speed change during positioning operation)

Current speed (user unit)

This indicates the positioning operation speed.

The user unit is set by unit setting. (Page 41 Unit Setting) The range is 0 to 2147483647 (200 Kpps in pulse).



Special Device

Name

Current speed (user unit)

FX5 dedicated

Axis 1

SD5504, SD5505

Axis 2

SD5544, SD5545

Axis 3

SD5584, SD5585

Axis 4

SD5624, SD5625

R/W

R

R: Read only

When the unit system is machine system unit, the current speed can be calculated from the equation below.

Current speed (machine system unit) = Actual output frequency

 60  Pulse No. of per Rotation  Movement

Amount per Rotation

 10

4

Before being stored in the current speed, the command speed in user unit is converted into pulse unit (pps), and then converted again into user unit. Thus, because of an error due to this calculation process, a value that is lower than the command speed may be stored.

Max. Speed


Set the upper limit (maximum speed) for command speed, OPR speed, and creep speed. The user unit is set by unit setting.

(Page 41 Unit Setting)

The setting range is as follows.

• Motor/multiple system unit: 1 pps to 200 Kpps.

• Machine system unit: 1 to 2147483647

Even within the setting range, each of the following relations must be followed: bias speed

 creep speed  OPR speed  maximum speed for the DSZR/DDSZR instruction and bias speed

 command speed  maximum speed for the other instructions.

44





Special Device

Name

Maximum speed

R/W: Read/Write

FX5 dedicated

Axis 1

SD5516, SD5517

Axis 2

SD5556, SD5557

Axis 3

SD5596, SD5597

Axis 4

SD5636, SD5637

R/W

R/W

Bias Speed


Set the lower limit (bias speed) for command speed, OPR speed, and creep speed. The user unit is set by unit setting.

(Page 41 Unit Setting)


• Motor/multiple system unit: 0 to 200 Kpps.



 command speed (OPR speed)  maximum speed.

To control a stepping motor using each positioning instruction, set the bias speed considering the resonance range and the self-starting frequency of the stepping motor.



Special Device

Name R/W

Bias speed

R/W: Read/Write

FX5 dedicated

Axis 1

SD5518, SD5519

Axis 2

SD5558, SD5559

Axis 3

SD5598, SD5599

Axis 4

SD5638, SD5639 R/W

Acceleration Time


Set the time required for acceleration from the bias speed to the maximum speed.

The setting range of acceleration time is 0 to 32767 ms. If command speed is slower than the maximum speed, the actual acceleration time becomes shorter than the set time.

 Special Device

Name R/W

Acceleration time

R/W: Read/Write

FX5 dedicated

Axis 1

SD5520

Axis 2

SD5560

Axis 3

SD5600

Axis 4

SD5640 R/W

Deceleration Time


Set the time required for deceleration from the maximum speed to the bias speed.

The setting range of deceleration time is 0 to 32767 ms. If command speed is slower than the maximum speed, the actual deceleration time becomes shorter than the set time.



Special Device

Name R/W

Deceleration time

R/W: Read/Write

FX5 dedicated

Axis 1

SD5521

Axis 2

SD5561

Axis 3

SD5601

Axis 4

SD5641 R/W

Precautions

When deceleration time is set to 0, deceleration is not performed.

4



45

Items related to positioning address

The following describes the setting items related to positioning address.



Set the positioning address. The user unit is set by unit setting, and the value indicated includes positioning data

magnification. (Page 41 Unit Setting, Page 43 Position Data Magnification)

The setting range differs depending on the positioning instruction and table operation control method.

Set the positioning address to -2147483647 to +2147483647 in pulse (0 to 2147483647 when PLSV/DPLSV instruction,

-2147483648 to +2147483647 when positioning operation by absolute address).




Instruction

Pulse Y output PLSY

Operand

(n)

Range

0 to 65535


Page 66

(s) (n) (d)

DPLSY 0 to 2147483647

*1

Relative positioning DRVI (s1) -32768 to +32767

Page 79

(s1) (s2) (d1) (d2)


DDRVI

DRVA (s1)

-2147483648 to

+2147483647

*1

-32768 to +32767

Page 86

DDRVA -2147483648 to

+2147483647

*1

-32768 to +32767

(s1) (s2) (d1) (d2)


DVIT (s1)

Page 93

(s1) (s2) (d1) (d2)

DDVIT -2147483648 to

+2147483647

*1

 Operand: Table Operation Control Method








21: Interpolation Operation (Relative Address Specification Target Axis)


23: Interpolation Operation (Absolute Address Specification Target Axis)

Operand

Operand 1

(When the positioning table data is set to use device : Head device +0, +1)

Range

-2147483648 to +2147483647

*1

Reference

Page 137

Page 138

Page 139

Page 144

Page 146

Page 149

Page 152

Page 153

Page 156

*1 Set the number of output pulses per instruction execution or per table to 2147483647 or lower. Except for the case when positioning address of DPLSY instruction is 0.

The positioning address can be changed during operation. Only the last table in table operation accepts the

change in the case of continuous operation. (Page 31 Positioning address change during positioning operation)

For interpolation operation, the change is applied only when the table operation instruction is next driven again.

46

Precautions

Set the number of output pulses per instruction execution or per table to 2147483647 or lower. An error occurs if the number of pulses exceeds 2147483648. However, operation is performed normally if unlimited pulses are being output by PLSY/

DPLSY instruction.



Current address

Store the current address operated by the positioning instruction. The current address stores an absolute address and is increased or decreased depending on the rotation direction.

■Current address (user unit)

The unit is the machine/multiple system unit, and the value indicated includes positioning data magnification. (Page 41

Unit Setting, Page 43 Position Data Magnification) The address range is -2147483648 to +2147483647.

 Special Device

R/W Name

Current address (user unit)

FX5 dedicated

Axis 1

SD5500, SD5501

Axis 2

SD5540, SD5541

Axis 3

SD5580, SD5581

Axis 4

SD5620, SD5621

R/W: Read/Write

When the value in the devices above is changed, the current address (pulse unit) is also changed.

R/W

• Writing can be performed to the current address (user unit) only by the HCMOV/DHCMOV instruction.

During positioning operation, the value written to the current address is applied when the instruction is completed.

• Reading can be performed to the current value by the HCMOV/DHCMOV instruction.

Precautions

The current address (user unit) functions within the range of -2147483648 to +2147483647. However, an overflow or underflow occurs before the current address (pulse unit) is reached if the axis parameter is set in such a way that the number of pulses per rotation is less than the number of transfer distance units per rotation. If that happens, overflow/underflow to the upper or lower limit value is stored in the device.

■Current address (pulse unit)

The unit is the motor system unit (pulse unit), and the value indicated includes positioning data magnification. (Page 41

Unit Setting, Page 43 Position Data Magnification) The address range is -2147483648 to +2147483647.

 Special Device

Name

Current address (pulse unit)

FX5 dedicated

Axis 1 Axis 2

SD5502

SD5503

SD5542

SD5543

Axis 3

SD5582

SD5583

Axis 4

SD5622

SD5623

For compatibility with FX3

Axis 1 Axis 2 Axis 3

SD8340

SD8341

SD8350

SD8351

SD8360

SD8361

Axis 4

SD8370

SD8371

R/W

R/W

R/W: Read/Write

When the value in the devices above changes, the current address (user unit) also changes automatically. When reading ABS data from the servo amplifier using the DABS instruction, read the device above.

4

• Writing can be performed to the current address (pulse unit) only by the HCMOV/DHCMOV instruction.

During positioning operation, the value written to the current address is applied when the instruction is completed.

• Reading can be performed to the current value by the HCMOV/DHCMOV instruction.

Precautions

The current address (pulse unit) functions with the range of -2147483648 to +2147483647 pulses. However, if the upper limit is exceeded, current address overflows to the lower limit. If below the lower limit, current address underflows to the upper limit.



47

Items related to operating command

The following lists the items related to the positioning operation.

For the input interrupt function, refer to User's manual (Application).

Interrupt Input Signal 1


When the DVIT/DDVIT instruction or table operation instruction (control method: [Interrupt 1-speed positioning] or [Interrupt stop]) is used, set this parameter.

If the interrupt input signal 1 is detected, an interrupt is performed.

■Enabled/Disabled

Specify whether to use the interrupt input signal 1.

When [0: Invalid] is selected, the interrupt input signal cannot be used.

When [1: Valid] is selected, use interrupt input signal 1.

Precautions

When interrupt input signal 1 is disabled, the DVIT/DDVIT instruction and table operation (control method) do not operate and error occurs.

■Device No.

The available input devices are X0 to X17. The input interrupt function is assigned forcibly to a specified input. Set the input response time (initial values: 10ms) in input response time parameters. For details, refer to User's manual (Application).

Precautions

Input devices cannot be used when eight channels of the input interrupt function are already occupied. However, overlap of input interrupts is allowed.

■Logic

Specify the logic of interrupt input signal 1.

When [0: Positive Logic] is selected, interrupt input signal 1 functions on a rising edge.

When [1: Negative Logic] is selected, interrupt input signal 1 functions on a falling edge.

Pulse output stop command

Setting method: Special Device

During the execution of a positioning instruction, if the pulse output stop command is turned on, the pulses being output will immediately stop. The instruction of the pulse output which is stopped ends with error.



Special Device

Name R/W

Pulse output stop command

R/W: Read/Write

FX5 dedicated

Axis 1

SM5628

Axis 2

SM5629

Axis 3

SM5630

Axis 4

SM5631 R/W

During positioning operation, a change in the pulse output stop command is applied at the next scan time.

Precautions

• Use pulse output stop command only if immediate stop is absolutely needed to avoid danger. Because the motor stops immediately, the machine may be damaged.

• For normal stop (deceleration and stop), turn off the positioning instruction and use the pulse decelerate and stop , forward

limit, and reverse limit. (Page 49 Pulse decelerate and stop command, Page 50 Forward limit, Page 50 Reverse limit)

48



Pulse decelerate and stop command


During the execution of a positioning instruction, if the pulse decelerate and stop command is turned on, the pulses being output will decelerate and stop.

The instruction of the pulse output which is stopped ends with error after decelerate and stop. However, the PLSY/DPLSY instruction (when unlimited pulses are output), the PLSV/DPLSV instruction and table operation instruction (control method:

[4: Variable Speed Operation] or [5: Table Transition Variable Speed Operation]) end normally. For remaining distance operation-compatible positioning instructions and table control methods, the remaining distance operation ready status is acquired by turning off the pulse decelerate and stop command when remaining distance operation enabled is on.



Special Device

R/W Name FX5 dedicated

Axis 1

Pulse decelerate and stop command SM5644

R/W: Read/Write

Axis 2

SM5645

Axis 3

SM5646

Axis 4

SM5647 R/W

During positioning operation, a change in the pulse decelerate and stop command is applied at the next scan.

Precautions

When the deceleration time is set to 0, the PLSV/DPLSV instruction or table operation (control method: [4: Variable Speed

Operation] or [5: Table Transition Variable Speed Operation]) is immediately stopped after the pulse decelerate and stop

command turns on. (Page 45 Deceleration Time)

External Start Signal


Set this parameter to start positioning at high-speed using an external input signal.

This parameter can be used as a start command of the remaining distance operation or table shift command of stepping

operation of the DRVTBL instruction. (Page 33 Remaining distance operation, Page 157 Stepping operation)


Specify whether to use the external start signal.

When [0: Invalid] is selected, the external start signal is not used.

When [1: Valid] is selected, the external start signal is used.

With this parameter enabled, even when the drive contact of each positioning instruction is turned on, the standby status is held. In this status, turning on the set input signal starts positioning.

■Device No.

The available input devices are X0 to X17. The input interrupt function is assigned forcibly to a specified input. Set the input response time (initial values: 10ms) in input response time parameters. For details, refer to User's manual (Application).

Precautions

Input devices cannot be used when eight channels of the input interrupt function are already occupied. However, overlap of input interrupts is allowed.

■Logic

Specify the logic of the external start signal.

When [0: Positive Logic] is selected, the external start signal functions on a rising edge.

When [1: Negative Logic] is selected, the external start signal functions on a falling edge.

4



49

Forward limit


Forward limit notifies the CPU module of the forward limit.

If forward limit is turned on while positioning operation is being output in the forward direction, the speed will decelerate, and the operation will stop. If forward limit is turned on while positioning operation is being output in the reverse direction, it is ignored.

For details on the operation, refer to Page 30 Forward limit and reverse limit. A specific operation pattern is applied when

the DSZR/DSZR instruction is used. (Page 28 Dog search function) Operation ends with an error after deceleration stop

when a positioning instruction other than the DSZR/DDSZR instruction is used.



Special Device

Name R/W

Forward limit

R/W: Read/Write

FX5 dedicated

Axis 1

SM5660

Axis 2

SM5661

Axis 3

SM5662

Axis 4

SM5663 R/W

During positioning operation, a change in the forward limit is applied at the next scan.

Reverse limit


Reverse limit notifies the CPU module of the reverse limit.

If reverse limit is turned on while positioning operation is being output in the reverse direction, the speed will decelerate, and the operation will stop. If reverse limit is turned on while positioning operation is being output in the forward direction, it is ignored.

For details on the operation, refer to Page 30 Forward limit and reverse limit. A specific operation pattern is applied when

the DSZR/DSZR instruction is used. (Page 28 Dog search function) Operation ends with an error after deceleration stop

when a positioning instruction other than the DSZR/DDSZR instruction is used.



Special Device

Name R/W

Reverse limit

R/W: Read/Write

FX5 dedicated

Axis 1

SM5676

Axis 2

SM5677

Axis 3

SM5678

Axis 4

SM5679 R/W

During positioning operation, a change in the reverse limit is applied at the next scan.



For the remaining distance operation, refer to Page 33 Remaining distance operation.

■Remaining distance operation enabled

Remaining distance operation enabled enables remaining distance operation with remaining distance operation-compatible instructions.

If remaining distance operation enabled is on when deceleration stop is performed with the pulse decelerate and stop

command, the remaining distance operation ready status is acquired. (Page 49 Pulse decelerate and stop command)

For positioning instructions or a control method of the table operation that is not compatible with the remaining distance operation, the remaining distance ready status is not acquired even when remaining distance operation enabled is ON.

50





Special Device.

Name


R/W: Read/Write

FX5 dedicated

Axis 1

SM5596

Axis 2

SM5597

Axis 3

SM5598

Axis 4

SM5599

R/W

R/W

During positioning operation, a change in remaining distance operation enabled is applied at the next scan.

Precautions

If the remaining distance operation enabled remains off until deceleration stop of the pulse decelerate and stop command, the remaining distance operation-compatible instruction ends with an error.

■Remaining distance operation start

In the remaining distance operation ready status, turning on remaining distance operation enabled after turning off the pulse

decelerate and stop command starts remaining distance operation. (Page 49 Pulse decelerate and stop command)

In addition, remaining distance operation can be started with the external start signal, as well as the remaining distance

operation start. (Page 49 External Start Signal) Remaining distance operation start turns off when the remaining distance

operation starts.



Special Device

Name


R/W: Read/Write

FX5 dedicated

Axis 1

SM5612

Axis 2

SM5613

Axis 3

SM5614

Axis 4

SM5615

R/W

R/W

4

During positioning operation, a change in the remaining distance operation start is applied at the next scan.

Precautions

When the drive contact of a positioning instruction is turned off without remaining distance operation, the remaining distance operation is canceled.

Items related to pulse Y output instruction

The following lists the items related to the pulse output (PLSY/DPLSY) instruction.

Total number of pulses output from axis 1 and axis 2


The total number of the pulses output by PLSY/DPLSY instruction in axis 1 and axis 2. The total number is increased by forward rotation pulses, regardless of the setting of rotation direction, because the PLSY/DPLSY instruction outputs only forward rotation pulses.

The pulse range is -2147483647 to +2147483647.



Special Device

Name R/W For compatibility with FX3

Axis 1 Axis 2

SD8136,SD8137

Axis 3



Axis 4



R/W Total number of pulses output from axis 1 and axis 2

R/W: Read/Write



51

Number of pulses output by PLSY instruction


The number of pulses output by PLSY/DPLSY instruction. The total number is increased by forward rotation pulses, regardless of the setting of rotation direction, because the PLSY/DPLSY instruction outputs only forward rotation pulses.

The pulse range is -2147483647 to +2147483647.



Special Device

Name R/W For compatibility with FX3

Axis 1 Axis 2

SD8140,SD8141 SD8142,SD8143

Axis 3



Axis 4



R/W Number of pulses output by PLSY instruction

R/W: Read/Write

Items related to OPR

The following lists the items related to the OPR. (Page 20 Mechanical OPR, Page 71 Mechanical OPR)

For the input interrupt function, refer to User's manual (Application).

OPR Enabled/Disabled


Specify whether to use the OPR.

When [0: Invalid] is selected, ORP related parameters cannot be set.

When [1: Valid] is selected, OPR related parameters can be set.

OPR Direction


Specify the direction when OPR is started.




LSR

Servo motor


(CPU module side)

LSF






High Speed I/O Parameter


When [0: Negative Direction (Address Decrement Direction)] is selected, OPR starts in the direction in which address decreases.

When [1: Positive Direction (Address Increment Direction)] is selected, OPR starts in the direction in which address increases.



Special Device

R/W Name

OPR direction specification

FX5 dedicated

Axis 1

SM5804

Axis 2

SM5805

Axis 3

SM5806

Axis 4

SM5807

R/W: Read/Write

OPR direction specification is turned off: OPR starts in the direction in which address decreases.

OPR direction specification is turned on: OPR starts in the direction in which address increases.

R/W

Starting Point Address


Set the origin address for OPR.

The user unit is set by unit setting, and the value indicated includes positioning data magnification. (Page 41 Unit Setting,

Page 43 Position Data Magnification) The origin address range is -2147483648 to +2147483647.

52





Special Device

Name

Origin address

FX5 dedicated

Axis 1

SD5530, SD5531

Axis 2

SD5570, SD5571

Axis 3

SD5610, SD5611

Axis 4

SD5650, SD5651

R/W

R/W

R/W: Read/Write

When OPR is completed, the same value as that in the device above is stored in the current address (user unit) and the current address (pulse unit).

OPR speed

Setting method: Operand, Special Device

Set the speed at OPR of the machine. The user unit is set by unit setting. (Page 41 Unit Setting)





 creep speed  OPR speed  maximum speed. When OPR speed is faster than the maximum speed, the maximum speed is applied.




In the case of FX5 operand, DSZR/DDSZR instruction can set OPR speed.

Instruction

Mechanical OPR DSZR

Operand

(s1)

Range

1 to 65535


Page 71

(s1) (s2) (d1) (d2)

DDSZR 1 to 2147483647

4



Special Device

Name

The OPR speed can be changed during operation. (Page 32 Command speed change during positioning operation)

R/W

OPR speed

R/W: Read/Write

FX5 dedicated

Axis 1

SD5526, SD5527

Axis 2

SD5566, SD5567

Axis 3

SD5606, SD5607

Axis 4

SD5646, SD5647 R/W

Precautions

When OPR speed is set in the FX5 operand of the DSZR/DDSZR instruction, the OPR speed is overwritten at execution of the instruction.

Creep speed

Setting method: Operand, Special Device

Set the creep speed at OPR of the machine. The user unit is set by unit setting. (Page 41 Unit Setting)





 creep speed  OPR speed  maximum speed. When creep speed is faster than OPR speed, the OPR speed is applied. When bias speed is faster than creep speed, the bias speed is applied.



53




In the case of FX5 operand, DSZR/DDSZR instruction can set creep speed.

Instruction

Mechanical OPR DSZR

Operand

(s2)

Range

1 to 65535

Ladder

DDSZR 1 to 2147483647

(s1) (s2) (d1) (d2)

Reference

Page 71



Special Device

Name

The creep speed can be changed during operation. (Page 32 Command speed change during positioning operation)

R/W

Creep speed

R/W: Read/Write

FX5 dedicated

Axis 1

SD5528, SD5529

Axis 2

SD5568, SD5569

Axis 3

SD5608, SD5609

Axis 4

SD5648, SD5649 R/W

When creep speed is set in the FX5 operand of the DSZR/DDSZR instruction, creep speed is overwritten at execution of the instruction.

Clear Signal Output

Specify the output device (Y) to clear droop pulses of the servo amplifier at completion of OPR.



Specify whether to use the clear signal output.




When [0: Invalid] is selected, the clear signal output is not used.

When [1: Valid] is selected, the clear signal output is used.



Special Device

Name

Clear signal output function enable

FX5 dedicated

Axis 1

SM5820

Axis 2

SM5821

Axis 3

SM5822

R/W: Read/Write

Clear signal output function enable is turned off: The clear signal output is not used.

Clear signal output function enable is turned on: The clear signal output is used.

Axis 4

SM5823

R/W

R/W

■Device No.


When the clear signal output is enabled, the clear signal is output from the specified device "20 ms + 1 scan time" after OPR is completed. The available output devices (Y) are Y0 to Y17.

54

OPR Dwell Time


Set the time until the completion flag for the DSZR/DDSZR instruction is turned on when OPR is completed. The setting range for the OPR dwell time is 0 to 32767 ms.



Special Device

Name R/W

OPR dwell time

R/W: Read/Write

FX5 dedicated

Axis 1

SD5533

Axis 2

SD5573

Axis 3

SD5613

Axis 4

SD5653 R/W



Near-point Dog Signal

Specify the near-point dog signal to be used in OPR.

■Device No.

Setting method: High Speed I/O Parameter, Operand

The near-point dog signal does not occupy the input interrupt function, and its edge is detected with a 1-ms interrupt.

As long as in the same axis, the near-point dog signal can be set in the device to which the zero signal has already been set.

 High Speed I/O Parameter

The available input devices are X0 to X17.




In the case of FX3 compatible operand, DSZR/DDSZR instruction can set device for near-point dog signal.

Instruction

Mechanical OPR DSZR

Operand

(s1)

Available device

X, Y, M, L,SM, F, B,

SB


Page 71

(s1) (s2) (d1) (d2)

4

Precautions

• Input devices (X) cannot be used when eight channels of the input interrupt function are already occupied. However, overlap of input numbers is allowed for input interruptions.

• When specifying an input device (X) as an operand, use the device assigned in high speed I/O parameter.

■Logic


Specify the logic of the near-point dog signal.

When [0: Positive Logic] is selected, the near-point dog signal functions on a rising edge.

When [1: Negative Logic] is selected, the near-point dog signal functions on a falling edge.

Precautions

This logic setting is not applied to the near-point dog signal for devices other than input device (X) specified by the DSZR/

DDSZR instruction. Devices other than input device (X) function on a rising edge.

Zero Signal

Specify the zero signal to be used in OPR.

■Device No.

Setting method: High Speed I/O Parameter, Operand

Zero signal is assigned forcibly to a specified input.

To use the near-point dog signal for stop, set the device to which the near-point dog signal is assigned.




The available input devices are X0 to X17. Set the input response time (initial values: 10ms) in input response time parameters. For details, refer to User's manual (Application).




In the case of FX3 compatible operand, DSZR/DDSZR instruction can set device for zero signal.

Instruction

Mechanical OPR DSZR

Operand

(s2)

Available device


SB


Page 71

(s1) (s2) (d1) (d2)



55

Precautions

• Input devices (X) cannot be used when eight channels of the input interrupt function are already occupied. However, overlap of input numbers is allowed for input interruptions.

• When specifying an input device (X) as an operand, use the device assigned in high speed I/O parameter.

• When specifying a device other than input devices (X) as an operand, always use the same device as that for the nearpoint dog signal.

■Input Logic


Specify the logic of the zero signal.




When [0: Positive Logic] is selected, the zero signal functions on a rising edge.

When [1: Negative Logic] is selected, the zero signal functions on a falling edge.

Precautions

This logic setting is not applied to the zero signal of the device other than input device (X) specified by the DSZR/DDSZR instruction. The device other than input device (X) functions on a rising edge.

■OPR Zero Signal Counts


Set the number of zero signals until OPR stops after detection of the near-point dog. The timing of counting start of the number of zero signals can be selected using the count start timing between the front end and rear end of the near-point dog.

The setting range is from 0 to 32767. When the near-point dog signal and zero signal are set in the same device, the number of zero signals is fixed to 1.



Special Device

Name


R/W: Read/Write

FX5 dedicated

Axis 1

SD5532

Axis 2

SD5572

Axis 3

SD5612

Axis 4

SD5652

R/W

R/W

Precautions

When the OPR zero signal counts is set to 0, the motor stops immediately after the near-point dog is detected. If a sudden stop may damage the devices, take the following measures.

• Set the creep speed to a low speed.

• Set the timing of counting start of the number of zero signals to the rear end of the near-point dog.

• Design the near-point dog so that the speed can be decelerated to the creep speed before counting the number of zero signals is started.

■Count Start Time


Specify the timing of counting start of the number of zero signals.

When [0: Near-point Dog Latter Part] is selected, start counting at the falling edge of the near-point dog.

When [1: Near-point Dog Front Part] is selected, start counting at the rising edge of the near-point dog.

 Special Device

R/W Name

Zero signal count start time

FX5 dedicated

Axis 1

SM5868

Axis 2

SM5869

Axis 3

SM5870

Axis 4

SM5871

R/W: Read/Write

Zero signal count start timing is turned off: Start counting at the falling edge of the near-point dog.

Zero signal count start timing is turned on: Start at the rising edge of the near-point dog.

R/W

56



Items related to table operation

The following lists the items specific to table operation.

Dwell Time


Set the time until the completion flag is turned on when table operation is completed. (Page 29 Dwell time)



Operand: Table Operation Control Method











Operand

Operand 3

(When the positioning table data is set to use device : Head device +4)

Range

0 to 32767 ms

Reference

Page 137

Page 138

Page 139

Page 141

Page 142

Page 144

Page 146

Page 149

Page 153

When the positioning table data is set to use device, dwell time can be changed during positioning operation.

The change is applied when the table operation instruction is next driven again.

Interrupt Input Signal 2 Device No.


Set an interrupt input device (X) for shifting to the next table after table operation control method [5: Table Transition Variable

Speed Operation].





Table Transition Variable Speed Operation

Operand

Operand 4


Range

0 to 17

Reference

Page 142

When the positioning table data is set to use device, interrupt input signal 2 device No. can be changed during positioning operation. Changes are applied when the table operation instruction is next driven again.

Interrupt Input Signal 2 Logic


Specify the logic of interrupt input signal 2 of the table operation instruction control method [5: Table Transition Variable Speed

Operation].

When [0: Positive logic] is selected, interrupt input signal 2 functions on a rising edge.

When [1: Negative logic] is selected, interrupt input signal 2 functions on a falling edge.

The interrupt input signal 2 does not occupy an input interrupt function, and its edge is detected with a 1-ms interrupt.

4



57

Jump Destination Table No.


Set the table number of the jump destination when the jump condition of the table operation control method [10: Condition

Jump] is met (M No. for jump condition is on).





Condition Jump

Operand

Operand 3


Range

0 to 100

*1

Reference

Page 148

*1 1 to 32, when the positioning table data is not to use the device.

When the positioning table data is set to use device, jump destination table No. can be changed during positioning operation. If the table being executed is located three or more tables before the condition jump, the change is applied at the next scan. If the table is located two or fewer tables before (after the condition is determined), the change is applied, but the condition jump is executed using the settings from when the condition was determined.

M No. for Jump Condition


Set an internal relay (M) to be used as a jump condition of the table operation control method [10: Condition Jump]. When M

No. for jump condition is on, the condition jump is executed.





Condition Jump

Operand

Operand 4


Range

0 to 32767

Reference

Page 148

When the positioning table data is set to use device, M No. for jump condition can be changed during positioning operation. If the table being executed is located three or more tables before the condition jump, the change is applied at the next scan. If the table is located two or fewer tables before (after the condition is determined), the change is applied, but the condition jump is executed using the settings from when the condition was determined.

Axis to be Interpolated


Set the number of the counterpart axis for the simple interpolation operation of table operation control method [20:

Interpolation Operation (Relative Address Specification) or [21: Interpolation Operation (Absolute Address Specification)]. For the counterpart axis, control method [22: Interpolation Operation (Relative Address Specification Target Axis) or [23:

Interpolation Operation (Absolute Address Specification Target Axis)] is assigned to the same table number as that specified in the axis to be interpolated. If a different control method is set to the counterpart axis, it is overwritten with Interpolation operation.


Interpolation Operation (Relative Address Specification)

Interpolation Operation (Absolute Address Specification)

Operand

Operand 4


Range

Axis 1 Specification to Axis 4

Specification

Reference

Page 149

Page 153

58



Interpolation Speed Specified Method


Specify the speed specification method for interpolation operation in the table operation.

When [0: Composite Speed] is selected, specify the moving speed of the control target and then the CPU module calculates the speed of each axis.

When [1: Reference Axis Speed] is selected, specify the speed of the reference axis and then the CPU module calculates the speed of the other axis.

When the combined speed is specified When the reference-axis speed is specified

X axis The combined speed is specified.

X axis

The speed of the reference axis is specified.

4

Y axis Y axis

The CPU module calculates these speeds.

The CPU module calculates these speeds.

Current speed (composite speed)

This indicates the positioning operation speed (composite speed) for the interpolation operation. When the interpolation speed specified method is [0: Composite Speed], the current speed is stored in the corresponding special device of the reference-axis.

The user unit is set by unit setting.(Page 41 Unit Setting)

Name

Current speed (composite speed)

FX5 dedicated

Axis 1

SD5508, SD5509

Axis 2

SD5548, SD5549

Axis 3

SD5588, SD5589

Axis 4

SD5628, SD5629

R/W

R

R: Read only

Table shift command


Table shift command is to switch to the following table in stepping operation of the DRVTBL instruction.

When stepping operation for a table is completed, if table shift command is turned on, the positioning operation for the following table is started. When the positioning operation is still being executed for the previous table or it is not stepping

operation of the DRVTBL instruction, turning on this flag is ignored. (Page 157 Stepping operation) The table can be

switched to the following table with the external start signal too, like the table shift command.



Special Device.

Name R/W

Table shift command

R/W: Read/Write

FX5 dedicated

Axis 1

SM5580

Axis 2

SM5581

Axis 3

SM5582

Axis 4

SM5583 R/W

During positioning operation, a change in the table shift command is applied at the next scan.



59

Positioning execution table number

Use the positioning execution table number to check the table number being executed during table operation.

During activation of a table operation instruction, the table number that was executed last is held. During interpolation operation or multiple axes simultaneous activation, the table number is stored in the positioning execution table number of all the corresponding axes. After the table is executed, the table number is set to 0 when the drive contact of the table instruction is turned off. If there are pulses being output after the drive contact is turned off, the table number is set to 0 after the pulse output stops.



Special Device

Name R/W

Positioning execution table number

R: Read only

FX5 dedicated

Axis 1

SD5506

Axis 2

SD5546

Axis 3

SD5586

Axis 4

SD5626 R

Positioning error (error occurrence table No.)


Use the positioning error to check the table number where a table operation error occurred.

For the error, refer to Page 167 Error Check.

 Special Device

Name

Positioning error (error occurrence table No.)

FX5 dedicated

Axis 1

SD5511

Axis 2

SD5551

Axis 3

SD5591

Axis 4

SD5631

R/W

R/W

R/W: Read/Write

After the positioning error occurrence flag turns on, an table No.is stored in the device above. If multiple errors occur, the device is overwritten with the table number where the last error occurred.

Precautions

The table No. of the positioning error (error occurrence table No.) is not cleared by eliminating the error cause.

Turn on SM50 (Error Detection Reset Completion) from program or engineering tool, or use the continuation error batch clear function in the module diagnosis window of GX Works3 to clear the flag. (GX Works3 Operating Manual)

Items related to monitor

The following describes the items related to monitor, such as the positioning address and speed.

Pulse output monitor

Use the pulse output monitor to check whether pulses are being output from the output device (Y) set as an output device.

The pulse output monitor shows the pulse output status even when positioning operation is stopped.



Special Device

Name R/W

Positioning output monitor

R: Read only

FX5 dedicated

Axis 1 Axis 2

SM5516 SM5517

Axis 3

SM5518

Axis 4

SM5519



SM8340 SM8350 SM8360

Axis 4

SM8370 R

Precautions

• When the pulse output monitor is on, do not execute another positioning instruction that uses the corresponding axis.

• Do not write to the pulse output monitor using a transfer instruction. This may change the value and cause abnormal monitoring.

60



Positioning instruction activation

Use "positioning instruction activation" to check whether or not a positioning instruction is being executed.

Even if no pulse is output, this flag is on while the instruction is being driven. Even after the drive contact of the positioning instruction is turned off, this flag remains on until the pulse output is stopped. Use this flag to prevent simultaneous activation of two or more positioning instructions for the same axis.



Special Device

Name R/W

Positioning instruction activation

R: Read only

FX5 dedicated

Axis 1 Axis 2

SM5500 SM5501

Axis 3

SM5502

Axis 4

SM5503



SM8348 SM8358 SM8368

Axis 4

SM8378 R

Precautions

Do not write to the pulse output monitor using a transfer instruction. This may change the value and cause abnormal monitoring.

Positioning error occurrence


Use the positioning error occurrence to check whether or not an error specific to the positioning instruction occurs.

This flag turns on when an error specific to the positioning instruction occurs.



Special Device

Name

Positioning error occurrence

FX5 dedicated

Axis 1

SM5532

Axis 2

SM5533

Axis 3

SM5534

Axis 4

SM5535

R/W

R/W

R/W: Read/Write

After the positioning error occurrence is turned on, an error code is stored in the corresponding positioning error (error code).

Precautions

The positioning error occurrence flag is not cleared by eliminating the error cause.

Turn on SM50 (Error Detection Reset Completion) from program or engineering tool, or use the continuation error batch clear function in the module diagnosis window of GX Works3 to clear the flag. (GX Works3 Operating Manual)

Positioning error (error code)


Use the following devices to check the error code of an error that has occurred in the positioning operation.

For the error codes, refer to Page 167 Error Check.



Special Device

Name

Positioning error (error code)

FX5 dedicated

Axis 1

SD5510

Axis 2

SD5550

Axis 3

SD5590

Axis 4

SD5630

R/W

R/W

R/W: Read/Write

After the positioning error occurrence flag turns on, an error code is stored in the device above. If multiple errors occur, the old error is overwritten by a new error.

Precautions

The error code in the positioning error (error code) is not cleared by eliminating the error cause.

Turn on SM50 (Error Detection Reset Completion) from program or engineering tool, or the continuation error batch clear function in the module diagnosis window of GX Works3 to clear the flag. (GX Works3 Operating Manual)

4



61

Complete flag


Use the complete flag to check whether or not a positioning instruction is completed. Note that the operation differs depending on the positioning instruction or the control method of the table operation. For details, refer to the complete flag of each positioning instruction and table operation control method.

■Instruction execution complete flag

When the positioning operation is completed normally, the instruction execution complete flag turns on. There are the following two types of instruction execution complete flags.

•

User specification: The device of the operand specified by the positioning instruction (when FX5 operand specified)

•

This instruction execution complete flag is used only for the positioning instruction specified. The user-specified instruction execution flag is turned off by program or engineering tool or when the next positioning instruction is activated.

SM8029: Instruction execution complete flag

This instruction execution complete flag is shared among all positioning instructions. In programs, use the flag immediately after a positioning instruction. When the FX3 compatible operand is specified for the positioning instruction, only the instruction execution flag (SM8029) turns on. SM8029 turns off when the drive contact of the positioning instruction is turned off.

The instruction execution complete flags above turn on when pulses have been output. When dwell time is set for the DSZR/

DDSZR instruction or table operation, the flag turns on when pulse output is complete or the clear signal turns off and the dwell time elapses.




When the following instruction is FX5 operand specified, instruction can set complete flag.

Instruction

Mechanical OPR DSZR

Operand

(d2)

Available device Ladder


SB

Reference

Page 71

(s1) (s2) (d1) (d2)

DDSZR

(d2)

Page 79

Relative positioning


DRVI

DDRVI

DRVA

DDRVA


DVIT

DDVIT

Variable speed operation PLSV

DPLSV

Multiple-table operation DRVTBL

(d2)

(d2)

(d2)

(d2)

(s1) (s2) (d1) (d2)

(s1) (s2) (d1) (d2)

(s1) (s2) (d1) (d2)

(s) (d1) (d2)

Page 86

Page 93

Page 101

Page 116

(d1) (n1) (n2) (n3) (d2)

Multiple-axis table operation

DRVMUL (d)

Page 124

(n1) (n2) (n3) (n4) (n5) (d)

62



Special Device

Name

Instruction execution complete flag

R: Read only




Axis 1 Axis 2

SM8029

Axis 3 Axis 4

R/W

R

■Instruction execution abnormal end flag

When the positioning operation is completed abnormally, the instruction execution abnormal end flag turns on. There are the following two types of instruction execution abnormal end flags.

•

User specification: The device of the operand specified by the positioning instruction (when FX5 operand specified)

•

This instruction execution abnormal end flag is used only for the positioning instruction specified. The user-specified instruction execution abnormal end flag is turned off by program or engineering tool or when the next positioning instruction is activated.

SM8329: Instruction execution abnormal end flag

This instruction execution abnormal end complete flag is shared among all positioning instructions. In programs, use the flag immediately after a positioning instruction. When the FX3 compatible operand is specified for the positioning instruction, only the instruction execution abnormal end flag (SM8329) turns on. SM8329 turns off when the drive contact of the positioning instruction is turned off.

For the conditions under which the instruction execution abnormal end flags above turn on, refer to the operation of the complete flag of each positioning instruction and the table operation control method. When dwell time is set for the DSZR/

DDSZR instruction or table operation, the flag turns on when pulse output is complete and the dwell time elapses.




Refer to instruction execution complete flag. The device of the operand specified by the positioning instruction is (d2) +1

((d)+1 when DRVMUL instruction).



Special Device

Name For compatibility with FX3

Axis 1 Axis 2

SM8329

Axis 3 Axis 4

R/W

R Instruction execution abnormal end flag

R: Read only

4



63

5

POSITIONING INSTRUCTION

This chapter explains positioning instructions that are used in the positioning function.

For the expression and execution type of the applied instruction, refer to Programming manual (Instructions, Standard

Functions/Function Blocks).

5.1

Common Items

This section explains the common items in the positioning instruction. For auxiliary functions, refer to Page 28 Auxiliary

Function.

Operand specification method

The operand specification method includes two types: FX5 operand and FX3 compatible operand. The operand setting differs depending on the specification method. The items that cannot be set through operands positioning instruction follow the

setting values of the positioning parameters. (4 POSITIONING PARAMETER)

The DDSZR, DRVTBL, DRVMUL, and DABS instructions have only one operand specification method.

Start speed

The start speed of instructions for specifying positioning addresses and table operation control methods, except for the PLSY/

DPLSY instruction, PLSV/DPLSV instruction, and table operation instruction (control method: [4: Variable Speed Operation] or

[5: Table Transition Variable Speed Operation]), is calculated by the following equation:

Start speed = (Maximum speed - Bias speed)

 Acceleration time

The start speed varies as follows, depending on the command speed and bias speed:

• Bias speed < Start speed < Command speed: Start speed = Start speed (the value from the equation above)

• Bias speed < Command speed < Start speed: Start speed = Command speed

• Start speed < Bias speed, or Command speed < Bias speed: Start speed = Bias speed

For the PLSV/DPLSV instruction and table operation instruction (control method: [4: Variable Speed Operation] or [5: Table

Transition Variable Speed Operation]), the following equations are used instead of those above:

• Acceleration time = 0: Start speed = Command speed

• Acceleration time  0: Start speed = Bias speed

Pulse output stop

The following table lists methods to stop pulse output, other than normal completion.

Select the stop method according to whether to use deceleration (deceleration stop or immediate stop) and to use the

remaining distance operation. (Page 33 Remaining distance operation)

Operation Deceleration

*1

Immediate stop

Abnormal end flag

ON


None

Remarks

Immediate stop without any conditions

Reference

Page 48


All outputs disable


Forward limit

Reverse limit

Immediate stop ON

Deceleration stop ON/OFF

Deceleration stop ON


None

Provided

None

None

Immediate stop without any conditions

With the corresponding instruction, the remaining distance operation can be used.

For remaining distance operation-compatible instructions (when the remaining distance operation is enabled), the PLSV/DPLSV instruction (when unlimited pulses are output), and table operation instruction (control method: [4: Variable Speed

Operation] or [5: Table Transition Variable Speed

Operation]), the abnormal end flag does not turn on.

Effective only at forward rotation

Effective only at reverse rotation



Page 49

Page 50

Page 50

64

5 POSITIONING INSTRUCTION

5.1 Common Items

Operation Deceleration

*1

Abnormal end flag


Remarks

Turning off the instruction drive contact

Setting the command speed to 0


*2

Deceleration stop ON/OFF

None

None

Deceleration stop without any conditions

For the PLSY/DPLSY instruction, the PLSV/DPLSV instruction and table operation instruction (control method: [4: Variable Speed Operation] or [5: Table

Transition Variable Speed Operation]), the abnormal end flag does not turn on.

When the command speed is changed, pulse output is restarted.

*1 The PLSY/DPLSY instruction is stopped immediately by all the operations.

*2 Only the FX5 specified abnormal end flag is valid.

Reference



Page 32

Precautions

• Note that the immediate stop may damage the machine because the motor stops immediately.

• Pulse output stop takes priority over deceleration stop. Pulse outputs are immediately stopped if an immediate stop operation is performed during a deceleration stop operation.

Operation at an error or abnormal end

The following explains operation at an error or abnormal end.

Operation at an abnormal end

When operation of the positioning function ends with an error, pulse output is stopped.

• When an error occurs at start of a positioning instruction, pulse output is not started. Pulse output is also not started when a positioning instruction is executed with pulse output stopped, such as the pulse output stop command is on.

• When an error occurs during pulse output, deceleration stop is performed. To restart the positioning, eliminate the cause of the error that has caused the stop and then activate the positioning instruction again.

• When pulse output is stopped by an error status, the positioning instruction for the same axis cannot be activated until the drive contact of the positioning instruction is turned off or until the instruction is eliminated by writing during RUN.

• All axes except the one in which an error occurs keep operating normally. This is the same for multiple axes simultaneous activation using DRVMUL instruction. However, if an error leading to a stop occurs in one axis in interpolation operation, operation of both the axes are stopped.

• If an error occurs in table operation in the stepping operation or continuous operation, deceleration stop is performed and the tables that follow are not executed.

Operation at an error

For the errors, refer to Page 167 Error Check.

Caution

For the items specific to each positioning instruction, refer to the cautions of each instruction.

For cautions on program creation, refer to Page 161 Cautions for Program Creation.

For cautions on each table operation, refer to the cautions of each control method or the corresponding positioning instruction.

(Page 136 Operations of Control Method)

5


5.1 Common Items

65

5.2

Pulse Y Output

This instruction generates a pulse signal. It generates only forward rotation pulses and increases the value of the current address.

PLSY/DPLSY

This instruction executes pulse output.

Ladder ST

ENO:=PLSY(EN,s,n,d);

ENO:=DPLSY(EN,s,n,d);

FBD/LD

(s) (n) (d)

EN s n d

ENO

66

Setting data

■Description, range, data type (PLSY)

• FX5 operand

Operand Description

(s) Word device number storing command speed or data

*1

(n) Word device number storing the positioning address or data

*2

Axis number from which pulses are output

Range

0 to 65535

(User system unit)

0 to 65535

(User system unit)

K1 to 4

Data type Data type (label)

16-bit unsigned binary ANY16


(d) 16-bit unsigned binary ANY_ELEMENTARY

(WORD)

• FX3 compatible operand


(s)

(n)

(d)

Word device number storing command speed or data

*1

Word device number storing the positioning address or data

*2

Range

0 to 65535

(User system unit)

0 to 65535

(User system unit)

Output bit device number (Y) from which pulses are output 0 to 3






(s)

(n)

(d)


*1


*2

Range

0 to 2147483647

(User system unit)

0 to 2147483647

(User system unit)


Bit

*1 Command speed can be changed during positioning operation. (Page 32 Command speed change during positioning operation)

*2 The positioning address can be changed during positioning operation. (Page 31 Positioning address change during positioning operation)

■Description, range, data type (DPLSY)

• FX5 operand



*1

(n)

(d)


*2


Range

0 to 2147483647

(User system unit)

0 to 2147483647

(User system unit)

K1 to 4

Data type

32-bit signed binary


Data type (label)

ANY32

ANY32

16-bit unsigned binary ANY_ELEMENTARY

(WORD)

Data type



Bit

ANY_ELEMENTARY

(BOOL)


ANY32

ANY32

ANY_ELEMENTARY

(BOOL)


5.2 Pulse Y Output

*1 Command speed can be changed during positioning operation.

*2 The positioning address can be changed during positioning operation.

■Available device (PLSY/DPLSY)

• FX5 operand

Operand Bit

(s)

(n)

(d)

X, Y, M, L, SM,

F, B, SB, S







U\G

T, ST,

C, LC

 









Word

T, ST, C, D,

W, SD, SW, R













U\G

Z

Double word Indirect

LC LZ specification





*1





*1

 



*1



*1










(s)

(n)

(d)

Operand Bit

X, Y, M, L, SM,

F, B, SB, S







*2

U\G

T, ST,

C, LC



















Word

T, ST, C, D,

W, SD, SW, R







U\G

Z







*1





*1

 



*1



*1









*1 Only available for DPLSV instruction.

*2 Only Y0 to Y3 devices can be used.













Constant

K, H E $

  

  

  

Constant

K, H E $

Others

(DX)

Others

(DX)

  

  

  

Processing details

This instruction outputs pulse trains specified by the command speed (s) from the output (d) for the amount of forward rotation pulse specified by the positioning address (n).

Related devices

The following lists the related special devices.

Special relays

FX5 dedicated

Axis 1 Axis 2 Axis 3 Axis 4

FX3 compatible


Name





SM5660

SM5676





SM5661

SM5677





SM5662

SM5678





SM5663

SM5679

SM8029

SM8329


















Instruction execution abnormal end flag

SM5500 SM5501 SM5502 SM5503 SM8348 SM8358 SM8368 SM8378 Positioning instruction activation



SM5516 SM5517 SM5518 SM5519 SM8340 SM8350 SM8360 SM8370 Pulse output monitor

SM5532 SM5533 SM5534 SM5535

   






SM5628 SM5629 SM5630 SM5631 

SM5644 SM5645 SM5646 SM5647 















Forward limit

Reverse limit













High

Speed I/O

Parameter

R: Read only, R/W: Read/write, : Not supported

R/W Reference

R

R

R

R

R/W

R/W

R/W

R/W

R/W

Page 62

Page 61

Page 60

Page 61

Page 48

Page 49

Page 50

Page 50

5


5.2 Pulse Y Output

67

Special registers

FX5 dedicated FX3 compatible

Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4

    SD8136,SD8137  

 

SD5540

SD5541

SD5542

SD5543



SD5580

SD5581

SD5582

SD5583



SD5620

SD5621

SD5622

SD5623

SD8140

SD8141



SD5500

SD5501

SD5502

SD5503

SD8340

SD8341

SD5504

SD5505

SD5544

SD5545

SD5584

SD5585

SD5624

SD5625



SD5510 SD5550 SD5590 SD5630



SD8142

SD8143







SD8350

SD8351



SD8360

SD8361



 





SD8370

SD8371






*1 Writing can be performed only by the HCMOV/DHCMOV instruction.

Outline of operation

For each speed, refer to Page 43 Items related to speed.

Drive contact

PLSY/DPLSY (s) (n) (d)

Name

Total number of pulses output from axis 1 and axis 2

The number of pulse by

PLSY instruction






High

Speed I/O

Parameter



R/W

R/W

R/W

R/W

*1

Reference

Page 51

Page 52

Page 47

Current address (pulse unit) 







R/W

*1

Page 47

R

R

Page 44

Page 61

Positioning address (n)

Command speed (s)

Drive contact


SM8029

Basic operation

The following describes the basic operation.

1.

After the drive contact is turned on, pulse output is started in command speed.

2.

After reached the positioning address, pulse output is stopped.

68


5.2 Pulse Y Output

Operand specification

■When FX5 operand is specified or the DDSZR instruction is used

(1) For (s), specify the command speed. Set to a value 0 to 200 Kpps in pulse.

•

•

PLSV : 0 to 65535 (User system unit)

DPLSV : 0 to 2147483647 (User system unit)

(2)

For (n), specify the positioning address. (Page 46 Positioning address) Set to a value 0 to 2147483647 in pulse.

•

•



(3) For (d), specify an axis number (K1 to K4) from which pulses are output.

Specify an axis number whose positioning parameters are set in the high speed I/O parameters. Operation cannot be performed if any other axis number is specified.

■When the FX3 compatible operand is specified

(1) For (s), specify the command speed. Set to a value 0 to 200 Kpps in pulse.

•

•



(2) For (n), specify the positioning address. Set to a value 0 to 2147483647 in pulse.

•

•



(3) For (d), specify the pulse output number in the range of Y0 to Y3.

Specify an output device (Y) number (equivalent to the axes 1 to 4) set in the high speed I/O parameters. Operation cannot be performed if any other axis number is specified.

Direction handling

• The PLSY/DPLSY instruction always increases the current address because the setting of rotation direction is disabled due to the absence of direction.

• When the output mode is CW/CCW mode, output is always performed from the device set to CW.

• If reverse limit is used, it operates as forward limit.

Items related to speed

• If the command speed is set to 0 when the instruction is activated, the operation ends with an error.

• If the command speed is changed to 0 during operation, the operation does not end with errors but it immediately stops. As long as the drive contact is on, changing the command speed restarts pulse output.

• The acceleration time and deceleration time are disabled because acceleration and deceleration are not performed.

• The bias speed is disabled because the speed is changed immediately.


• If the positioning address is 0 when the instruction is activated, unlimited pulses are output.

• When unlimited pulses are being output, the operation ends normally if the pulse decelerate and stop command is turned on.

• The operation ends with an error if the positioning address is changed to a value smaller than the number of pulses that have been output or a value outside the range during positioning operation. The positioning address becomes invalid if it is changed from 0 to a value other than 0 or from a value other than 0 to 0 during positioning operation.

Precautions

When unlimited pulses are not being output, set the number of output pulses per PLSY/DPLSY instruction execution to

2147483647 or lower. An error occurs if the number of pulses exceeds 2147483648.

5


5.2 Pulse Y Output

69

Operation of the complete flags

The following describes the operation timings of the complete flags. (Page 62 Complete flag)

ON condition

FX3 compatible

Instruction execution complete flag (SM8029)

*1

From when pulse output of the specified positioning address is completed to when the drive contact is turned off

Instruction execution abnormal end flag (SM8329)

From when the following operation or function is completed to when the drive contact is turned off

*2

• The axis is already used.

• Pulse output stop command

• Pulse decelerate and stop command (when unlimited pulses are not being output)

• Detection of both limits

• All outputs disabled (SM8034)

• Write during RUN

• Positioning address error

ON

 OFF condition

When the drive contact is turned off

*1 When unlimited pulses are being output, instruction execution complete flag is not turned on.

*2 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON.

Program example

The following is a program example of pulse output from axis 1 (Y0).



Unlimited pulses output: Positioning address (operand (n)) = 0

Drive contact

PLSY K1000 K0 K1

Y0

Unlimited pulses (K0)

1000 pps



Pulse output: Positioning address (operand (n)) > 0

Drive contact

PLSY K1000 K500 K1

Y0

K500

1000 pps

70


5.2 Pulse Y Output

5.3

Mechanical OPR

If forward rotation pulses or reverse rotation pulses are generated, the positioning instruction will increase or decrease the value of the current address.

When the power of the CPU module is turned off, the value stored in the current address will be erased. For this reason, after turning on the power again, be sure to adjust the value of the current address in the CPU module to the current position of the machine. The positioning function uses the DSZR/DDSZR instruction (OPR instruction) to adjust the value of the current address in the CPU module to the current mechanical position.

DSZR/DDSZR

This instruction executes mechanical OPR.

Ladder ST

ENO:=DSZR(EN,s1,s2,d1,d2);

ENO:=DDSZR(EN,s1,s2,d1,d2);

FBD/LD

(s1) (s2) (d1) (d2)

EN s1 s2 d1

ENO d2

Setting data

■Description, range, data type (DSZR)

• FX5 operand


(s1) Word device number storing OPR speed or data

*1

(s2)

(d1)

Word device number storing creep speed or data

*1


Range

1 to 65535

(User system unit)

1 to 65535

(User system unit)

K1 to 4



(WORD)


(WORD)


(WORD)

Bit ANY_BOOL (d2)


Operand

(s1)

(s2)

(d1)

Bit device number of the instruction execution complete flag and abnormal end flag

Description

Bit device number to which the near-point dog signal is input

Bit device number to which the zero signal is input



Range






Data type

Bit

Bit

Bit


ANY_ELEMENTARY

(BOOL)

ANY_ELEMENTARY

(BOOL)

ANY_ELEMENTARY

(BOOL)

ANY_BOOL (d2) Bit device number from which rotation direction is output  Bit

*1 OPR speed and creep speed can be changed during positioning operation. (Page 32 Command speed change during positioning operation)

5


5.3 Mechanical OPR

71

■Description, range, data type (DDSZR)

*1


(s1) Word device number storing OPR speed or data

*2

(s2)

Word device number storing creep speed or data

*2

Range

1 to 2147483647

(User system unit)

1 to 2147483647

(User system unit)

K1 to 4



Data type




ANY32

ANY32

(d1)

(d2)



16-bit unsigned binary ANY16_U

Bit ANY_BOOL

*1 The DDSZR instructions have only one operand specification method.

*2 OPR speed and creep speed can be changed during positioning operation.

■Available device (DSZR/DDSZR

*1

)

• FX5 operand

U\G

Z



Operand Bit

X, Y, M, L, SM,

F, B, SB, S

(s1)

(s2)

(d1)

(d2)

*3









U\G

T, ST,

C, LC

















Word

T, ST, C, D,

W, SD, SW, R









*4













*2





*2

 

 



*2



*2





















Constant

K, H E $

Others

(DX)

  

  

  

  


(s1)

(s2)

(d1)

(d2)

Operand Bit

X, Y, M, L, SM,

F, B, SB, S



*5



*5*6



*7



*8

U\G

T, ST,

C, LC

















Word

T, ST, C, D,

W, SD, SW, R

















U\G

Z



 

 

 

 

























Constant

K, H E $

Others

(DX)

  

  

  

  

*1 The DDSZR instructions have only one operand specification method.

*2 Only available for DDSZR instruction.

*3 Two devices are occupied from the specified device.

*4 T, ST, C cannot be used.

*5 For X devices, always specify the device set in high speed I/O parameter.

*6 For device other than X device, set the device to which the near-point dog signal (s1) is assigned.


*8 When the output mode is CW/CCW, specify the CCW axis. When the output mode is PULSE/SIGN, only the SIGN output of the axis or general-purpose output can be specified.

Processing details

This instruction executes mechanical OPR. With the forward limit and reverse limit, OPR using the dog search function can be

executed. (Page 28 Dog search function)

72


5.3 Mechanical OPR

Related devices


Special relays

FX5 dedicated


FX3 compatible


Name

















SM8029

SM8329











SM5532 SM5533 SM5534 SM5535

   






SM5628 SM5629 SM5630 SM5631

   




SM5644 SM5645 SM5646 SM5647     Pulse decelerate and stop command



SM5660 SM5661 SM5662 SM5663



SM5676 SM5677 SM5678 SM5679



SM5772 SM5773 SM5774 SM5775



SM5804 SM5805 SM5806 SM5807 

SM5820 SM5821 SM5822 SM5823



SM5868 SM5869 SM5870 SM5871







































Forward limit

Reverse limit

















High

Speed I/O

Parameter

R: Read only, R/W: Read/write, : Supported, : Not supported

R/W Reference

R

R

R

R

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

Page 62

Page 61

Page 60

Page 61

Page 48

Page 49

Page 50

Page 50

Page 40

Page 52

Page 54

Page 56




Name

SD5500

SD5501

SD5502

SD5503

SD5540

SD5541

SD5542

SD5543

SD5580

SD5581

SD5582

SD5583

SD5620

SD5621

SD5622

SD5623



SD5504

SD5505

SD5544

SD5545

SD5584

SD5585

SD5624

SD5625

SD5510 SD5550 SD5590 SD5630 

SD5516

SD5517

SD5556

SD5557

SD5596

SD5597

SD5636

SD5637



SD5518

SD5519

SD5558

SD5559

SD5598

SD5599

SD5638

SD5639



SD8340

SD8341



SD5520 SD5560 SD5600 SD5640 

SD5521 SD5561 SD5601 SD5641 



SD5526

SD5527

SD5528

SD5529

SD5566

SD5567

SD5568

SD5569

SD5606

SD5607

SD5608

SD5609

SD5646

SD5647

SD5648

SD5649



SD5530

SD5531

SD5570

SD5571

SD5610

SD5611

SD5650

SD5651



SD5532 SD5572 SD5612 SD5652 

SD5533 SD5573 SD5613 SD5653



SD8350

SD8351



































SD8360

SD8361

















SD8370

SD8371






















Bias speed

Acceleration time

Deceleration time

OPR speed

Creep speed

Origin address


OPR dwell time



Positioning error (error code) 

Maximum speed



















High

Speed I/O

Parameter



R/W Reference

R/W

*1

Page 47

R/W

*1

Page 47

R

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

Page 44

Page 61

Page 44

Page 45

Page 45

Page 45

Page 53

Page 53

Page 52

Page 56

Page 54

5


5.3 Mechanical OPR

73



For the items related to OPR, refer to Page 52 Items related to OPR.

Drive contact

DSZR/DDSZR (s1) (s2) (d1) (d2)

Deceleration time

Maximum speed

Acceleration time

Speed

OPR speed (s1)

*1

Time

Origin address

Creep speed

(s2)

*1

Near-point DOG

Rear end

(s1) *2

Forward end

Bias speed

Zero signal

(s2) *2

Clear signal

Within

1 ms

20 ms + 1 operation cycle (ms)

Drive contact


SM8029

Instruction execution complete flag (d2)

*1

*3

*1 When FX5 operand is specified

*2 When the FX3 compatible operand is specified

*3 Remains on until it is turned off by program or engineering tool or the positioning instruction is next driven again.

Basic operation


1.

After the drive contact is turned on, pulse output is started and the speed is increased from the bias speed.

2.

After the speed has reached the OPR speed, the operation will be performed at the OPR speed.

3.

After the near-point dog is detected, the speed is decreased.

4.

After the speed has reached the creep speed, the operation will be performed at the creep speed.

5.

After the near-point dog is turned from ON to OFF, pulse output is stopped when the zero signal is detected.

74


5.3 Mechanical OPR


■When FX5 operand is specified or the DDSZR instruction is used

(1) For (s1), specify the OPR speed. Set to a value 1 pps to 200 Kpps in pulse.

•

•

DSZR : 1 to 65535 (User system unit)

DDSZR : 1 to 2147483647 (User system unit)

(2) For (s2), specify the creep speed. Set to a value 1 pps to 200 Kpps in pulse.

•

•

DSZR : 1 to 65535 (User system unit)

DDSZR : 1 to 2147483647 (User system unit)

(3) For (d1), specify an axis number (K1 to K4) for which OPR is executed.


(4)

For (d2), specify the bit devices of the instruction execution complete flag and abnormal end flag. (Page 62

Complete flag)

•

(d2) : Instruction execution complete flag

•

(d2)+1 : Instruction execution abnormal end flag


(1) For (s1), specify the near-point dog signal input device number.

When an input device (X) is used, only the device that is specified with the high speed I/O parameter can be specified.

The logic set with the high speed I/O parameter is applied. Bit devices can be specified, in addition to input devices (X).

In that case, the relay operates on a rising edge.

(2) For (s2), specify the zero signal input device number.

When an input device (X) is used, only the device that is specified with the high speed I/O parameter can be specified.

(Page 39 Pulse Output Mode) The logic set with the high speed I/O parameter is applied. Bit devices can be

specified, in addition to input devices (X). In that case, the relay operates on a rising edge.

(3) For (d1), specify the pulse output number in the range of Y0 to Y3.


(4)

For (d2), specify the rotation direction signal output device number. (Page 40 Rotation Direction Setting)

When an output device (Y) is used, only the device that is specified with the positioning parameter or a generalpurpose output can be specified. However, if an output device (Y) to which PWM or CW/CCW axis is assigned is specified, an error occurs without any operation.

For the PWM function, refer to User's manual (Application).

OPR direction

The pulse output direction is determined by the OPR direction and rotation direction setting. The following table lists

operations performed when the origin return direction and rotation direction setting are used in combination. (Page 40

Rotation Direction Setting)

OPR

Direction

Positive Direction (Address Increment Direction)

Negative Direction (Address Decrement Direction)

Rotation Direction Setting

Current Value Increment with

Forward Run Pulse Output


Address: Increment


Address: Decrement

Current Value Increment with

Reverse Run Pulse Output


Address: Increment


Address: Decrement

Operand change in positioning operation

During positioning operation for the OPR speed (s1) and creep speed (s2), the command speed can be changed before the zero signal is detected. If it is changed after the zero signal is detected, the change is applied when the DSZR/DDSZR instruction is next driven again.

5


5.3 Mechanical OPR

75


The following describes the operation timings of the complete flags.

The user-specified complete flags are valid only when specified using FX5 operand. If dwell time is specified, the userspecified complete flag turns on after the dwell time elapses.

ON condition

ON

 OFF condition

FX3 compatible

Instruction execution complete flag

(SM8029)

From when OPR is completed to when the drive contact is turned off

Instruction execution abnormal end flag

(SM8329)



*1


• Pulse decelerate and stop command



• Deceleration stop after OPR speed and creep speed are changed to 0

• Deceleration stop at limit detection after the near-point dog is detected


User specification


(d2)


(d2)+1

From when OPR is completed to when the ON

 OFF condition is met

From when the following operation or function is completed to when the ON



OFF condition is met


• The drive contact is turned off during positioning operation





• Deceleration stop after OPR speed and creep speed are changed to 0

• Deceleration stop at limit detection after the near-point dog is detected

The flag remains on until either of the following is executed.

• Turning off the flag by the user

• Restarting the positioning instruction


Program example

The following is a program example of OPR operation (axis 1).

Speed

Deceleration time

(800 ms)

Acceleration time

(500 ms)

Maximum speed

(10000 pps)

OPR speed

(10000 pps)

Creep speed

(1500 pps)

Time

Near-point dog signal X0

(positive logic)

Zero signal X1 (positive logic)

OPR zero signal counts: 1

Count Start Time: Near-point dog latter part


M1

Clear signal Y1

Dwell time

(100ms)

Within 1 ms

Bias speed

(1000 pps)

Zero signal is ignored until the rear end of the near point dog is detected (ONOFF).

Clear signal output time

(20 ms + 1 operation cycle (ms))

76


5.3 Mechanical OPR

Setting data

 Positioning parameter (high speed I/O parameter)

Item


Pulse Output Mode

Output Device (PULSE/CW)

Output Device (SIGN/CCW)


Axis 1

1: PULSE/SIGN

Y0

Y4

0: Current Address Increment with


Unit Setting






Max. Speed

Bias Speed

Acceleration Time

Deceleration Time




2000 pulse

1000 pulse

1:

 Single

0: Composite Speed

10000 pps

1000 pps

500 ms

800 ms

Item Axis 1


External Start Signal Enabled/Disabled 0: Invalid

Interrupt Input Signal 1 Enabled/

Disabled

0: Invalid


■OPR Parameter


OPR Direction

0: Positive Logic

Starting Point Address

Clear Signal Output Enabled/Disabled

Clear Signal Output Device No.

OPR Dwell Time

Near-point Dog Signal Device No.

Near-point Dog Signal Logic

Zero Signal Device No.

Zero Signal Logic

Zero Signal OPR Zero Signal Counts

Zero Signal Count Start Time

1: Valid

0: Negative Direction (Address

Decrement Direction)

0 pulse

1: Valid

Y1

100 ms

X0

0: Positive Logic

X1

0: Positive Logic

1

0: Near-point Dog Latter Part

Program example

Pulse decelerate and stop command input

X12

Forward limit input

X13

Reverse limit input

X14

All outputs disabled input

Drive DDSZR instruction

X17 SM5500 M1

Drive contact

SM5500

Positioning instruction activation axis1

M10

Normally end


SM5500

DDSZR instruction activation


Stop event

X10

Pulse stop command input

X11

M2

Abnormal end

Drive DDSZR instruction in axis 1

DDSZR K10000 K1500 K1

RST

RST

SET

SET

SET

SET

SET

M1

M1

M2

M10

DDSZR instruction activation

SM5628

Pulse output stop command axis1

SM5644

Pulse decelerate and stop command axis1

SM5660

Forward limit axis1

SM5676

Reverse limit axis1

SM8034

All outputs disabled


5.3 Mechanical OPR

77

5

Caution

• Detection of (the rear end and the front end of) the near-point dog will be affected by the input response time and the scan time of the sequence program. Secure 1 scan time or more from the rear end of the near-point dog to turning ON of the zero signal.

• Since the zero signal of the servo motor is used, adjust the relation between the rear end of the near-point dog and the zero signal as shown in the following figure. If fine adjustment of the origin position is needed, adjust the position of the nearpoint dog.

Rear end

Longer than

1 scan time

Near-point DOG

Operation direction

Forward end

Zero signal

• Properly set the near-point dog so that the near-point dog can be kept at the ON status until the speed is reduced to the creep speed. Deceleration to the creep speed starts at the front end of the near-point dog, the operation stops at "the rear end of the near-point dog" or at "detection of the first zero signal after the rear end of the near-point dog", and the current address is cleared. If the speed is not reduced to the creep speed before detecting the rear end of the near-point dog, the operation may not be stopped at the specified position.

• Use the near-point dog between the reverse rotation limit 1 (LSR) and the forward rotation limit 1 (LSF). The intended operation may not be performed if the relationship among the near-point dog, reverse rotation limit 1 (LSR), and forward rotation limit 1 (LSF) is not as shown in the figure below.

Servo motor




LSR

Near-point DOG


(CPU module side)

LSF



Operation in reverse rotation direction Operation in forward rotation direction

• The creep speed should be sufficiently slow. Deceleration stop is not performed. For this reason, if the creep speed is not slow enough, the operation may not be stopped at the specified position due to inertia.

• If the dog search function cannot detect the near-point dog signal, the speed will decelerate and the operation will stop. The execution of the instruction ends with an error.

78


5.3 Mechanical OPR

5.4

Relative Positioning

This instruction performs 1-speed positioning in the incremental method (positioning operation with a relative address).

While regarding the current position as the start point, specify the transfer direction and the transfer distance (relative address) to determine the target position.

Transfer distance-100

Transfer distance+100


Start point

End point





0

Origin

100

Point A

150

Point B

DRVI/DDRVI

This instruction executes 1-speed positioning by relative address.

Ladder ST

ENO:=DRVI(EN,s1,s2,d1,d2);

ENO:=DDRVI(EN,s1,s2,d1,d2);

(s1) (s2) (d1) (d2)

300

Point C

FBD/LD

EN s1 s2 d1

ENO d2

Setting data

■Description, range, data type (DRVI)

• FX5 operand


(s1)

(s2)


*1


*2

Range

-32768 to +32767

(User system unit)

1 to 65535

(User system unit)

K1 to 4

Data type



ANY16


(d1) Axis number from which pulses are output 16-bit unsigned binary ANY_ELEMENTARY

(WORD)

Bit ANY_BOOL (d2) Bit device number of the instruction execution complete flag and abnormal end flag





(s1)

(s2)

(d1)

Range


*1


*2

-32768 to +32767

(User system unit)

1 to 65535

(User system unit)


Data type



ANY16


Bit ANY_ELEMENTARY

(BOOL)

ANY_BOOL (d2) Bit device number from which rotation direction is output



Bit




5.4 Relative Positioning

79

5

■Description, range, data type (DDRVI)

• FX5 operand


(s1)

(s2)


*1


*2

(d1) Axis number from which pulses are output

Range

-2147483648 to +2147483647

(User system unit)

1 to 2147483647

(User system unit)

K1 to 4



Data type




ANY32

ANY32


(WORD)




(s1)

(s2)

(d1)

Range


*1


*2

-2147483648 to +2147483647

(User system unit)

1 to 2147483647

(User system unit)


Data type



Bit

(d2) Bit device number from which rotation direction is output  Bit


ANY32

ANY32

ANY_ELEMENTARY

(BOOL)

ANY_BOOL



■Available device (DRVI/DDRVI)

• FX5 operand

Operand Bit

(s1)

(s2)

X, Y, M, L, SM,

F, B, SB, S



(d1)

(d2)

*2













U\G

T, ST,

C, LC

 







Word

T, ST, C, D,

W, SD, SW, R









*3









U\G

Z







*1





*1

 

 



*1



*1














(s1)

(s2)

(d1)

(d2)

Operand Bit

X, Y, M, L, SM,

F, B, SB, S







*4



*5

U\G

T, ST,

C, LC

















Word

T, ST, C, D,

W, SD, SW, R









*3









U\G

Z







*1





*1

 

 



*1



*1





























Constant

K, H E $

Others

(DX)

  

  

  

  

Constant

K, H E $

Others

(DX)

  

  

  

  

*1 Only available for DDRVI instruction.





Processing details

This instruction executes 1-speed positioning by relative address. The target positioning address is specified in the incremental method, in which transfer direction and transfer distance (relative address) from current address are specified for positioning operation.

80



Related devices


Special relays

FX5 dedicated


FX3 compatible


Name

















SM8029

SM8329



















Forward limit

Reverse limit










SM5532 SM5533 SM5534 SM5535

   






SM5628 SM5629 SM5630 SM5631

   







SM5660 SM5661 SM5662 SM5663



SM5676 SM5677 SM5678 SM5679



SM5772 SM5773 SM5774 SM5775











High

Speed I/O

Parameter


R/W Reference

R

R

R

R

R/W

R/W

R/W

R/W

R/W

R/W

Page 62

Page 61

Page 60

Page 61

Page 48

Page 49

Page 50

Page 50

Page 40




Name

SD5500

SD5501

SD5502

SD5503

SD5540

SD5541

SD5542

SD5543

SD5580

SD5581

SD5582

SD5583

SD5620

SD5621

SD5622

SD5623



SD5504

SD5505

SD5518

SD5519

SD5544

SD5545

SD5558

SD5559

SD5584

SD5585

SD5598

SD5599

SD5624

SD5625

SD5510 SD5550 SD5590 SD5630



SD5516

SD5517

SD5556

SD5557

SD5596

SD5597

SD5636

SD5637



SD5638

SD5639



SD8340

SD8341



SD5520 SD5560 SD5600 SD5640 

SD5521 SD5561 SD5601 SD5641





SD8350

SD8351















SD8360

SD8361















SD8370

SD8371





















Maximum speed



Bias speed

Acceleration time

Deceleration time









High

Speed I/O

Parameter



R/W Reference

R/W

*1

Page 47

R/W

*1

R

R/W

R/W

R/W

R/W

R/W

Page 47

Page 44

Page 61

Page 44

Page 45

Page 45

Page 45

5



81



Drive contact

DRVI/DDRVI (s1) (s2) (d1) (d2)

Speed

Acceleration time

Maximum speed

Deceleration time

Command speed (s2)

Bias speed

Positioning address (s1)

Bias speed

Time

Drive contact


SM8029

Instruction execution complete flag (d2) *1



*2

Basic operation


1.


2.

After the speed has reached the specified speed, the operation will be performed in the specified speed.

3.

Deceleration starts from near the target position.

4.

After movement to the specified positioning address, pulse output is stopped.


■When FX5 operand is specified

(1)

For (s1), specify the relative positioning address. (Page 46 Positioning address) Set to a value -2147483647 to

+2147483647 in pulse.

•

•

DRVI : -32768 to +32767 (User system unit)

DDRVI : -2147483648 to +2147483647 (User system unit)

(2) For (s2), specify the command speed. Set to a value 1 pps to 200 Kpps in pulse.

•

•

DRVI : 1 to 65535 (User system unit)

DDRVI : 1 to 2147483647 (User system unit)

(3) For (d1), specify an axis number (K1 to K4) for which pulses are output.


(4)


Complete flag)

•


•


82




(1) For (s1), specify the relative positioning address. Set to a value -2147483647 to +2147483647 in pulse.

•

•

DRVI : -32768 to +32767 (User system unit)

DDRVI : -2147483648 to +2147483647 (User system unit)


•

DRVI : 1 to 65535 (User system unit)

•

DDRVI : 1 to 2147483647 (User system unit)



(4)




Precautions

Set the number of output pulses per DRVI/DDRVI instruction execution to 2147483647 or lower. An error occurs if the number of pulses exceeds 2147483648.



The user-specified complete flags are valid only when specified using FX5 operand.

ON condition

FX3 compatible


(SM8029)



(SM8329)



*1



*2

• Limit of the moving direction




• Deceleration stop after the command speed is changed to 0

ON

 OFF condition




(d2)


(d2)+1

From when pulse output of the specified positioning address is completed to when the ON










*2






The flag remains on until either of the following is performed.




*2 When remaining distance operation enabled is turned on, abnormal end flag will not turn on.

5



83

Program example

This program example illustrates a reversed operation that is performed by changing the positioning address at the current position + 70000 during relative positioning operation (axis 1).

Speed

Forward direction

Acceleration time

(500 ms)

15000 pps

(Maximum speed)

10000 pps

1000 pps

(Bias speed)

1000 pps

(Bias speed)

Current position

Current position

+10000

Current position

+70000

Current position

+100000

Positioning address

10000 pps

A reversed operation is performed after deceleration because the position has already passed through the target address + 10000.

15000 pps

(Maximum speed)

Reverse direction

Positioning address change input X15

Deceleration time (500 ms)

Setting data


Item


Pulse Output Mode




Axis 1

1: PULSE/SIGN

Y0

Y4



Unit Setting







2000 pulse

1000 pulse

1:

 Single

Item



Max. Speed

Bias Speed

Axis 1

0: Composite Speed

15000 pps

1000 pps

Acceleration Time

Deceleration Time

500 ms

500 ms




Disabled

0: Invalid


■OPR Parameter


0: Positive Logic

0: Invalid

84



Program example

Initial process

SM402

Initial pulse


X11


X12

Forward limit input

X13

Reverse limit input

X14


Drive DDRVI instruction

X17 SM5500 M1

Drive contact

SM5500


M10

Normally end


SM5500

DDRVI instruction activation


Positioning address change

X15

Positioning address change input

Stop event

X10

M2

Abnormal end

Drive DDRVI instruction in axis 1

DDRVI D300

Initial positioning address of DDRVI instruction

DMOV K100000 D300

Positioning address to change

DMOV K10000 D302

K10000 K1 M1

M10

DDRVI instruction activation

RST

RST

DMOVP D302

M1

M2

D300

5

SET

SET

SET

SET

SET

SM5628


SM5644


SM5660

Forward limit axis1

SM5676

Reverse limit axis1

SM8034




85

5.5

Absolute Positioning

This instruction performs 1-speed positioning in the absolute method (positioning operation with an absolute address).

Specify the distance (absolute address) from the origin to the target position. In this case, any position can be the start point

(current position).

Address 100

Address 100

Address 150

Start point

End point

Address 300

Address 100

Address 150

Address 100

0

Origin

100

Point A

150

Point B

DRVA/DDRVA

This instruction executes 1-speed positioning by absolute address.

Ladder ST

ENO:=DRVA(EN,s1,s2,d1,d2);

ENO:=DDRVA(EN,s1,s2,d1,d2);

(s1) (s2) (d1) (d2)

300

Point C

FBD/LD

EN s1 s2 d1

ENO d2

86

Setting data

■Description, range, data type (DRVA)

• FX5 operand


(s1)

(s2)


*1


*2

Range

-32768 to +32767

(User system unit)

1 to 65535

(User system unit)

K1 to 4

Data type



ANY16


(d1) Axis number from which pulses are output 16-bit unsigned binary ANY_ELEMENTARY

(WORD)






(s1)

(s2)

(d1)

Range


*1


*2

-32768 to +32767

(User system unit)

1 to 65535

(User system unit)


Data type



ANY16


Bit ANY_ELEMENTARY

(BOOL)

ANY_BOOL (d2) Bit device number from which rotation direction is output



Bit




5.5 Absolute Positioning

■Description, range, data type (DDRVA)

• FX5 operand


(s1)

(s2)


*1


*2


Range

-2147483648 to +2147483647

(User system unit)

1 to 2147483647

(User system unit)

K1 to 4



Data type




ANY32

ANY32


(WORD)




(s1)

(s2)

(d1)

Range


*1


*2

-2147483648 to +2147483647

(User system unit)

1 to 2147483647

(User system unit)


Data type



Bit



ANY32

ANY32

ANY_ELEMENTARY

(BOOL)

ANY_BOOL



■Available device (DRVA/DDRVA)

• FX5 operand

Operand Bit

(s1)

(s2)

X, Y, M, L, SM,

F, B, SB, S



(d1)

(d2)

*2













U\G

T, ST,

C, LC

 







Word

T, ST, C, D,

W, SD, SW, R









*3









U\G

Z







*1





*1

 

 



*1



*1














Operand Bit

X, Y, M, L, SM,

F, B, SB, S

(s1)

(s2)

(d1)

(d2)

*2







*4



*5

U\G

T, ST,

C, LC

















Word

T, ST, C, D,

W, SD, SW, R









*3









U\G

Z







*1





*1

 

 



*1



*1





























Constant

K, H E $

Others

(DX)

  

  

  

  

Constant

K, H E $

Others

(DX)

  

  

  

  

*1 Only available for DDRVA instruction.





Processing details

This instruction executes 1-speed positioning by absolute address drive. The target positioning address is specified in the absolute method, in which positioning is performed with the target position specified based on the origin (absolute address).

5



87

Related devices


Special relays

FX5 dedicated


FX3 compatible


Name

















SM8029

SM8329



















Forward limit

Reverse limit










SM5532 SM5533 SM5534 SM5535

   






SM5628 SM5629 SM5630 SM5631

   







SM5660 SM5661 SM5662 SM5663



SM5676 SM5677 SM5678 SM5679



SM5772 SM5773 SM5774 SM5775











High

Speed I/O

Parameter


R/W Reference

R

R

R

R

R/W

R/W

R/W

R/W

R/W

R/W

Page 62

Page 61

Page 60

Page 61

Page 48

Page 49

Page 50

Page 50

Page 40




Name

SD5500

SD5501

SD5502

SD5503

SD5540

SD5541

SD5542

SD5543

SD5580

SD5581

SD5582

SD5583

SD5620

SD5621

SD5622

SD5623



SD5504

SD5505

SD5518

SD5519

SD5544

SD5545

SD5558

SD5559

SD5584

SD5585

SD5598

SD5599

SD5624

SD5625

SD5510 SD5550 SD5590 SD5630



SD5516

SD5517

SD5556

SD5557

SD5596

SD5597

SD5636

SD5637



SD5638

SD5639



SD8340

SD8341



SD5520 SD5560 SD5600 SD5640 

SD5521 SD5561 SD5601 SD5641





SD8350

SD8351















SD8360

SD8361















SD8370

SD8371





















Maximum speed



Bias speed

Acceleration time

Deceleration time









High

Speed I/O

Parameter



R/W Reference

R/W

*1

Page 47

R/W

*1

Page 47

R

R/W

R/W

R/W

R/W

R/W

Page 44

Page 61

Page 44

Page 45

Page 45

Page 45

88





Drive contact

DRVA/DDRVA (s1) (s2) (d1) (d2)

Speed

Acceleration time

Maximum speed

Deceleration time

Command speed (s2)

Bias speed


Bias speed

Time

Drive contact


SM8029




*2

Basic operation


1.


2.


3.


4.

At the specified positioning address, pulse output is stopped.



(1)

For (s1), specify the absolute positioning address. (Page 46 Positioning address)

Set to a value -2147483648 to +2147483647 in pulse. In addition, set the number of output pulses per positioning instruction execution to 2147483647 or lower.

•

•

DRVA : -32768 to +32767 (User system unit)

DDRVA : -2147483648 to +2147483647 (User system unit)


•

•

DRVA : 1 to 65535 (User system unit)

DDRVA : 1 to 2147483647 (User system unit)



5



89

(4)


Complete flag)

•


•



(1) For (s1), specify the absolute positioning address.

Set to a value -2147483648 to +2147483647 in pulse. In addition, set the number of output pulses per positioning instruction execution to 2147483647 or lower.

•


• DDRVA : -2147483648 to +2147483647 (User system unit)


•


• DDRVA : 1 to 2147483647 (User system unit)



(4)




Precautions

Set the number of output pulses per DRVA/DDRVA instruction execution to 2147483647 or lower. An error occurs if the number of pulses exceeds 2147483648.

Operation of the abnormal end flag



ON condition

ON

 OFF condition

FX3 compatible


(SM8029)



(SM8329)



*1



*2









(d2)


(d2)+1











*2










*2 When remaining distance operation enabled is turned on, abnormal end flag will not turn on.

90



Program example

The following is a program example of absolute positioning (axis 1). If current address is a positive value, positioning operation would output in the reverse direction.

Speed

Forward direction

Acceleration time

(500 ms)

Deceleration time

(500 ms)

15000 pps

(Maximum speed)

10000 pps

1000 pps

(Bias speed)

Current address

(negative value)

Setting data



Positioning parameter (high speed I/O parameter)

Item


Pulse Output Mode




Axis 1

1: PULSE/SIGN

Y0

Y4



Unit Setting







2000 pulse

1000 pulse

1:

 Single


Item



Max. Speed

Axis 1

0: Composite Speed

15000 pps

Bias Speed

Acceleration Time

1000 pps

500 ms

Deceleration Time


Disabled

500 ms



0: Invalid


■OPR Parameter


0: Positive Logic

0: Invalid

Positioning address

5



91

Program example


X11


X12

Forward limit input

X13

Reverse limit input

X14


Drive DDRVA instruction

X17 SM5500 M1

Drive contact

SM5500


M10

Normally end


SM5500

DDRVA instruction activation


Stop event

X10

M2

Abnormal end

Drive DDRVA instruction in axis 1

DDRVA K0 K10000 K1 M1

M10

DDRVA instruction activation

RST

RST

M1

M2

SET

SET

SET

SET

SET

SM5628


SM5644


SM5660

Forward limit axis1

SM5676

Reverse limit axis1

SM8034


92



5.6

Interrupt 1-Speed Positioning

The positioning function uses the DVIT/DDVIT instruction to perform one-speed interrupt constant quantity feed.

With this instruction, interrupt signals can be controlled through user programs.

DVIT/DDVIT

This instruction executes one-speed interrupt constant quantity feed.

Ladder ST

ENO:=DVIT(EN,s1,s2,d1,d2);

ENO:=DDVIT(EN,s1,s2,d1,d2);

(s1) (s2) (d1) (d2)

FBD/LD

EN s1 s2 d1

ENO d2

Setting data

■Description, range, data type (DVIT)

• FX5 operand


(s1)

(s2)


*1


*2

Range

-32768 to +32767

(User system unit)

1 to 65535

(User system unit)

K1 to 4

Data type



ANY16



(d2) Bit device number of the instruction execution complete flag and abnormal end flag





(s1)

(s2)

(d1)

Range


*1


*2

-32768 to +32767

(User system unit)

1 to 65535

(User system unit)



(WORD)

Bit ANY_BOOL

Data type



ANY16


Bit ANY_ELEMENTARY

(BOOL)




5


5.6 Interrupt 1-Speed Positioning

93

■Description, range, data type (DDVIT)

• FX5 operand


(s1)

(s2)


*1


*2


Range

-2147483648 to +2147483647

(User system unit)

1 to 2147483647

(User system unit)

K1 to 4



Data type




ANY32

ANY32


(WORD)




(s1)

(s2)

(d1)

Range


*1


*2

-2147483648 to +2147483647

(User system unit)

1 to 2147483647

(User system unit)


Data type



Bit



ANY32

ANY32

ANY_ELEMENTARY

(BOOL)

ANY_BOOL



■Available device (DVIT/DDVIT)

• FX5 operand

Operand Bit

(s1)

(s2)

X, Y, M, L, SM,

F, B, SB, S



(d1)

(d2)

*1













U\G

T, ST,

C, LC

 







Word

T, ST, C, D,

W, SD, SW, R









*2









U\G

Z



 

 

 

 


















(s1)

(s2)

(d1)

(d2)

Operand Bit

X, Y, M, L, SM,

F, B, SB, S







*3



*4

U\G

T, ST,

C, LC

















Word

T, ST, C, D,

W, SD, SW, R









*2









U\G

Z



 

 

 

 

































Constant

K, H E $

Constant

K, H E $

Others

(DX)

  

  

  

  

Others

(DX)

  

  

  

  





Processing details

This instruction executes one-speed interrupt constant quantity feed. From the point at which an interrupt input is detected, operation to the specified positioning address is performed at the specified speed.

94



Related devices


Special relays

FX5 dedicated


FX3 compatible


Name

















SM8029

SM8329



















Forward limit

Reverse limit










SM5532 SM5533 SM5534 SM5535

   






SM5628 SM5629 SM5630 SM5631

   







SM5660 SM5661 SM5662 SM5663



SM5676 SM5677 SM5678 SM5679



SM5772 SM5773 SM5774 SM5775











High

Speed I/O

Parameter


R/W Reference

R

R

R

R

R/W

R/W

R/W

R/W

R/W

R/W

Page 62

Page 61

Page 60

Page 61

Page 48

Page 49

Page 50

Page 50

Page 40




Name

SD5500

SD5501

SD5502

SD5503

SD5540

SD5541

SD5542

SD5543

SD5580

SD5581

SD5582

SD5583

SD5620

SD5621

SD5622

SD5623



SD5504

SD5505

SD5518

SD5519

SD5544

SD5545

SD5558

SD5559

SD5584

SD5585

SD5598

SD5599

SD5624

SD5625

SD5510 SD5550 SD5590 SD5630



SD5516

SD5517

SD5556

SD5557

SD5596

SD5597

SD5636

SD5637



SD5638

SD5639



SD8340

SD8341



SD5520 SD5560 SD5600 SD5640 

SD5521 SD5561 SD5601 SD5641





SD8350

SD8351















SD8360

SD8361















SD8370

SD8371





















Maximum speed



Bias speed

Acceleration time

Deceleration time









High

Speed I/O

Parameter



R/W Reference

R/W

*1

Page 47

R/W

*1

Page 47

R

R/W

R/W

R/W

R/W

R/W

Page 44

Page 61

Page 44

Page 45

Page 45

Page 45

5



95



Drive contact

DVIT/DDVIT (s1) (s2) (d1) (d2)

Speed

Acceleration time

Maximum speed

Deceleration time

Command speed (s2)

Bias speed


Bias speed

Time

Drive contact



SM8029

Instruction execution complete flag (d2)

*1



*2

Basic operation


1.


2.


3.

From the point at which the interrupt input signal 1 is detected, operation for the specified positioning address is

performed. (Page 48 Interrupt Input Signal 1)

4.


5.

At the specified positioning address, pulse output is stopped.



(1)

For (s1), specify the positioning address after the interrupt input signal 1 is detected. (Page 46 Positioning address) Set to a value -2147483647 to +2147483647 in pulse.

•

DVIT : -32768 to +32767 (User system unit)

•

DDVIT : -2147483648 to +2147483647 (User system unit)


•

DVIT : 1 to 65535 (User system unit)

•

DDVIT : 1 to 2147483647 (User system unit)



96



(4)


Complete flag)

•


•



(1) For (s1), specify the positioning address after the interrupt input signal 1 is detected. Set to a value -2147483647 to

+2147483647 in pulse.

•


• DDRVA : -2147483648 to +2147483647 (User system unit)


•


• DDRVA : 1 to 2147483647 (User system unit)



(4)




Interrupt input signal 1

After the interrupt input signal 1 is detected, pulses equivalent to the specified positioning address specified in (s1) are output starting from the detection point. Deceleration stop starts from point that deceleration must be performed.

Precautions

• When the interrupt input signal 1 is disabled, the DVIT/DDVIT signal cannot be used.

• If the interrupt input signal 1 is not detected, pulse output at the command speed of (s2) continues until the signal is detected.

• If the total of the pulses that have already been output and pulses to be output after an interrupt exceeds 2147483648 when the interrupt input signal 1 is detected, an error occurs. From the point at which the interrupt input signal 1 is detected, deceleration stop is performed.




ON condition

FX3 compatible


(SM8029)



(SM8329)



*1










(d2)




(d2)+1














5



97

FX3 compatible


(SM8029)


(SM8329)



(d2)


(d2)+1

ON

 OFF condition

When the drive contact is turned off The flag remains on until either of the following is performed.




Program example

The following is a program example of interrupt 1-speed positioning (axis 1).

Speed

15000 pps

(Maximum speed)

Acceleration time

(500 ms)

Deceleration time

(1000 ms)

10000 pps

1000 pps

(Bias speed)

Positioning address after the interrupt

(30000 pulse)


X0 (positive logic)

Setting data




Item


Pulse Output Mode




Axis 1

1: PULSE/SIGN

Y0

Y4



Unit Setting







2000 pulse

1000 pulse

1:

 Single

Item Axis 1



Max. Speed

Bias Speed

Acceleration Time

0: Composite Speed

15000 pps

1000 pps

500 ms

Deceleration Time


1000 ms



Disabled

1: Valid

Interrupt Input Signal 1 Device No.



■OPR Parameter


X0

0: Positive Logic

0: Positive Logic

0: Invalid

Time

98



Program example


X11


X12

Forward limit input

X13

Reverse limit input

X14


Drive DDVIT instruction

X17 SM5500 M1

Drive contact

SM5500


M10

Normally end


SM5500

DDVIT instruction activation


Stop event

X10

M2

Abnormal end

Drive DDVIT instruction in axis 1

DDVIT K30000 K10000 K1 M1

M10

DDVIT instruction activation

RST

RST

M1

M2

SET

SET

SET

SET

SET

SM5628


SM5644


SM5660

Forward limit axis1

SM5676

Reverse limit axis1

SM8034


5



99

Caution

• When 0 is set for the positioning address (s1) at start of the instruction, the operation ends with an error.

• If the positioning address (s1) is changed to 0 before the interrupt input signal 1 is detected, the positioning operation continues and ends normally after the input interrupt occurs and two pulses are output.

• If the positioning address (s1) is changed to 0 after the interrupt input signal 1 is detected, the operation decelerates to a stop, the output direction is reversed, and the operation continues before ending normally at the positioning address where the input interrupt occurred.

• When transfer time to the positioning address is shorter than the time required for deceleration stop (the value set in (s1) is small), the operation immediately stops at the positioning address. Note that the immediate stop may damage the machine because the motor stops immediately.

Speed

Moving time

Command speed

Positioning address

Bias speed

Time

Time required for deceleration


• When the interrupt input signal 1 is detected during acceleration, the operation differs depending on the positioning address value (s1) as shown below.

(1) When the positioning address < the number of pulses required for deceleration from the current speed

After the interrupt input signal 1 is turned on, deceleration immediately starts, and then the operation immediately stops when the positioning address is reached. Note that the immediate stop may damage the machine because the motor stops immediately.

(2) When the number of pulses required for deceleration from the current speed

 positioning address < the number of pulses required for acceleration/deceleration from the current speed

The speed is increased until the position at which the remaining number of pulses becomes the same as that required for deceleration. Then, deceleration stop is performed.

(3) When the number of pulses required for acceleration/deceleration from the current speed

 positioning address

The speed is increased to the command speed (s2). Then, deceleration stop is performed.

Speed

Command speed

Time


(1) (2) (3)

100



5.7

Variable Speed Operation

The positioning function uses the variable speed pulse output instruction equipped with the rotation direction designation function to perform variable speed operation.

This instruction can change the speed using the acceleration/deceleration speed.

PLSV/DPLSV

This instruction outputs variable speed pulses with an assigned rotation direction output.

Ladder ST

ENO:=PLSV(EN,s,d1,d2);

ENO:=DPLSV(EN,s,d1,d2);

(s) (d1) (d2)

FBD/LD

EN s d1

ENO d2

Setting data

■Description, range, data type (PLSV)

• FX5 operand



*1

Range

-32768 to +32767

(User system unit)

K1 to 4

Data type



ANY16







(s)

(d1)


*1

Range

-32768 to +32767

(User system unit)



(WORD)

Bit ANY_BOOL

Data type



ANY16

(d2) Bit device number from which rotation direction is output 

Bit

Bit

ANY_ELEMENTARY

(BOOL)

ANY_BOOL


■Description, range, data type (DPLSV)

• FX5 operand



*1


Range

-2147483648 to +2147483647

(User system unit)

K1 to 4

Data type



ANY32





(WORD)

Bit ANY_BOOL



(s)

(d1)


*1

Range

-2147483648 to +2147483647

(User system unit)


Data type


Bit


ANY32

ANY_ELEMENTARY

(BOOL)



5


5.7 Variable Speed Operation

101

■Available device (PLSV/DPLSV)

• FX5 operand

Operand Bit

X, Y, M, L, SM,

F, B, SB, S



(s)

(d1)

(d2)

*2





U\G

T, ST,

C, LC

 









Word

T, ST, C, D,

W, SD, SW, R







*3







U\G

Z







*1

 

 



*1












Operand Bit

X, Y, M, L, SM,

F, B, SB, S

(s)

(d1)

(d2)





*4



*5

U\G

T, ST,

C, LC













Word

T, ST, C, D,

W, SD, SW, R







*3







U\G

Z







*1

 

 



*1























Constant

K, H E $

  

  

  

Constant

K, H E $

Others

(DX)

Others

(DX)

  

  

  

*1 Only available for DPLSV instruction.





Processing details

This instruction outputs variable speed pulses with an assigned rotation direction output.

Related devices


Special relays

FX5 dedicated


FX3 compatible


Name

















SM8029

SM8329









SM5532 SM5533 SM5534 SM5535

   






SM5628 SM5629 SM5630 SM5631 

SM5644 SM5645 SM5646 SM5647 















SM5660

SM5676

SM5772

SM5661

SM5677

SM5773

SM5662

SM5678

SM5774

SM5663

SM5679

SM5775

























Pulse output stop command 




Forward limit

Reverse limit








High

Speed I/O

Parameter


R/W Reference

R

R

R

R

R/W

R/W

R/W

R/W

R/W

R/W

Page 62

Page 61

Page 60

Page 61

Page 48

Page 49

Page 50

Page 50

Page 40

102






Name

SD5500

SD5501

SD5540

SD5541

SD5580

SD5581

SD5620

SD5621



SD5502

SD5503

SD5504

SD5505

SD5542

SD5543

SD5544

SD5545

SD5582

SD5583

SD5584

SD5585

SD5622

SD5623

SD5624

SD5625

SD5510 SD5550 SD5590 SD5630 

SD8340

SD8341



SD5516

SD5517

SD5556

SD5557

SD5596

SD5597

SD5636

SD5637



SD5518

SD5519

SD5558

SD5559

SD5598

SD5599

SD5638

SD5639



SD5520 SD5560 SD5600 SD5640



SD5521 SD5561 SD5601 SD5641 



SD8350

SD8351



SD8360

SD8361



























SD8370

SD8371

















Drive contact

PLSV/DPLSV (s) (d1) (d2)






Positioning error (error code) 

Maximum speed 

Bias speed

Acceleration time

Deceleration time









High

Speed I/O

Parameter



R/W Reference

R/W

*1

Page 47

R/W

*1

Page 47

R

R/W

R/W

R/W

R/W

R/W

Page 44

Page 61

Page 44

Page 45

Page 45

Page 45

Acceleration time Deceleration time

Speed

Maximum speed

5

Bias speed

Command speed (s)

Bias speed

Time

Command speed

(s)

Drive contact

1 2 3 4 5


*2


*2 Remains on until it is turned off using a program or engineering tool or the positioning instruction is reactivated.



103

Basic operation


1.


2.


3.

If the command speed is changed during operation, the speed is increased/decreased to the specified speed and operation continues.

4.

If the drive contact is turned off, the speed is decreased and pulse output is stopped.



(1) For (s), specify the command speed. Set to a value -200 Kpps to +200Kpps in pulse.

•

PLSV : -32768 to +32767 (User system unit)

• DPLSV : -2147483648 to +2147483647 (User system unit)



(3)


Complete flag)

•

•

(d2)

(d2)+1

: Instruction execution complete flag

: Instruction execution abnormal end flag


(1) For (s), specify the command speed. Set to a value -200 Kpps to +200Kpps in pulse.

•

PLSV : -32768 to +32767 (User system unit)

• DPLSV : -2147483648 to +2147483647 (User system unit)



(3)




Command speed

• If the command speed is changed to 0 during operation, the operation does not end with errors but is decelerated to a stop.

As long as the drive contact is on, changing the command speed restarts pulse output.

• When 0 is set for the command speed at start of the instruction, the operation ends with an error.

Acceleration/deceleration Operation

• When acceleration time is set to 0, the speed is increased to the command speed immediately without acceleration operation.

• When deceleration time is set to 0, no deceleration operation is performed and operation immediately stops when the drive contact is turned off.

104






ON condition

FX3 compatible


(SM8029)

From when deceleration stop is performed by the pulse decelerate and stop command to when the ON



(SM8329)



*1





• When 0 is set for the command speed at start of the instruction

ON

 OFF condition



Positioning operation complete flag

(d2)

Positioning operation abnormal end flag

(d2)+1

From when the drive contact is turned off or when deceleration stop is performed by the pulse decelerate and stop command to when the ON












• When 0 is set for the command speed at start of a instruction





5



105

Program example

The following is a program example of variable speed operation (axis 1).

Speed

Acceleration time

(500 ms)

15000 pps

(Maximum speed)

10000 pps

7000 pps

Deceleration time

(500 ms)

1000 pps

(Bias speed)

Current position


(7000 pps)


(15000 pps)

Pulse decelerate and stop command axis 1

(SM5644)

Setting data




Item


Pulse Output Mode




Axis 1

1: PULSE/SIGN

Y0

Y4



Unit Setting







2000 pulse

1000 pulse

1:

 Single

Item



Max. Speed

Axis 1

0: Composite Speed

15000 pps

Bias Speed

Acceleration Time

1000 pps

500 ms

Deceleration Time


Disabled

500 ms



0: Invalid


■OPR Parameter


0: Positive Logic

0: Invalid

Time

106



Program example

Initial process

SM402

Initial pulse

Initial positioning address of DPLSV instruction

DMOV K10000 D300

Command speed 1 to change

DMOV K7000


DMOV K15000

D302

D304

Drive DPLSV instruction

X17 SM5500 M1 M2 M10

Drive contact

SM5500


M10

Normally end

Abnormal end

Drive DPLSV instruction in axis 1

DPLSV D300 K1 M1

DPLSV instruction activation


SM5500

DPLSV instruction activation

RST M1


Command speed change

X15

RST M2

DMOV D302 D300

Command speed 1 change input

X16

DMOV D304 D300


Stop event

X10


X11


X12

SET

SET

SM5628


SM5644


Forward limit input

X13

SET SM5660

Forward limit axis1

Reverse limit input

X14

SET SM5676

Reverse limit axis1


Caution

SET SM8034


• If the speed is changed changing and thus, the sign of the command speed during operation, pulse output is started in the reversed direction after deceleration stop. The waiting time for the pulse output after deceleration stop is "1 ms + scan time". When the motor cannot be stopped during the waiting time, design a program so that sufficient waiting time is secured and then the output is restarted after deceleration stop by setting the command speed to 0 once.

• When 0 is set for the command speed at start of the instruction, the operation ends with an error.

5



107

5.8

Single-table Operation

This instruction executes the control method of one specified table set in the data table with GX Works3.

TBL

This instruction executes one table specified in the table data set in GX Works3.

Ladder ST

ENO:=TBL(EN,n,d);

(d) (n)

FBD/LD

EN n d

ENO

Setting data

■Description, range, data type

• FX5 operand


(d) Axis number from which pulses are output

Range

K1 to 4



(WORD)

16-bit unsigned binary ANY16_U (n) Table number to be executed



(d) Bit device number (Y) from which pulses are output

(n) Table number to be executed

1 to 100

*1

Range

0 to 3

1 to 100

*1


Bit ANY_ELEMENTARY

(BOOL)


*1 1 to 32 when the positioning table data is not set to use device

■Available device

• FX5 operand

Operand Bit

X, Y, M, L, SM,

F, B, SB, S

(d)

(n)





U\G

T, ST,

C, LC









Word

T, ST, C, D,

W, SD, SW, R





U\G

Z







 

 










Operand Bit

(d)

(n)

X, Y, M, L, SM,

F, B, SB, S



*1



U\G

T, ST,

C, LC









Word

T, ST, C, D,

W, SD, SW, R





U\G

Z







 

 










Constant

K, H E $









Others

(DX)

  

  

Constant

K, H E $

Others

(DX)

  

  

Processing details

This instruction executes one table specified in the table data set in GX Works3.

For details on the table setting method and others, refer to Page 134 TABLE OPERATION.

108


5.8 Single-table Operation

Related devices

The following lists the related special devices. The devices other than the following depend on the table control method.

FX5 dedicated

Axis 1 Axis 2

SD5506

SD5511

SD5546

SD5551

Axis 3

SD5586

SD5591

Axis 4

SD5626

SD5631

Name



High Speed I/O

Parameter





R/W Reference

R

R/W

Page 60

Page 60



Drive contact

TBL (d) (n)



(1) For (d), specify an axis number (K1 to K4) for which pulses are output.


(2)

For (n), specify the table number (1 to 100

*1

) that is executed in the axis specified in (d).



(1) For (d), specify the pulse output number in the range of Y0 to Y3.


(2)

For (n), specify the table number (1 to 100

*1

) that is executed in the axis specified in (d).


Relation with the DRVTBL and DRVMUL instructions

• With the TBL instruction, only the specified table can be activated. Only the complete flag common with other instructions operates.

• With one DRVTBL instruction, multiple tables can be activated. In addition, the table execution method can be selected from the stepping operation and continuous operation.

• With the DRVMUL instruction, tables for up to four axes can be activated at the same time. In addition, by indirectly specifying table numbers, continuous operation can be performed.

• For the DRVTBL and DRVMUL instructions, user-specified complete flags can be specified.


The operation timing of the complete flags depends on the table control method. (Page 62 Complete flag)

5



109

Program example

The following are program examples of using each table control method.

Table transition variable speed operation

The following is a program example of control method [5: Table Transition Variable Speed Operation].

Speed

15000 pps

(Maximum speed)

Acceleration time

(500 ms)

Deceleration time

(500 ms)

10000 pps

7000 pps

1000 pps

(Bias speed)

Time

Current position


(7000 pps)


(15000 pps)


X2 (positive logic)

Instruction execution complete flag (SM8029)

Dwell time

(100 ms)

Setting data




Item


Pulse Output Mode




Axis 1

1: PULSE/SIGN

Y0

Y4



Unit Setting







2000 pulse

1000 pulse

1:

 Single



Axis #1 Positioning Data (the positioning table data is set to use device)

NO. Device Control Method Command Speed

1 D300 5: Table Transition Variable Speed Operation

Item



Max. Speed

Bias Speed

Axis 1

0: Composite Speed

15000 pps

1000 pps

Acceleration Time

Deceleration Time

500 ms

500 ms




Disabled

0: Invalid


■OPR Parameter


0: Positive Logic

0: Invalid

10000 pps

Dwell Time

100 ms

Interrupt Input

Signal 2 Device No.

X2

110



Program example

Initial process

SM402

Initial pulse

Drive TBL instruction

X17 SM5500 M1

Drive contact

SM5500


M10

Normally end


TBL instruction activation

M2

Abnormal end

SM8029


SM8329


Table 1 command speed (D302) change

X15


X16


Stop event

X10


X11


X12

Forward limit input

X13

Reverse limit input

X14



DMOV K7000


DMOV K15000

D900

D902

Drive TBL instruction in axis 1

TBL K1

M10


K1

M1

5

M2

DMOVP D900 D302

DMOVP D902 D302

SET

SET

SET

SET

SET

SM5628


SM5644


SM5660

Forward limit axis1

SM5676

Reverse limit axis1

SM8034




111

Interrupt stop (relative address specification)

The following is a program example of control method [6: Interrupt Stop (Relative Address Specification)].

Speed

15000 pps

(Maximum speed)

Acceleration time

(500 ms)

Deceleration time

(500 ms)

10000 pps

1000 pps

(Bias speed)

Current position Current position

+100000


X1 (positive logic)

Instruction execution complete flag (SM8029)

Setting data




Item


Pulse Output Mode




Axis 1

1: PULSE/SIGN

Y0

Y4



Unit Setting







2000 pulse

1000 pulse

1:

 Single

Dwell time

(100 ms)

Item Axis 1


Interpolation Speed Specified Method 0: Composite Speed

Max. Speed

Bias Speed

Acceleration Time

Deceleration Time

15000 pps

1000 pps

500 ms

500 ms




Disabled

1: Valid




■OPR Parameter


X1

0: Positive Logic

0: Positive Logic

0: Invalid

 Axis #1 Positioning Data (the positioning table data is set to use device)

NO. Device

1 D300

Control Method


Positioning Address Command Speed

100000 pulse 10000 pps

Dwell Time

100 ms

Positioning address

112



Program example


X17 SM5500 M1

Drive contact

SM5500


M10

Normally end



M2

Abnormal end

SM8029


SM8329


For the stop event, refer toPage 110 Table transition variable speed operation.


TBL K1

M10


K1

M1

M2

Simple linear interpolation (relative address specification)

The following is a program example of control method [20: Interpolation Operation (Relative Address Specification)] and [21:

Interpolation Operation (Relative Address Specification Target Axis)].

Address of axis 2

(counterpart axis)

Stop address (axis 1, axis 2) = (50000, 20000)

20000

5

Start address (axis 1, axis 2) = (0, 0)



Axis 1 (reference axis)

Speed

15000 pps

(Maximum speed)

Acceleration time

(500 ms)

10000 pps

Number of output pulses: 50000

1000 pps

(Bias speed)

50000

Deceleration time

(500 ms)

Address of axis 1

(reference axis)

Time



113



Axis 2 (counterpart axis)

Maximum speed

(= maximum speed of reference axis)

Command speed

(the CPU module calculates speed)

Speed

Acceleration time

(= acceleration time of reference axis)

Deceleration time

(= deceleration time of reference axis)

Number of output pulses: 20000

Bias speed

(the CPU module calculates speed)

Setting data




Item Axis 1


Pulse Output Mode




1: PULSE/SIGN

Y0

Y4

Unit Setting






Max. Speed

0: Current Address Increment with Forward Run Pulse

Output


2000 pulse

1000 pulse

1:

 Single

1: Reference Axis Speed

15000 pps

Bias Speed

Acceleration Time

1000 pps

500 ms

Deceleration Time 500 ms



0: Invalid Interrupt Input Signal 1 Enabled/

Disabled

Interrupt Input Signal 2 Logic 0: Positive Logic

■OPR Parameter

OPR Enabled/Disabled 0: Invalid

Axis 2

Time

1: PULSE/SIGN

Y1

Y5

0: Current Address Increment with Forward Run Pulse

Output


2000 pulse

1000 pulse

1:

 Single

0: Composite Speed

100000 pps

0 pps

100 ms

100 ms

0: Invalid

0: Invalid

0: Positive Logic

0: Invalid



Axis #1 Positioning Data

NO. Device Control Method Dwell Time

1



20: Interpolation Operation (Relative Address

Specification)

Axis to be

Interpolated

Axis 2

Specification

Positioning

Address

50000 pulse

Command

Speed

10000 pps 100 ms




NO. Device

1



Control Method

21: Interpolation Operation (Relative Address

Specification Target Axis)

Positioning Address

20000 pulse

114



Program example


X17 SM5500 M1

Drive contact

SM5500


M10

Normally end



M2

Abnormal end

SM8029


SM8329


Stop event axis 1 (reference axis)

*1


TBL K1

M10


K1

M1

M2



Forward limit input



Forward limit axis1

Reverse limit input

Stop event axis 2 (counterpart axis) *1

X20


X21


X22

Forward limit input

X23

Reverse limit input

Stop event common

X14


*1 When stop event, is detected in either of the reference axis or counterpart axis, both the axes are stop.

SET

SET

SET

SET

SET

Reverse limit axis1

SM5629


SM5645


SM5661

Forward limit axis2

SM5677

Reverse limit axis2

SM8034


5



115

5.9

Multiple-table Operation

This instruction executes the control method of multiple specified tables set in the table data with GX Works3.

DRVTBL

This instruction executes the table data set in GX Works3 in continuous operation or stepping operation.

Ladder ST

ENO:=DRVTBL(EN,n1,n2,n3,d1,d2);

FBD/LD

(d1) (n1) (n2) (n3) (d2)

EN n1 n2 n3 d1

ENO d2

Setting data



(d1)

(n1)

(n2)

(n3)

(d2)


Head table number to be executed

Last table number to be executed

Table execution method


Range

K1 to 4

1 to 100

*1

1 to 100

*1

0, 1








Bit ANYBIT_ARRAY

(Number of elements:2)



Operand Bit

X, Y, M, L, SM,

F, B, SB, S

(d1)

(n1)

(n2)

(n3)

(d2)











U\G

T, ST,

C, LC





















Word

T, ST, C, D,

W, SD, SW, R











*1











U\G

Z



 

 

 

 

 































Constant

K, H E $

Others

(DX)

  

  

  

  

  


Processing details

With one DRVTBL instruction, the table data set in GX Works3 can be executed in the continuous operation or stepping operation.


Related devices


Special relays

FX5 dedicated

Axis 1

SM5580

Axis 2

SM5581

Axis 3

SM5582

R/W: Read or Write, : Not supported

Axis 4

SM5583

Name

Table shift command

High Speed I/O

Parameter



R/W Reference

R/W

Page 59

116


5.9 Multiple-table Operation


FX5 dedicated

Axis 1 Axis 2

SD5506

SD5511

SD5546

SD5551

Axis 3

SD5586

SD5591

Axis 4

SD5626

SD5631



Drive contact

DRVTBL

Name



(d1) (n1) (n2) (n3) (d2)

High Speed I/O

Parameter





R/W Reference

R

R/W

Page 60

Page 60




(2) For (n1), specify the head table number (1 to 100

*1

) that is executed in the axis specified in (d1).

(3) For (n2), specify the last table number (1 to 100

*1

) that is executed in the axis specified in (d1).

The table operation continues until the last table specified in (n2) or table of control method [0: No Positioning] is executed.

When (n1) and (n2) are the same, only one table is executed. When (n1) is greater than (n2), the table operation continues either until all the tables are executed or until a table for control method [0: No Positioning] is executed.

(4) For (n3), specify the table operation method.

•

K0

: The stepping operation (Page 157 Stepping operation)

• K1

: The continuous operation (Page 159 Continuous operation)

(5)


Complete flag)

•


•



Table shift command

In the stepping operation (K0 in (n3)), when the table shift command is detected after operation of a table is completed, the

following table is activated. (Page 59 Table shift command) Tables can be shifted with the external start signal. (Page

49 External Start Signal) For details, refer to Page 157 Stepping operation.


The operation timing of the complete flags depends on the table control method.

5



117

Program example

The following are program examples for executing multiple tables.

Stepping operation

This program example illustrates a stepping operation that is performed on axis 1 in order of control methods [1: 1 Speed

Positioning (Relative Address Specification)], [5: Table Transition Variable Speed Operation], and [3: Interrupt 1 Speed

Positioning].

Speed

1 2 1 2 1 2

15000 pps

(Maximum speed)

10000 pps

7000 pps

1

2 :

: Acceleration time

(500 ms)

Deceleration time

(500 ms)

1000 pps

(Bias speed)

Time

Positioning address: 100000


Table shift command axis1 (SM5580)

Instruction execution complete flag M3


X2 (positive logic)


X1 (positive logic)

Dwell time

(100 ms)

Drive contact

Execution table 0 1

1 speed positioning

(relative address specification)

2

Table transition variable

Speed Operation

Setting data


Item


Pulse Output Mode




Axis 1

1: PULSE/SIGN

Y0

Y4



Unit Setting







2000 pulse

1000 pulse

1:

 Single

3

Interrupt 1 speed positioning

1 operation cycle

0

Item



Max. Speed

Bias Speed

Axis 1

0: Composite Speed

15000 pps

1000 pps

Acceleration Time

Deceleration Time

500 ms

500 ms




Disabled

1: Valid




■OPR Parameter


X1

0: Positive Logic

0: Positive Logic

0: Invalid

118






NO. Device Control Method Positioning

Address

Command

Speed

Dwell Time

1

2

3







1: 1 Speed Positioning (Relative Address

Specification)



Program example

100000 pulse



50000 pulse

10000 pps

7000 pps

15000 pps

0 ms

0 ms

100 ms

Table shift command input

Stop event

X10


X11


X12

Forward limit input

X13

Reverse limit input

X14


Drive DRVTBL instruction (stepping operation)

X17 SM5500 M1 M2

Drive contact

SM5500


M10

Normally end

Abnormal end


DRVTBL instruction activation

Drive DRVTBL instruction in axis 1

DRVTBL K1 K1 K3 K0

Confirm the completion of all tables, using the compatible complete flag

SM8029


SM8329


SM5500


Table shift command

X3

RST

RST

SET

SET

SET

SET

SET

Interrupt Input

Signal 2

Device No.



X2



M3

M10


M1

M2

M3

M4

SM5580

Table shift command axis1

SM5628


SM5644


SM5660

Forward limit axis1

SM5676

Reverse limit axis1

SM8034


5



119

Continuous operation

This program example illustrates a continuous operation (interrupt 2-speed positioning) that is performed on axis 1 in the order of control methods [5: Table Transition Variable Speed Operation] and [3: Interrupt 1 Speed Positioning], starting from table No. 2.

Speed

Acceleration time

(500 ms)

Deceleration time

(500 ms)

15000 pps

(Maximum speed)

7000 pps

1000 pps

(Bias speed)




X2 (positive logic)


X1 (positive logic)

Drive contact

Execution table 0 2


Speed Operation

Setting data




Item


Pulse Output Mode




Axis 1

1: PULSE/SIGN

Y0

Y4



Unit Setting







2000 pulse

1000 pulse

1:

 Single

3


1 operation cycle

0

Item



Max. Speed

Axis 1

0: Composite Speed

15000 pps

Bias Speed

Acceleration Time

1000 pps

500 ms

Deceleration Time


Disabled

500 ms



1: Valid




■OPR Parameter


X1

0: Positive Logic

0: Positive Logic

0: Invalid

Time

120






NO. Device Control Method

1

2

3








Specification)



Program example

Positioning

Address

100000 pulse



50000 pulse

Command

Speed

10000 pps

Drive DRVTBL instruction (continuous operation)

X17 SM5500 M1 M2

Drive contact

SM5500


M10

Normally end

Abnormal end


SM5500




DRVTBL K1 K2

For the stop event, refer toPage 118 Stepping operation.

7000 pps

15000 pps

K3

Dwell Time

0 ms

0 ms

0 ms

K1

RST

RST

Interrupt Input

Signal 2

Device No.



X2



M1

M1

M2

M10


Continuous operation (condition jump)

This program example illustrates the operation of a 2-speed positioning that is changed by the execution of control method

[10: Condition Jump] on axis 1 (continuous operation).



M No. for jump condition (M100) = ON: Executes the table 5

Speed

Acceleration time

(500 ms)

Executes the condition jump

15000 pps

(Maximum speed)

Deceleration time

(500 ms)

10000 pps

7000 pps

1000 pps

(Bias speed)

Time




M No. for jump condition M100

Drive contact

Execution table

ON

0 1

1 Speed Positioning


5

1 Speed Positioning


1 operation cycle

6

No Positioning

0

5



121



M No. for jump condition (M100) = OFF: Executes the table 3

Speed

Acceleration time

(500 ms)

Non-executes the condition jump

15000 pps

(Maximum speed)

Deceleration time

(500 ms)

10000 pps

7000 pps

1000 pps

(Bias speed)

Time




M No. for jump condition M100

OFF

Drive contact

Execution table 0 1

1 Speed Positioning

(Relative Address

Specification)

3

1 Speed Positioning

(Relative Address

Specification)

1 operation cycle

4

No

Positioning

Setting data


Item


Pulse Output Mode




Axis 1

1: PULSE/SIGN

Y0

Y4



Unit Setting







2000 pulse

1000 pulse

1:

 Single

0

Item Axis 1



Max. Speed

Bias Speed

0: Composite Speed

15000 pps

1000 pps

Acceleration Time

Deceleration Time

500 ms

500 ms




Disabled

0: Invalid


■OPR Parameter


0: Positive Logic

0: Invalid

 Axis #1 Positioning Data


1



Positioning

Address

Command

Speed

50000 pulse 10000 pps

Dwell Time Jump

Destination

Table No.

0 ms



M No. for jump condition



4

5

2

3

6












Specification)

10: Condition Jump


Specification)

0: No Positioning


Specification)

0: No Positioning



90000 pulse



150000 pulse





7000 pps



15000 pps





0 ms



0 ms



5









100









122



Program example

ON/OFF switching of M device for jump condition

X7

Switch for jump condition

Drive DRVTBL instruction (continuous operation with control method [10: Condition Jump])

X17 SM5500 M1 M2

Drive contact

SM5500


M10

Normally end

Abnormal end


DRVTBL K1 K1


SM5500



For the stop event, refer toPage 118 Stepping operation.

K4 K1

M100

Table 2

Jump condition

M10


M1

RST

RST

M1

M2

5



123

5.10

Multiple-axis Table Operation

This instruction executes the control method of specified table for multiple axes set in the table data with GX Works3.

DRVMUL

This instruction executes the table data set in GX Works3 for multiple axes of one module simultaneously.

Ladder ST

ENO:=DRVMUL(EN,n1,n2,n3,n4,n5,d);

FBD/LD

(n1) (n2) (n3) (n4) (n5) (d)

EN n1 n2 n3 n4 n5

ENO d

Setting data



(n1)

(n2)

(n3)

(n4)

(n5)

(d)

Head axis number

Table number of the axis 1





Range

1

0 to 100

*1

0 to 100

*1

0 to 100

*1

0 to 100

*1









Bit ANYBIT_ARRAY




Operand Bit

X, Y, M, L, SM,

F, B, SB, S

(n1)

(n2)

(n3)

(n4)

(n5)

(d)













U\G

T, ST,

C, LC

























Word

T, ST, C, D,

W, SD, SW, R













*1













U\G

Z



 

 

 

 

 

 





































Constant

K, H E $

Others

(DX)

  

  

  

  

  

  


Processing details

This function executes the tables of multiple axes of simultaneously. After this function is executed, each axis operates independently and continuous operation can be performed.


124


5.10 Multiple-axis Table Operation

Related devices


FX5 dedicated

Axis 1 Axis 2

SD5506

SD5511

SD5546

SD5551

Axis 3

SD5586

SD5591

Axis 4

SD5626

SD5631

Name



High Speed I/O

Parameter





R/W Reference

R

R/W

Page 60

Page 60



Drive contact

DRVMUL (n1) (n2) (n3) (n4) (n5) (d)


(1) For (n1), specify the head axis number for which pulses are output.

The axis 1 to 4 are assigned to the positioning function. Usually specify K1.


*1

) that is executed in the axis specified in (n1).

When the positioning instruction of the axis (n1) is not to be executed or positioning parameters of the axis (n1) are not set, specify K0.

When (n2) is indirectly specified using a word device, continuous operation is performed. (Page 159 Continuous operation) The specified word devices are assigned as follows.

• Device specified in (n2) : Head table number

•

Device specified in (n2) + 1 : Last table number


*1

) that is executed in the axis specified in (n1) + 1.

When the positioning instruction of the axis (n1) + 1 is not to be executed or positioning parameters of the axis (n1) +1 are not set, specify K0.

When (n3) is indirectly specified using a word device, continuous operation is performed. The specified word devices are assigned as follows.

•

Device specified in (n3) : Head table number

•



*1


When the positioning instruction of the axis (n1) +2 is not to be executed or positioning parameters of the axis (n1) +2 are not set, specify K0.


•


•



*1


When the positioning instruction of the axis (n1) + 3 is not to be executed or positioning parameters of the axis (n1) +3 are not set, specify K0.


•

•



5



125

(6) For (d), specify the bit devices of the instruction execution complete flag and abnormal end flag of each axis. The

device assignment is as follows. (Page 62 Complete flag)

(d) : Instruction execution complete flag of (n1)

(d)+1 : Instruction execution abnormal end flag of (n1)

(d)+2

(d)+3

(d)+4

(d)+5

(d)+6

(d)+7

: Instruction execution complete flag of (n1)+1

: Instruction execution abnormal end flag of (n1)+1






When the interpolation operation table is specified

When interpolation operation is specified by the DRVMUL instruction, specify the table number only for the reference axis and set the table number of the counterpart axis to 0.

An error occurs otherwise.


The operation timing of the complete flags depends on the table control method.

The FX3 compatible devices (SM8029 and SM8329) cannot be used.

126



Program example

This program example illustrates operations that are executed simultaneously on axes 1, 2, and 4.



Axis 1 (Interrupt 2-speed positioning)

Speed

Acceleration time

(500 ms)

Deceleration time

(500 ms)

15000 pps

(Maximum speed)

7000 pps

1000 pps

(Bias speed)




X2 (positive logic)


X1 (positive logic)

Execution table 0 2


Speed Operation



Axis 2 (4-speed positioning)

Speed

Acceleration time

(500 ms)

20000 pps

(Maximum speed)

15000 pps

10000 pps

7500 pps

5000 pps

(Bias speed)

3


Deceleration time

(500 ms)

1 2 3 4


Execution table 0 1 2 3 4

Control method [1: 1 Speed Positioning (Relative Address Specification)], positioning address: 50000

Control method [2: 1 Speed Positioning (Absolute Address Specification)], positioning address: 60000 (output only +10000)

Control method [1: 1 Speed Positioning (Relative Address Specification)], positioning address: 20000

Control method [1: 1 Speed Positioning (Relative Address Specification)], positioning address: 10000

Time

Time

5



127



Axis 4 (1-speed positioning)

Speed

Acceleration time

(500 ms)

100000 pps

(Maximum speed)

Deceleration time

(500 ms)

30000 pps

0 pps

(Bias speed)

Time



Dwell time (100 ms)

Execution table 0 1

1 speed positioning (relative address specification)

Setting data




Item Axis 1


Pulse Output Mode




1: PULSE/SIGN

Y0

Y4



Unit Setting






Max. Speed

Bias Speed

Acceleration Time

Deceleration Time

500 ms

500 ms




Disabled




2000 pulse

1000 pulse

1:

0: Composite Speed

15000 pps

1000 pps

1: Valid

X1

 Single

0: Positive Logic

0: Positive Logic Interrupt Input Signal 2 Logic

■OPR Parameter

OPR Enabled/Disabled 0: Invalid

Axis 2

1: PULSE/SIGN

Y1

Y5




2000 pulse

1000 pulse

1:

 Single

0: Composite Speed

20000 pps

5000 pps

500 ms

500 ms

0: Invalid

0: Invalid





0: Positive Logic

0: Invalid





1



Positioning

Address

100000 pulse

Command

Speed

10000 pps

Axis 4

1: PULSE/SIGN

Y3

Y7




2000 pulse

1000 pulse

1:

 Single

0: Composite Speed

100000 pps

0 pps

500 ms

500 ms

0: Invalid

0: Invalid





0: Positive Logic

0: Invalid

Dwell Time

0 ms

Interrupt Input

Signal 2

Device No.



2

3






Specification)





50000 pulse

7000 pps

15000 pps

0 ms

100 ms

X2



128






NO. Device

1 

2

3

4







Control Method


Specification)

2: 1 Speed Positioning (Absolute Address

Specification)


Specification)


Specification)




NO. Device

1 

Control Method

2: 1 Speed Positioning (Absolute Address

Specification)

Program example


50000 pulse 10000 pps

60000 pulse

20000 pulse

30000 pulse

5000 pps

15000 pps

7500 pps


100000 pulse 30000 pps

Dwell Time

0 ms

0 ms

0 ms

0 ms

Dwell Time

100 ms

Initial process

SM402

Initial pulse

Head table number of axis 1

MOV K2

Last table number of axis 1

MOV K3

Head table number of axis 2

MOV K1

D0

D1

D2

Last table number of axis 2

MOV K4 D3

Drive DRVMUL instruction

(The positioning instruction activation flags for each axis are simultaneously updated. Thus, only the flag for the head axis is used for judgment.)

X17 SM5500 M1 M21

Drive contact

SM5500


M21

Axis 1, 2 and 4 are complete

Drive DRVMUL instruction

DRVMUL D0 M5

DRVMUL instruction activation


DRVMUL instruction activation

D2 K0

Confirm end of axes 1, 2, and 4

(No check for normal/abnormal end)

K1

M5 M7 M11

Axis 1

Normally end

M6

Axis 2

Normally end

M8

Axis 4

Normally end

M12

Axis 1

Abnormal end

Axis 2

Abnormal end

Axis 4

Abnormal end

M1

Axis 1, 2 and 4 are complete

SM5500


Clear the user completion flag

MOVP K0 K4M5

5



129

5.11

Absolute Position Detection System

With the use of the servo absolute position detection system, the positioning uses the current ABS value read-out (DABS) instruction to read out the current value (absolute position (ABS) data) from the MR-J4A or MR-J3A servo amplifier.

The data is converted into pulse when being read.

DABS

This instruction reads the absolute position (ABS) data when the servo amplifier is connected. The data is converted into pulse when being read.

Ladder ST

ENO:=DABS(EN,s,d1,d2);

FBD/LD

(s) (d1) (d2)

EN s d2

ENO d1

Setting data



(s)

(d1)

(d2)

First number of the device that inputs the absolute position (ABS) data from the servo amplifier

First number of the device that outputs the absolute position (ABS) data control signal to the servo amplifier

Absolute position (ABS) data (32-bit value) storage device number

Range







Data type

Bit

Bit



Operand Bit

X, Y, M, L, SM,

F, B, SB, S

(s)

(d1)

(d2)







U\G

T, ST,

C, LC













Word

T, ST, C, D,

W, SD, SW, R



*1



*1









U\G

Z



 

 

 





















ANYBIT_ARRAY


ANYBIT_ARRAY


ANY32

Constant

K, H E $

Others

(DX)

  

  

  

Processing details

This instruction reads the absolute position (ABS) data when the servo amplifier is connected. The data is converted into pulse when being read.

130


5.11 Absolute Position Detection System

Related devices


FX3 compatible

Axis 1 Axis 2

SM8029

SM8329

Axis 3 Axis 4

Name



R: Read only, : Not supported


Drive contact

DABS (s) (d1) (d2)

High Speed I/O

Parameter





R/W Reference

R

R

Page 62


(1) For (s), specify the first number of the device that inputs the output signal for ABS data from the servo amplifier. The device assignment is as follows.

•

(s) : ABS (bit 0)

•

•

(s)+1

(s)+2

: ABS (bit 1)

: "Send data ready" signal

(2) For (d1), specify the first number of the device that outputs the ABS data control signal to the servo amplifier. The device assignment is as follows.

•

•

•

(s)

(s)+1

(s)+2

: Servo-ON signal

: "ABS data transfer mode" signal

: ABS request signal

(3) For (d2), specify the number of the device that stores the ABS data (-2147483648 to +2147483647 in pulses) read from the servo amplifier.

Always specify the current address (pulse unit) for the specified device. (Page 47 Current address)

Detection of absolute position

1.

If the DABS instruction turns ON, the CPU module will activate the servo-ON output and the ABS transfer mode output.

2.

32+6-bit data communication will be performed while mutually checking the data sending/receiving condition using the "send data ready" signal and the "ABS data request" signal.

3.

The 2-bit line (line for ABS bit 0 and bit 1) will be used for data transmission.

4.

At the completion of ABS data reading, the "Execution complete" flag will turn on.

Example of MR-J4A

Servo-ON SON

"ABS data transfer mode" signal

"Send data ready" signal

"ABS data request" signal

ABSM

ABST

ABSR

ABS(bit1) ABS B1

ABS(bit0) ABS B0

Amplifier output

PLC output

Amplifier output

Amplifier output

32 bits of current position data

+ 6 bits of check data

Up to 16 DABS instructions can be driven simultaneously.

5



131

Initial OPR

When your system is established, even if your servo motor is equipped with an absolute position detection function, it is necessary to perform OPR at least once to send the clear signal to the servo motor.

Use one of the following methods for the initial OPR:

• Enable the clear signal function using the DSZR/DDSZR instruction, and perform OPR. (Page 71 Mechanical OPR,

Page 54 Clear Signal Output)

Example of MR-J4A

• Carry out OPR for the machine using the position adjustment method in the jogging operation mode or manual operation mode, and then input the clear signal. To input the clear signal to the servo amplifier, use the output of the PLC or the external switch shown in the right figure.

Cleared

CR 41

DOCOM 47



ON condition

FX3 compatible


(SM8029)

When ABS data has been normally read from the servo amplifier


(SM8329)

From when the following error occurs to when the error cause is eliminated and the drive contact is turned off

• The three specified devices cannot be secured.

• Sum error of the ABS data read from the servo amplifier

• Upper limit on the number of ABS instructions simultaneously executed

ON

 OFF condition


Program example

The following is a program example of reading the current ABS value.

Drive DABS instruction

SM400

Always ON

Read ABS value to current value register for axis 1

DABS X21 Y21 SD5502

Current address

(pulse unit) axis1

SM8029

SET M1


SM8329

SET M2

Instruction execution abnormal end

M1 M2

Time out if operation does not end in 5 seconds

OUT T0 K50

Normally end

T0

Abnormal end

SET M3

5 second elapsed

132



Caution

For details on the servo amplifier, refer to the manual for each servo amplifier.

• Set the timing sequence for powering on your system so that the power of the PLC is turned on after the power of the servo amplifier, or that power is turned on at the same time.

• Leave the drive contact ON after reading the ABS value. If the instruction drive contact is turned off at the completion of

ABS data reading, the servo-ON (SON) signal will be turned off, and the operation will not be performed.

• If the drive contact is turned off during data reading, data reading will be stopped.

• If data communication with the servo amplifier fails, the failure is not detected as an error. Thus, monitor the error using the time-out error detection timer.

• When using the DABS instruction, set the rotation direction of the servo motor as follows. If the setting is incorrect, the current value controlled by the PLC may not match with the sign (positive or negative) in the servo amplifier after the ABS value is read.

Rotation direction

Current value is increased by forward rotation pulses

Current value is decreased by reverse rotation pulses

Setting in servo amplifier

Forward rotation (CCW) when forward rotation pulses are input

Reverse rotation (CW) when reverse rotation pulses are input

Reverse rotation (CW) when forward rotation pulses are input

Forward rotation (CCW) when reverse rotation pulses are input

5



133

6

TABLE OPERATION

This chapter explains the table operation in the following items.

• How to use the positioning table in GX Works3

• Operations of each control method

• How to execute multiple tables (stepping operation and continuous operation)

6.1

How to Use the Positioning Table

The following procedure is required to perform positioning in table operation.

1.

Set the positioning parameter in the high speed I/O parameter of GX Works3. (Page 35 Setting Method)

2.

Set the table data in the high speed I/O parameter of GX Works3. (Page 134 How to Use the Positioning Table)

3.

Program the table operation instruction. (Page 161 Table Operation Instruction)

This section explains procedure 2 above.

Table setting method

Set the table in the high speed I/O parameter of GX Works3.

Window

Navigation window  Parameter  FX5UCPU  Module Parameter  High Speed I/O  Output Function 

Positioning  Detailed Setting  Axis #1 Positioning Data to Axis #4 Positioning Data

Items setting

■Positioning table data use device setting

The table data specified is used as a parameter of the CPU module. Specify whether to set the parameter in user-specified word devices. Available devices are limited to data registers (D) and file registers (R).

Window

Select "Use Device" to specify a data register or file register in the “Device” field of the table No. 1. With the specified device used as the head device, one table occupies six word devices, and 100 tables of word devices (600 bit) are occupied in total.

Devices can be set per axis, but the device range occupied by each axis must not overlap. Unoccupied devices can be used as general-purpose devices even when tables are set to the devices.

134

6 TABLE OPERATION

6.1 How to Use the Positioning Table

Specification

The following table gives two lists of specifications, one that applies when table data is set to use device and the other that applies when table data is not set to use device.

The positioning table data is set to use device

• Up to 100 tables can be used per axis.

• The command speed and positioning address can be changed while a program is being executed.

• Six word devices are occupied per table.

Parameter (The positioning table data is not set to use device)

• No word devices are occupied.

• Up to 32 tables can be used per axis.

• The command speed and positioning address cannot be changed while a program is being executed.

Head address

Table data is assigned to an operand of the control method of each table. When table data is set to a device, it is stored in the device corresponding to the data of the operand. Assuming that the head device is D100, devices are set as shown in the following table. The same operand numbers are also used when table data is not set to devices.

Table No.

1

2

3



100

Device

D100

D106

D112

D694

Operand1 (+0,+1)

D100,D101

D106,D107

D112,D113

D694,D695

Operand2 (+2,+3)

D102,D103

D108,D109

D114,D115

D696,D697

Operand3 (+4)

D104

D110

D116

D698

Operand4 (+5)

D105

D111

D117

D699

■Table data

Set table parameters that are applied when a table operation instruction is executed.

Window

6

Set a control method and operands corresponding to the type.

When the positioning table data is set to use device, the operands of this table are set in the user devices. When the operands are set to use devices, the command speed and positioning address can be changed from word devices. Thus, the command speed and positioning address can be changed during positioning operation. The control method is not set in user devices, and thus cannot be changed. For tables in which a positioning type is not set, the setting control method [0: No positioning] is applied.

The following table lists setting items for each table of each axis.

Item

Control Method

Operand 1

*1

Operand 2

*1

Operand 3

*1

Description

0: No Positioning








10: Condition Jump





Positioning Address

Command Speed

Dwell Time

Jump Destination Table No.

Reference

Page 136

Page 137

Page 138

Page 139

Page 141

Page 142

Page 144

Page 146

Page 148

Page 149

Page 152

Page 153

Page 156

Page 46

Page 43

Page 29

Page 58

6 TABLE OPERATION

6.1 How to Use the Positioning Table

135

Item

Operand 4

*1

Description



Axis to be Interpolated

*1 The setting details and whether the setting is available or not differ depending on the control method.

6.2

Operations of Control Method

The following explains the control method that can be set in a table.

For details of each table operation instruction, refer to Page 64 POSITIONING INSTRUCTION.

No Positioning

The following explains control method [0: No Positioning].

Setting data

The following table shows the operand assignment.

Operand 1

Description None

Range 

Details None

Operand 2

None



None

Operand 3

None



None

Operand 4

None



None

Reference

Page 57

Page 58

Page 58

Processing details

This table unconditionally turns on the positioning complete flag and ends the table operation instruction. This control method cannot be executed before the other positioning types.

If a table that is not set with a parameter (empty table) is specified, control method [0: No Positioning] is applied.

Precautions

• If a table with this positioning type is included between the first table and last table when multiple tables are executed such as continuous operation, tables that follow the table with control method [0: No Positioning] do not operate.

• The complete flag turns on after the operation of the previous table is decelerated to a stop and the dwell time elapses.

• When user devices are used, devices assigned to a table of control method [0: No Positioning] (first device +0 to +5) are not used in table operation. Users can use such devices for any purpose.

Related devices

FX3 compatible

Axis 1 Axis 2

SM8029

SM8329

Axis 3


Axis 4

Name



High Speed I/O

Parameter





R/W Reference

R

R

Page 62



Because dwell time cannot be specified, the flags turn on immediately after the condition is met.

ON condition

FX3 compatible (Effective only at TBL instruction or

DRVTBL instruction execution)


(SM8029)


(SM8329)


Does not turn on.

User specification (Effective only at DRVTBL instruction or DRVMUL instruction execution)



From when the table operation is started to when the ON


Does not turn on.

136

6 TABLE OPERATION

6.2 Operations of Control Method

ON

 OFF condition




(SM8029)



(SM8329)

From when the table operation is started to when the drive contact is turned off






• Restarting the table instruction

1 Speed Positioning (Relative Address Specification)

The following explains control method [1: Speed Positioning (Relative Address Specification)].

Setting data


Operand 1

*1

Operand 2

*2

Description Positioning Address

Range -2147483648 to +2147483647

(User system unit)

Details Set the relative address within the range of -2147483647 to

+2147483647

*4

in pulse.

Command Speed

1 to 2147483647

(User system unit)

Set the speed within the range of

1 pps to 200 Kpps in pulse.

Operand 3

*3

Dwell Time

0 to 32767 (ms)

Operand 4

None



Dwell time is time until the complete flag turns on after the positioning address is reached.

None

*1 The positioning address can be changed during positioning operation. (



Page 31) However, only the last table accepts the change in

the case of continuous operation.

*2 Command speed can be changed during positioning operation. (



Page 32)

*3 When the positioning table data is set to use device, the value can be changed during positioning operation. The change is applied when the table operation instruction is restarted.

*4 Set the number of output pulses per table execution to 2147483647 or lower.

Processing details

Operation with one table and operation of stepping operation are the same as that of the DRVI/DDRVI instruction. (Page

157 Stepping operation, Page 79 Relative Positioning) However, if dwell time is set, the complete flag turns on after the dwell

time elapses. (Page 62)

In addition, this table can be specified for continuous operation. (Page 159)

Precautions

The same cautions as for the DRVI/DDRVI instruction apply.

Related devices

Other than the following, the related devices are the same as those of the DRVI/DDRVI instruction.

FX5 dedicated

Axis 1 Axis 2

SD5506

SD5511

SD5546

SD5551

Axis 3

SD5586

SD5591

Axis 4

SD5626

SD5631

Name



High Speed I/O

Parameter






R/W Reference

R

R/W

Page 60

Page 60

6

6 TABLE OPERATION


137



If dwell time is specified, the flag turns on after the dwell time elapses.

ON condition

ON

 OFF condition




(SM8029)



(SM8329)



*1



*2






• Table shift cannot be completed in time















*2










• Shift to the next table


*2 When remaining distance operation enabled is turn on, abnormal end flag is not turn on.

1 Speed Positioning (Absolute Address Specification)

The following explains control method [2: 1 Speed Positioning (Absolute Address Specification)].

Setting data


Operand 1

*1

Operand 2

*2


Range -2147483648 to +2147483647

(User system unit)

Details Set the absolute address within the range of -2147483648 to

+2147483647

*4

in pulse.

Command Speed

1 to 2147483647

(User system unit)


1pps to 200 Kpps in pulse.

Operand 3

*3

Dwell Time

0 to 32767 (ms)


Operand 4

None



None

*1 The positioning address can be changed during positioning operation. (Page 31) However, only the last table accepts the change in


*2 Command speed can be changed during positioning operation. (Page 32)



Processing details

Operation with one table and operation of stepping operation are the same as that of the DRVA/DDRVA instruction. (Page

157 Stepping operation, Page 86 Absolute Positioning) However, if dwell time is set, the complete flag turns on after the dwell



Precautions

The same cautions as for the DRVA/DDRVA instruction apply.

138

6 TABLE OPERATION


Related devices

Other than the following, the related devices are the same as those of the DRVA/DDRVA instruction.

FX5 dedicated

Axis 1 Axis 2

SD5506

SD5511

SD5546

SD5551

Axis 3

SD5586

SD5591

Axis 4

SD5626

SD5631

Name



High Speed I/O

Parameter






R/W Reference

R

R/W

Page 60

Page 60




ON condition

ON

 OFF condition




(SM8029)



(SM8329)



*1



*2





















*2













Interrupt 1-Speed Positioning

The following explains the control method [3: Interrupt 1 Speed Positioning].

Setting data


Operand 1

*1

Operand 2

*2


Range -2147483648 to +2147483647

(User system unit)

Details Set the transfer distance after interrupt within the range of

-2147483647 to +2147483647

*4

in pulse.

Command speed

1 to 2147483647

(User system unit)


1pps to 200 Kpps in pulse.

Operand 3

*3

Dwell Time

0 to 32767 (ms)


Operand 4

None



None





*4 Set the number of output pulses per table execution (the total number of pulses before and after the interrupt) to 2147483647 or lower.

6 TABLE OPERATION


139

6

Processing details

Operation with one table and operation of stepping operation are the same as that of the DVIT/DDVIT instruction. (Page

157 Stepping operation, Page 93 Interrupt 1-Speed Positioning) If dwell time is set, the complete flag turns on after the dwell



Precautions

Other than the following, the same as cautions for the DVIT/DDVIT instruction apply.

Combinations other than the following cannot be used during continuous operation.

Control method

The first table



The second table




Control method [3: Interrupt 1 Speed Positioning] must be specified to the first or second table. If control method [3: Interrupt

1 Speed Positioning] is specified to the second table, only control method [5: Table Transition Variable Speed Operation] can be specified to the first table.

Related devices

Other than the following, the related devices are the same as those of the DVIT/DDVIT instruction.

FX5 dedicated

Axis 1 Axis 2

SD5506

SD5511

SD5546

SD5551

Axis 3

SD5586

SD5591

Axis 4

SD5626

SD5631

Name



High Speed I/O

Parameter






R/W Reference

R

R/W

Page 60

Page 60




ON condition

ON

 OFF condition




(SM8029)



(SM8329)



*1


































140

6 TABLE OPERATION


Variable Speed Operation

The following explains control method [4: Variable Speed Operation].

Setting data


Operand 1 Operand 2

*1

Description

Range

Details

None



None

Command Speed

-2147483648 to +2147483647

(User system unit)


-200 Kpps to +200 Kpps in pulse.

Operand 3

*2

Dwell Time

0 to 32767 (ms)

Dwell time is time until the complete flag turns on.

Operand 4

None



None



Processing details

Operation with one table and operation of stepping operation are the same as that of the PLSV/DPLSV instruction. (Page

157 Stepping operation, Page 101 Variable Speed Operation) When this table is used, deceleration stop is performed by

turning off the drive contact of the table operation instruction. If dwell time is set, the complete flag turns on after the dwell time

elapses. (Page 62)

Precautions

Other than the following, the operation is the same as that of the PLSV/DPLSV instruction.

• When this table is used for stepping operation, the next table can be activated after stop using the pulse decelerate and

stop command. (Page 49)

• This table cannot be specified for continuous operation.

• If the command speed is changed to 0 during positioning operation, pulses are decelerated to a stop but the table operation does not end. Thus, dwell time is not measured and tables are not switched. When the drive contact of the table operation instruction is on, changing the command speed restarts pulse output.

Related devices

Other than the following, the related devices are the same as those of the PLSV/DPLSV instruction.

FX5 dedicated

Axis 1 Axis 2

SD5506

SD5511

SD5546

SD5551

Axis 3

SD5586

SD5591

Axis 4

SD5626

SD5631

Name



High Speed I/O

Parameter






R/W Reference

R

R/W

Page 60

Page 60

6

6 TABLE OPERATION


141




ON condition

ON

 OFF condition




(SM8029)


(SM8329)

Deceleration stop with the pulse decelerate and stop command



*1





• A table that cannot be combined is specified.





Deceleration stop by drive contact off or pulse decelerate and stop command










• A table that cannot be combined is specified.

The flag remains on until any of the following is performed.





Table Transition Variable Speed Operation

The following explains control method [5: Table Transition Variable Speed Operation].

Setting data


Operand 1 Operand 2

*1

Description None Command Speed

Operand 3

*2

Dwell Time

Operand 4

*2

Interrupt Input Signal 2 Device

No.

0 to 17 Range

Details



None

-2147483648 to +2147483647

(User system unit)


-200 Kpps to +200 Kpps in pulse.

0 to 32767 (ms)

Dwell time is the time until the complete flag turns on.

Specify the input (X) number.



Processing details

When the interrupt input signal 2 is detected, the table in execution is switched to the next table as interrupt processing. Then, the table following this table is operated. Until the interrupt input signal 2 is turned on, operation equivalent to the PLSV/

DPLSV instruction or control method [4: Variable Speed Operation] is performed. (Page 101 Variable Speed Operation,

Page 141 Variable Speed Operation)

If dwell time is set, the complete flag turns on after the dwell time elapses. (Page 62)


142

6 TABLE OPERATION


The following figure shows an example of an operation equivalent to interrupt 2-speed positioning combining control method

[5: Table Transition Variable Speed Operation] and control method [3: Interrupt 1 Speed Positioning].

Control method of the table 1:

[5: Table Transition Variable

Speed Operation]

Control method of the table 2:

[3: Interrupt 1 Speed Positioning]

Drive contact of the table operation instruction



Instruction execution complete flag SM8029

User-specified instruction execution complete flag

*1

Table number in execution 0 1 2 0

*1 Remains on until it is turned off by program or engineering tool, restarts the table operation instruction or until the next table is activated during the continuous operation.

Precautions

Other than the following, the operation is the same as that of the PLSV/DPLSV instruction.

• If control method [0: No Positioning] is set to the next table, deceleration stop is performed to end the table operation by turning on the interrupt input signal 2. If control method [0: No Positioning] is set to the last table, the same operation is performed.

• If the next table is for variable speed operation or interpolation operation, deceleration stop is performed to end the table operation causing an error.

• When this table is used for stepping operation, the next table can be activated after a stop using the interrupt input signal 2 or pulse decelerate and stop command.

• Table control methods that can be used in combination during continuous operation are [5: Table Transition Variable Speed

Operation] and [3: Interrupt 1 Speed Positioning]. An error occurs if Interrupt 1 Speed Positioning is executed after Table

Transition Variable Speed Operation two or more times.

• If the command speed is changed to 0 during positioning operation, pulses are decelerated to a stop but the table operation does not end. Thus, dwell time is not measured and tables are not switched. When the drive contact of the table operation instruction is on, or changing to any value other than 0 the command speed restarts pulse output.

Related devices

Other than the following, the related devices are the same as those of the PLSV/DPLSV instruction.

FX5 dedicated

Axis 1 Axis 2

SD5506

SD5511

SD5546

SD5551

Axis 3

SD5586

SD5591

Axis 4

SD5626

SD5631

Name



High Speed I/O

Parameter






R/W Reference

R

R/W

Page 60

Page 60

6

6 TABLE OPERATION


143




ON condition

ON

 OFF condition




(SM8029)


(SM8329)

Deceleration stop by pulse decelerate and stop command



*1

• Shift to the next table is impossible









Deceleration stop by drive contact off or pulse decelerate and stop command






• Shift to the next table is impossible










Interrupt Stop (Relative Address Specification)

The following explains control method [6: Interrupt Stop (Relative Address Specification)].

Setting data


Operand 1

*1

Operand 2

*2


Range -2147483648 to +2147483647

(User system unit)


+2147483647

*4

in pulse.

Command Speed

1 to 2147483647

(User system unit)



Operand 3

*3

Dwell Time

0 to 32767 (ms)

Dwell time is time until the complete flag turns on after the positioning address is reached

(interrupt stop).

Operand 4

None



None






Processing details

Deceleration stop is performed from the point where the interrupt input signal 1 is detected during positioning operation. When the interrupt input signal 1 is not detected, the operation becomes the same as that of the DRVI/DDRVI instruction or control

method [1: 1-speed positioning (relative address specification)]. (Page 79 Relative Positioning, Page 137 1 Speed

Positioning (Relative Address Specification))



144

6 TABLE OPERATION


The following example shows an interrupt stop with dwell time 0 ms.

Speed

Acceleration time

Maximum speed

Deceleration time

Command speed

(Operand 2)

Bias speed

Positioning address

(Operand 1)

Time

Drive contact of the table operation




*1

*1 Remains on until it is turned off using a program or engineering tool, restarts the table operation instruction or until the next table is activated during the continuous operation.

Precautions

Other than the following, the same cautions as for the DRVI/DDRVI instruction apply.

• Specify the table as the last table when performing continuous operation. An error occurs if a table is operated after this table during continuous operation.

• During positioning operation, the positioning address (operand 1) and the command speed (operand 2) can be changed before the interrupt input signal 1 is detected. If they are changed after the interrupt input signal 1 is detected, the change is applied when the table operation instruction is next driven again.

Related devices

Other than the following, the related devices are the same as those of the DRVI/DDRVI instruction.

FX5 dedicated

Axis 1 Axis 2

SD5506

SD5511

SD5546

SD5551

Axis 3

SD5586

SD5591

Axis 4

SD5626

SD5631

Name



High Speed I/O

Parameter






R/W Reference

R

R/W

Page 60

Page 60

6

6 TABLE OPERATION


145




ON condition

ON

 OFF condition




(SM8029)

From when pulse output of the specified positioning address is completed or when deceleration stop is started by an interrupt input to when the drive contact is turned off


(SM8329)



*1



*2











From when pulse output of the specified positioning address is completed or when deceleration stop is started by an interrupt input to when the ON












*2













Interrupt Stop (Absolute Address Specification)

The following explains control method [7: Interrupt Stop (Absolute Address Specification)].

Setting data


Operand 1

*1

Operand 2

*2


Range -2147483648 to +2147483647

(User system unit)


+2147483647

*4

in pulse.

Command Speed

1 to 2147483647

(User system unit)


1 pps to 200 kpps in pulse.

Operand 3

*3

Dwell Time

0 to 32767 (ms)

Dwell time is time until the complete flag turns on after the positioning address is reached

(interrupt stop).

Operand 4

None



None






Processing details

Deceleration stop is performed from the point where the interrupt input signal 1 is detected during positioning operation. When the flag is not detected, the operation becomes the same as that of the DRVA/DDRVA instruction or control method [2: 1

Speed Positioning (Absolute Address Specification)]. (Page 86 Absolute Positioning ,Page 138 1 Speed Positioning

(Absolute Address Specification))



146

6 TABLE OPERATION


The following example shows an interrupt stop in the standard mode with dwell time 0 ms.

Speed

Acceleration time

Deceleration time

Maximum speed

Command speed

(Operand 2)

Bias speed

Positioning address

(Operand 1)

Time

Drive contact of the table operation




*1

*1 Remains on until it is turned off using a program or engineering tool, restarts the table operation instruction or until the next table is activated during the continuous operation.

Precautions

Other than the following, the same cautions as for the DRVA/DDRVA instruction apply.

• Specify the table as the last table when performing continuous operation. An error occurs if a table is operated after this table during continuous operation.

• During positioning operation, the positioning address (operand 1) and the command speed (operand 2) can be changed before the interrupt input signal 1 is detected. If they are changed after the interrupt input signal 1 is detected, the change is applied when the table operation instruction is next driven again.

Related devices

Other than the following, the related devices are the same as those of the DRVA/DDRVA instruction.

FX5 dedicated

Axis 1 Axis 2

SD5506

SD5511

SD5546

SD5551

Axis 3

SD5586

SD5591

Axis 4

SD5626

SD5631

Name



High Speed I/O

Parameter






R/W Reference

R

R/W

Page 60

Page 60

6

6 TABLE OPERATION


147




ON condition

ON

 OFF condition




(SM8029)

From when pulse output of the specified positioning address is completed or when deceleration stop is started by an interrupt input to when the drive contact is turned off


(SM8329)



*1



*2











From when pulse output of the specified positioning address is completed or when deceleration stop is started by an interrupt input to when the ON












*2













Condition Jump

The following explains control method [10: Condition Jump].

Setting data


Operand 1

Description None

Range 

Details None

Operand 2

None



None

Operand 3

*1

Jump Destination Table No.

1 to 100

Specify the table number of the jump destination when the jump condition is met.

Operand 4


0 to 32767

Specify the number of the internal relay (M) of the jump condition.

*1 When user devices are used, the value can be changed during positioning operation. When at table three tables or more before the table to be changed in stepping operation or continuous operation, the change is applied when the at the next scan.

Processing details

The table to be executed next can be selected using conditions. When the jump condition internal relay (M) specified in operand 4 is ON at condition judgment, positioning of the table number of the jump destination specified in operand 3 is performed. When the jump condition is off, the table with the following number is executed. Operations after the jump all follow the jump-destination tables.


148

6 TABLE OPERATION


Precautions

• When this table specified for last table, jump is not executed and operation ends normally after deceleration stop.

• In stepping operation, conditions are judged when the table one table before of control method [10: Condition Jump] is executed, and the jump destination table is immediately executed.

• In continuous operation, conditions are judged when execution of that table two tables before is started. When the jumpdestination table is set to control method [10: Condition Jump], the conditions for that table are simultaneously judged and the next destination table is executed.

• If a table located two or fewer tables before (after the condition is determined) is changed, the change is applied, but the condition jump is executed using the settings from when the condition was determined.

• Jumps to the table set to control method [10: Condition Jump] in continuous operation must be three times or less in a row.

After the fourth jump, execution is stopped.

Related devices

FX5 dedicated

Axis 1 Axis 2

SD5506

SD5511

SD5546

SD5551

Axis 3

SD5586

SD5591

Axis 4

SD5626

SD5631


Name



High Speed I/O

Parameter





R/W Reference

R

R/W

Page 60

Page 60


The following describes the operation timing of the complete flags.

FX3 compatible

*1

(Effective only at TBL instruction or



(SM8029)


(SM8329)

ON condition

When jump destination table No. error occurs

ON

 OFF condition

From when the condition jump is executed in the last table to when the drive contact is turned off

When the normal end condition is not met

When the abnormal end condition is not met




From when the condition jump is executed in the last table

When instruction is driven

When jump destination table No. error occurs

*1 Operate only when at last table.

Interpolation Operation (Relative Address Specification)

The following explains control method [20: Interpolation Operation (Relative Address Specification)].

Setting data


Operand 1

*1

Operand 2

*1


Range -2147483648 to +2147483647

(User system unit)


+2147483647

*2

in pulse.

Command Speed

1 to 2147483647

(User system unit)



Operand 3

*1

Dwell Time

0 to 32767 (ms)


Operand 4



Specification

Specify the axis number of the interpolation counterpart.



6

6 TABLE OPERATION


149

Processing details

Using the reference axis (control method [20: Interpolation Operation (Relative Address Specification)]) and counterpart axis

(control method [21: Interpolation Operation (Relative Address Specification Target Axis)]), which is specified in operand 4,

linear interpolation positioning is performed. (Page 152) The transfer distance of the operation is the distance from the

current stop position (start address) to the positioning addresses specified in operand 1 of the reference axis and the counterpart axis. For the counterpart axis specified in operand 1, [21: Interpolation Operation (Relative Address Specification

Target Axis)] is assigned as the control method in the same table number as that for the reference axis. If dwell time is set, the

complete flag turns on after the dwell time elapses. (Page 62)

This table cannot be specified for continuous operation.

Forward direction (counterpart axis)

Stop address

(Positioning address (reference axis), positioning address (counterpart axis))

Transfer distance of the counterpart axis

(Operand 1)

Start address

(Stop position)


*1

Reverse direction

(reference axis)

Forward direction

(reference axis)

Transfer distance of the reference axis

(Operand 1)

Reverse direction (counterpart axis)

*1 The calculation method differs depending on the specification method for the interpolation speed. (Page 59 Interpolation Speed

Specified Method)

Precautions

• This table cannot be specified for continuous operation. When a table with this control method is executed in continuous operation, the operation is decelerated to a stop.

• When the specification method for the interpolation speed is [Reference-axis speed], set the axis with the longer positioning address as the reference axis. If the axis with the shorter positioning address is set as the reference axis, the speed of the longer axis may exceed the maximum speed and interpolation operation cannot be performed properly.

• When forward limit or reverse limit is detected in either of the reference axis or counterpart axis during interpolation operation, both the axes are decelerated to a stop.

• Do not change the value of operand 4.

• This function is not intended for purposes where high precision path is required because each axis is only started simultaneously.

Using the following or similar set values, in particular, may lead to a larger difference in stop time between each axis. Even when there is a difference in stop time, operation stops at the correct position.

(1) When there is a large difference in transfer distance between the reference axis and counterpart axis

(2) When the speed of the reference axis or counterpart axis is equal to or lower than the bias speed or exceeds the maximum speed

(3) When the speeds of the reference axis and counterpart axis are extremely slow

(4) When an extremely long acceleration time or deceleration time is set

If interpolation operation is aborted, the stop position of each axis may be off the straight line.

• If interpolation operation specified with a relative address is repeatedly used in machine or multiple unit system, calculation errors may accumulate for each axis.

150

6 TABLE OPERATION


Related devices

■Special relays

FX5 dedicated


FX3 compatible


Name

    SM8029 Instruction execution complete flag

   

SM8329 Instruction execution abnormal end flag









SM5532 SM5533 SM5534 SM5535     Positioning error occurrence





SM5628 SM5629 SM5630 SM5631



SM5644 SM5645 SM5646 SM5647



SM5660 SM5661 SM5662 SM5663 

SM5676 SM5677 SM5678 SM5679



SM5772 SM5773 SM5774 SM5775



































Forward limit

Reverse limit












High

Speed I/O

Parameter


■Special registers



  

Name


High

Speed I/O

Parameter



SD5500

SD5501

SD5502

SD5503

SD5540

SD5541

SD5542

SD5543

SD5580

SD5581

SD5582

SD5583

SD5620

SD5621

SD5622

SD5623



SD5504

SD5505

SD5544

SD5545

SD5584

SD5585

SD5624

SD5625

SD5506 SD5546 SD5586 SD5626 

SD8340

SD8341



SD5508

SD5509

SD5548

SD5549

SD5588

SD5589

SD5628

SD5629



SD5510 SD5550 SD5590 SD5630



SD5511 SD5551 SD5591 SD5631



SD8350

SD8351



SD8360

SD8361



















SD8370

SD8371





























Maximum speed  SD5516

SD5517

SD5556

SD5557

SD5596

SD5597

SD5636

SD5637



SD5518

SD5519

SD5558

SD5559

SD5598

SD5599

SD5638

SD5639



SD5520 SD5560 SD5600 SD5640



SD5521 SD5561 SD5601 SD5641





























Bias speed

Acceleration time

Deceleration time







R/W Reference

R

R

R

R

R/W

R/W

R/W

R/W

R/W

R/W

Page 62

Page 61

Page 60

Page 61

Page 48

Page 49

Page 50

Page 50

Page 40

R/W Reference

R/W

*1

R/W

*1

R

R

R

R/W

R/W

R/W

R/W

R/W

R/W

Page 47

Page 47

Page 44

Page 60

Page 59

Page 61

Page 60

Page 44

Page 45

Page 45

Page 45

6

6 TABLE OPERATION


151




ON condition

ON

 OFF condition




(SM8029)



(SM8329)


• Either the reference axis or counterpart axis is already used.

*1
































Interpolation Operation (Relative Address Specification Target

Axis)

The following explains control method [21: Interpolation operation (relative address specification: target axis)].

Setting data


Operand 1

*1

Operand 2

Description

Range

Details

Positioning Address

-2147483648 to +2147483647

(User system unit)

Set the relative address within the range of -2147483647 to

+2147483647

*2

in pulse.

None



None

Operand 3

None



None

Operand 4

None



None



Processing details

[21: Interpolation Operation (Relative Address Specification Target Axis)] is assigned to the same table number as that for control method [20: Interpolation Operation (Relative Address Specification)] specified in the interpolation reference axis.

For the interpolation operation, refer to Page 149 Interpolation Operation (Relative Address Specification).

Precautions

• Interpolation operation cannot be activated from this table. Drive interpolation operation with the table control method [20:

Interpolation Operation (Relative Address Specification)] of the reference axis.

• Speed is calculated based on the speed of the reference axis.

152

6 TABLE OPERATION


Related devices

Refer to Page 151 Related devices of control method [20: Interpolation Operation (Relative Address Specification)].


Refer to Page 152 Operation of the complete flags of control method [20: Interpolation Operation (Relative Address

Specification)].

Interpolation Operation (Absolute Address Specification)

The following explains control method [22: Interpolation Operation (Absolute Address Specification)].

Setting data


Operand 1

*1

Operand 2

*1


Range -2147483648 to +2147483647

(User system unit)


+2147483647

*2

in pulse.

Command Speed

1 to 2147483647

(User system unit)



Operand 3

*1

Dwell Time

0 to 32767 (ms)


Operand 4



Specification

Specify the axis number of the interpolation counterpart.



Processing details

Using the reference axis (control method [22: Interpolation Operation (Absolute Address Specification)]) and counterpart axis

(control method [23: Interpolation Operation (Absolute Address Specification Target Axis)]), which is specified in operand 4,

linear interpolation positioning is performed. (Page 156) The transfer distance of the operation is the distance from the

current stop position (start address) to the positioning addresses specified in operand 1 of the reference axis and the counterpart axis. For the counterpart axis specified in operand 1, [23: Interpolation Operation (Absolute Address Specification

Target Axis)] is assigned as the control method in the same table number as that for the reference axis. If dwell time is set, the

complete flag turns on after the dwell time elapses. (Page 62)

This table cannot be specified for continuous operation.

Forward direction (counterpart axis)

Stop address

(Positioning address (reference axis), positioning address (counterpart axis))

6

Transfer distance of the counterpart axis

(Operand 1)

Start address

(Stop position)


*1

Reverse direction

(reference axis)

Forward direction

(reference axis)

Transfer distance of the reference axis

(Operand 1)

Reverse direction (counterpart axis)

*1 The calculation method differs depending on the specification method for the interpolation speed. (Page 59 Interpolation Speed

Specified Method)

6 TABLE OPERATION


153

Precautions

• This table cannot be specified for continuous operation. When a table with this control method is executed in continuous operation, the operation is decelerated to a stop.

• When the specification method for the interpolation speed is [Reference-axis speed], set the axis with the longer positioning address as the reference axis. If the axis with the shorter positioning address is set as the reference axis, the speed of the longer axis may exceed the maximum speed and interpolation operation cannot be performed properly.

• When such as forward limit or reverse limit, is detected in either of the reference axis or counterpart axis during interpolation operation, both the axes are decelerated to a stop.

• Set the number of output pulses per table execution to 2147483647 or lower. An error occurs if the number of pulses exceeds 2147483647.

• Do not change the value of operand 4.

• This function is not intended for purposes where high precision path is required because each axis is only started simultaneously.

Using the following or similar set values, in particular, may lead to a larger difference in stop time between each axis. Even when there is a difference in stop time, operation stops at the correct position.

(1) When there is a large difference in transfer distance between the reference axis and counterpart axis

(2) When the speed of the reference axis or counterpart axis is equal to or lower than the bias speed or exceeds the maximum speed

(3) When the speeds of the reference axis and counterpart axis are extremely slow

(4) When an extremely long acceleration time or deceleration time is set

If interpolation operation is aborted, the stop position of each axis may be off the straight line.

Related devices

■Special relays

FX5 dedicated


FX3 compatible


Name

    SM8029

   

SM8329 Instruction execution abnormal end flag







SM5532 SM5533 SM5534 SM5535     Positioning error occurrence





SM5628 SM5629 SM5630 SM5631



SM5644 SM5645 SM5646 SM5647



SM5660

SM5676

SM5772

SM5661

SM5677

SM5773

SM5662

SM5678

SM5774

SM5663

SM5679

SM5775








































Forward limit

Reverse limit














High

Speed I/O

Parameter


R/W Reference

R

R

R

R

R/W

R/W

R/W

R/W

R/W

R/W

Page 62

Page 61

Page 60

Page 61

Page 48

Page 49

Page 50

Page 50

Page 40

154

6 TABLE OPERATION


■Special registers



SD5516

SD5517

SD5518

SD5519

SD5556

SD5557

SD5558

SD5559

SD5596

SD5597

SD5598

SD5599

SD5636

SD5637

SD5638

SD5639





SD5520 SD5560 SD5600 SD5640 

SD5521 SD5561 SD5601 SD5641 



























Name

SD5500

SD5501

SD5502

SD5503

SD5540

SD5541

SD5542

SD5543

SD5580

SD5581

SD5582

SD5583

SD5620

SD5621

SD5622

SD5623



SD5504

SD5505

SD5544

SD5545

SD5584

SD5585

SD5624

SD5625

SD5506 SD5546 SD5586 SD5626



SD8340

SD8341









SD8350

SD8351



SD8360

SD8361








SD8370

SD8371




Current speed (user unit) 



SD5508

SD5509

SD5548

SD5549

SD5588

SD5589

SD5628

SD5629



SD5510 SD5550 SD5590 SD5630



SD5511 SD5551 SD5591 SD5631 































Maximum speed



Bias speed

Acceleration time

Deceleration time

High

Speed I/O

Parameter









R/W Reference

R/W

*1

Page 47

R/W

*1

Page 47

R

R

R

R/W

R/W

R/W

R/W

R/W

R/W

Page 44

Page 60

Page 59

Page 61

Page 60

Page 44

Page 45

Page 45

Page 45




ON condition

ON

 OFF condition




(SM8029)



(SM8329)



*1



























The flag remains on until any of the following is performed.





6

6 TABLE OPERATION


155

Interpolation Operation (Absolute Address Specification Target

Axis)

The following explains control method [23: Interpolation Operation (Absolute Address Specification Target Axis)].

Setting data


Operand 1

*1

Operand 2

Description

Range

Details

Positioning Address

-2147483648 to +2147483647

(User system unit)

Set the relative address within the range of -2147483648 to

+2147483647

*2

in pulse.

None



None

Operand 3

None



None

Operand 4

None



None



Processing details

[23: Interpolation Operation (Absolute Address Specification Target Axis)] is assigned to the same table number as that for control method [22: Interpolation Operation (Absolute Address Specification)] specified in the interpolation reference axis.

For the interpolation operation, refer to Page 153 Interpolation Operation (Absolute Address Specification).

Precautions

• Interpolation operation cannot be activated from this table. Drive interpolation operation with the table control method [22:

Interpolation Operation (Absolute Address Specification)] of the reference axis.

• Set the number of output pulses per table execution to 2147483647 or lower. An error occurs if the number of pulses exceeds 2147483647.

• Each speed is calculated based on the speed of the reference axis.

Related devices

Refer to Page 154 Related devices of control method [22: Interpolation Operation (Absolute Address Specification)].


Refer to Page 155 Operation of the complete flags of control method [22: Interpolation Operation (Absolute Address

Specification)].

156

6 TABLE OPERATION


6.3

How to Execute Multiple Tables

The execution method for multiple tables of the DRVTBL and DRVMUL instructions includes stepping operation and continuous operation.

This section explains how to execute each operation.

Stepping operation

In stepping operation, with the DRVTBL instruction, specified tables are executed one by one. Only the DRVTBL instruction can execute this operation.

Every time a table ends, the complete flag turns on and the next table is not automatically activated. After the table shift

command or external start signal is detected, the next table is executed. (Page 59 Table shift command, Page 49 External

Start Signal)

The following figure shows an example of stepping operation with the tables 1 to 3 and dwell time.

Positioning address of the table 1



Drive contact of the

DRVTBL instruction

External start signal for the table shift signal

*1


SM8029

User-specified


Dwell time

*2

Dwell time

*2

Dwell time

Dwell time

*2

Table number in execution

0 1 2 3

*1 When the external start signal is enabled, the drive contact and external start signal must be turned on to activate the positioning instruction.

*2 Remains on until the user turns off the flag or starts the next table.

0

Operation

The following explains the operation of tables and flags in the stepping operation.

■Operation of the table

• Operation of each table in the stepping operation is the same as that of one-table operation.

• When a table with control method [0: No Positioning] is executed, or when the last table specified by the DRVTBL instruction is executed, execution of all the tables is completed. When the first table is greater than the last table, execution of all the tables is completed either when all the tables are executed or when control method [0: No Positioning] is executed.

• Even if the table shift command or external start signal is turned on before a table is completed, the next table is not activated. By turning on the table shift command or external start signal after the previous table is completed, the next table is executed.

• If the operation ends with an error when tables to be executed are left, the rest of the tables are not executed.

• Regardless whether the operation ends with or without errors, operation is started from the first table every time the instruction is turned on. The operation is not restarted from the last table of the previous operation.

• Some control methods can be used with the remaining distance operation. (Page 33 Remaining distance operation)

6

6 TABLE OPERATION

6.3 How to Execute Multiple Tables

157

■Operations by control method

• When a table with control method [0: No Positioning] is executed, all the tables are considered to be normally completed.

Then, the complete flag turns on, and tables that follow the table with [0: No Positioning] are not executed.

• For control method [10: Condition Jump], the conditions are judged at execution of the table, and the table with the next number is immediately executed. (The judgment timing differs from that in continuous operation.)

• For control method [4: Variable Speed Operation] and control method [5: Table Transition Variable Speed Operation, after the pulse decelerate and stop command is detected, deceleration stop is performed, and the complete flag turns on after dwell time. Then, the next table becomes ready to be executed. For control method [5: Table Transition Variable Speed

Operation], inputting the interrupt input signal 2 starts deceleration stop and enables the next table to be ready, in addition to the pulse decelerate and stop command.

■Operation of the flag

The user-specified positioning complete flag turns on for every table. (Page 62 Complete flag) The complete flag that is

on must be turned off by the user or turns off when execution of the next table is started. Instruction execution abnormal end flag (SM8029) turns on when execution of all the tables is completed.

■Operation with table (operand) setting

Operands can be changed during operation, similar to the one-table operation.

Compatible control method

The following table lists operation of control methods of each table when stepping operation is specified.

Control method

0: No Positioning








10: Condition Jump





Operation

When this type is specified, no pulses are output. The operation ends normally.

The table operates normally.







Depends on the jump-destination table.

The tables operate normally.

When this type is specified, no pulses are output. The operation ends with an error.

The tables operate normally.

When this type is specified, no pulses are output. The operation ends with an error.

Reference

Page 136

Page 137

Page 138

Page 139

Page 141

Page 142

Page 144

Page 146

Page 148

Page 149

Page 152

Page 153

Page 156

158

6 TABLE OPERATION


Continuous operation

In continuous operation, operation is performed successively without deceleration stop between tables. The specified positioning address that has been output is the start address of the next table.

The positioning complete flag turns on when execution of all the specified tables is completed. Unlike stepping operation, the table shift command is not required.

The following figure shows an example of continuous operation with tables 1 to 5 (With dwell time).





Drive contact of the

DRVTBL/DRVMUL instruction


*1

SM8029

User-specified


Table number in execution

0 1

*1 Only the DRVTBL instruction functions.

*2 Remains on until the user turns off the flag.

2 3 4


Dwell time

Dwell time

5

*2

0

Operation

The following explains the operation of tables and flags in the continuous operation.

■Operation of the table

• Dwell time of the last table is the time until the complete flag turns on after deceleration stop.

• When tables are executed successively causing a direction change, deceleration stop is performed once and then output is started in the reversed direction. The waiting time for the pulse output in the reversed direction after stop is "1 ms + scan time".

• If the operation ends with an error when tables to be executed are left, the rest of the tables are not executed.

• If a table that cannot be combined is executed, the operation ends with an error. In this case, the table before the table that cannot be combined is handled as the last table. After deceleration stop is performed for the previous table and dwell time elapses, the abnormal end flag turns on. The dwell time of the previous table is used.

• Some control methods can be used with the remaining distance operation. (Page 33 Remaining distance operation)

■Operations by control method

• When a table with control method [0: No Positioning] is executed, all the tables are considered to be normally completed.

Then, the positioning complete flag turns on, and tables that follow the table with control method [0: No Positioning] are not executed.

• The jump condition of control method [10: Condition Jump] is judged two tables before. (Example: If table 8 has control method [10: Condition Jump], the conditions are judged when execution of table 6 is started.) When the jump-destination table of control method [10: Condition Jump] has control method [10: Condition Jump], the conditions of control method [10:

Condition Jump] of the jump-destination table are judged at the same time.

■Operation with table (operand) setting

• Set the command speeds and positioning addresses of each table so that tables are switched once per 10 ms or less frequently (except conditional jumps). If tables are switched more frequently than the above, table shift processing cannot be completed in time and operation is decelerated to a stop and ends with an error. (The tables that have been read operate normally.)

6

6 TABLE OPERATION


159

• The positioning address of the last table only can be changed in the case of continuous operation. Changes in the positioning addresses of tables other than the last table are ignored.

• The positioning address of the last table can be changed both in the address increasing direction and address decreasing direction. When the address is changed in the decreasing direction and the new address has already passed or when pulses required for deceleration stop are insufficient for the new address, pulses are output in the reverse direction after deceleration stop to reach the new positioning address. (The operation is the same as that of the DRVI/DDRVI and DRVA/

DDRVA instructions.)

Compatible control method

The following table lists control methods that can be used when continuous operation is specified.

Rear table

Continuous operation

0: No Positioning








10: Condition Jump



 : Can be used.

 : Cannot be used because operation ends after executing forward table.

 : Cannot be used

 : Condition jump can be used depending on the forward table.

*1

*1 Can be used when control method [3: Interrupt 1 Speed Positioning] is specified as the second table.

*2 Can be used up to three times consecutively.

*2

Non-execution tables

Tables with positioning address setting such that no positioning is required are not executed and operation skips to the next table during continuous operation. The following table lists table non-execution conditions.

Control method





Table non-execution conditions

Positioning address = 0

Positioning address = Current address when corresponding table is started

*1

Positioning address = 0

Positioning address = Current address when corresponding table is started

*1

*1 For example, table 2 will be non-execution if the starting address is 0 and the following settings are used.

Table No.1: The positioning address of control method [1: 1 Speed Positioning (Relative Address Specification)] is 2000.

Table No.2: The positioning address of control method [2: 1 Speed Positioning (Absolute Address Specification)] is 2000.

Precautions

The table execution ends with an error if 4 or more consecutive tables are non-execution.

160

6 TABLE OPERATION


7

PROGRAMMING

This chapter explains common items and precautions related to programs.

7.1

Table Operation Instruction

After setting table data, create a program that uses the table. (Page 134 TABLE OPERATION)

Specify the table No., in the operand of the table operation instruction.

The following table shows operands specified for each table operation instruction.

Instruction

TBL

Operand

(n): Table number to be executed

Ladder

(d) (n)

Reference

Page 108

DRVTBL

Page 116

(n1): First table number to be executed

(n2): Last table number to be executed

(d1) (n1) (n2) (n3) (d2)

Page 124

DRVMUL (n2): Table number of the axis 1

(n3): Table number of the axis 2



(n1) (n2) (n3) (n4) (n5) (d)

7.2

Cautions for Program Creation

The following describes cautions for program creation.

Positioning instructions in the same axis

• Do not activate multiple positioning instructions in the same axis. Another positioning instruction for the same axis cannot be driven until the pulses for the currently driven positioning operation are stopped and its drive contact is turned off.

• When the pulse output monitor is on, a positioning instruction that uses the corresponding axis cannot be used. (Page

60 Pulse output monitor) While the pulse output monitor is on, even if the instruction drive contact is turned off, do not

execute a positioning instruction that specifies the same axis number.

Number of programmed positioning instructions

There is no limitation on the number of programmed positioning instructions. Programming one instruction two or more times does not cause any problems.

External start signal

When the external start signal is enabled and off, a positioning instruction that uses the corresponding axis cannot be used.

(Page 49 External Start Signal) To use such a positioning instruction, turn on the drive contact of the instruction and then

turn on the external start signal.

Positioning instruction activation timing

■When the absolute position detection system is used

For the axis in which the absolute position detection system is used, activate the DABS instruction when the servo amplifier is

powered on. (Page 130 Absolute Position Detection System) After the ABS data has been read, the servo-ON (SON is

on) status is retained, and it is disengaged when the DABS instruction is turned off. Activate the other instructions after the

DABS instruction has read the ABS data.

7

7 PROGRAMMING

7.1 Table Operation Instruction

161

■When the pulse output monitor is on

If the pulse output monitor is on, a positioning instruction (excluding the DABS instruction) that uses the same axis cannot be

executed. (Page 60 Pulse output monitor)

While a pulse output monitor is on even after the positioning instruction drive contact is set to off, a positioning instruction for the same output axis cannot be executed. Before re-executing a pulse output or positioning instruction, wait until the pulse output monitor turns off and one or more operation cycles pass.

■When a user interrupt is used

Driving a positioning instruction requires multiple scans and has both rising processing and falling processing. Thus, positioning does not operate normally if the positioning instruction is skipped by CJ instruction or if it is not executed every scan like inside an interrupt program. However, pulse output continues. Eliminating the instruction by writing during RUN also prevents the positioning from operating normally, and pulse output is stopped.

If the instruction is skipped, the complete flag does not turn on after the positioning operation stops. The complete flag turns on if the positioning instruction is executed again when CJ instruction is canceled or the user interrupt program is executed again. When the instruction is skipped, if disable all outputs (SM8034), pulse stop command, pulse decelerate and stop command, or limit in the movement direction is detected during a scan in which the positioning instruction is not executed, the positioning operation stops. The user-specified complete flag turns on, but the FX3 compatible complete flag (SM8029) does not turn on.

Functions for which inputs and outputs compete

Inputs and outputs used for positioning cannot be used with the functions below.

Input Output

*1

• High-speed counter (A-phase, B-phase, preset input, enable input)

• Pulse width measurement

• zero signal

• Interrupt input signal 1

• External start signal

• PWM output

• General-purpose output

*1 When positioning is not used, the output devices (Y) for which the positioning setting is enabled with parameters can be used as PWM outputs or general-purpose devices having no parameter. However, when the positioning setting is disabled with parameters, the PWM outputs or general-purpose output devices cannot be used in the positioning function.

When operating PWM with parameters, the outputs that are already used for positioning cannot be used.


Functions that share inputs

Some positioning parameters occupy channels of input interrupts. For the input interrupt function, refer to User's manual

(Application).

■Input interrupt function

The following inputs of the positioning function occupy the input interrupt function (up to 8 channels of X0 to X17).

• Input interrupt

*1

• Zero signal (Page 55 Zero Signal)

• Interrupt input signal 1 (Page 48 Interrupt Input Signal 1)

• External start signal (Page 49 External Start Signal)

*1 Can be used together with other functions. However, the edge operation of other functions is applied.

Correction of backlash

The positioning function cannot correct mechanical backlash (clearance/ play). If it is necessary to correct the backlash, set the number of output pulses taking into account the backlash that may be caused when reversing the transfer direction beforehand.

Turntable

Feed screw

Backlash

(clearance/play)

162

7 PROGRAMMING

7.2 Cautions for Program Creation

Complete flag and completion of positioning operation

If the complete flag of a positioning instruction is turned on, then the execution of the instruction (such as pulse outputting

operation) is complete (Page 62 Complete flag). However, it is not certain whether the servo motor has stopped or not.

Check the "positioning completion" signal of the servo amplifier (drive unit) to determine whether the servo motor has stopped.

Write during RUN

Do not change the program if a positioning instruction is being executed (pulses are being output) in the RUN mode.

Operations will be performed as shown in the following table if a program is changed during instruction execution in RUN mode.

Also do not change the program if PWM is being executed in RUN mode.

For details on the PWM instructions, refer to Programming manual (Instructions, Standard Functions/Function Blocks).

Positioning instruction Reference

Pulse Y output instruction

Mechanical OPR instruction

Relative positioning instruction

Absolute positioning instruction

Interrupt 1-speed positioning instruction

Variable speed operation instruction

PLSY/DPLSY

DSZR/DDSZR

DRVI/DDRVI

DRVA/DDRVA

DVIT/DDVIT

PLSV/DPLSV With acceleration/ deceleration operation

Without acceleration/ deceleration operation

PLC operation when writing executed during

RUN while instruction is executed

Immediately stops pulse output.

Decelerates and stops pulse output.

Decelerates and stops pulse output.

Immediately stops pulse output.

Page 66

Page 71

Page 79

Page 86

Page 93

Page 101

Single-table operation instruction

Multiple-table operation instruction

Multiple-axis table operation instruction

TBL

DRVTBL

DRVMUL

Program cannot be changed in the RUN mode.

Page 108

Page 116

Page 124

Precautions

Note that immediate stop may damage the machine because the motor stops immediately.

7.3

FX3 compatible SM/SD

FX3 compatible devices can be used.

Both the FX5 dedicated devices and FX3 compatible devices can be used if they have the same functionality.

For details on devices, refer to Page 39 Details of Parameters.

7

7 PROGRAMMING

7.3 FX3 compatible SM/SD

163

7.4

List of Related Devices

The following lists the special devices related to the positioning function. For compatible positioning instructions, refer to the related device of each instruction.

Special relays

FX5 dedicated

Axis 1

SM5500

SM5516

SM5532

SM5580

SM5596

SM5612

SM5628

SM5644

SM5660

SM5676

SM5772

SM5804

SM5820

SM5868

Axis 2

SM5501

SM5517

SM5533

SM5581

SM5597

SM5613

SM5629

SM5645

SM5661

SM5677

SM5773

SM5805

SM5821

SM5869

Axis 3

SM5502

SM5518

SM5534

SM5582

SM5598

SM5614

SM5630

SM5646

SM5662

SM5678

SM5774

SM5806

SM5822

SM5870

Axis 4

SM5503

SM5519

SM5535

SM5583

SM5599

SM5615

SM5631

SM5647

SM5663

SM5679

SM5775

SM5807

SM5823

SM5871

Name


Pulse output monitor


Table shift command





Forward limit

Reverse limit






FX3 compatible


SM8029

SM8329

SM8348

SM8340

SM8358

SM8350

SM8368

SM8360


Axis 4

SM8378

SM8370

Name



Pulse output monitor


























High Speed I/O Parameter R/W Reference



R

R

Page 61

Page 60

R/W

R/W

R/W

R/W

Page 61

Page 59

Page 50

Page 51

R/W

R/W

R/W

R/W

Page 48

Page 49

Page 50

Page 50



R/W

R/W

R/W

R/W

Page 40

Page 52

Page 54

Page 56










R

R

R

R

Page 62

Page 60

Page 61

164

7 PROGRAMMING

7.4 List of Related Devices


FX5 dedicated

Axis 1

SD5516

SD5517

SD5518

SD5519

SD5520

SD5521

SD5526

SD5527

SD5528

SD5529

SD5530

SD5531

SD5532

SD5533

SD5500

SD5501

SD5502

SD5503

SD5504

SD5505

SD5506

SD5508

SD5509

SD5510

SD5511

Axis 2

SD5556

SD5557

SD5558

SD5559

SD5560

SD5561

SD5566

SD5567

SD5568

SD5569

SD5570

SD5571

SD5572

SD5573

SD5540

SD5541

SD5542

SD5543

SD5544

SD5545

SD5546

SD5548

SD5549

SD5550

SD5551

Axis 3

SD5596

SD5597

SD5598

SD5599

SD5600

SD5601

SD5606

SD5607

SD5608

SD5609

SD5610

SD5611

SD5612

SD5613

SD5580

SD5581

SD5582

SD5583

SD5584

SD5585

SD5586

SD5588

SD5589

SD5590

SD5591

Axis 4

SD5636

SD5637

SD5638

SD5639

SD5640

SD5641

SD5646

SD5647

SD5648

SD5649

SD5650

SD5651

SD5652

SD5653

SD5620

SD5621

SD5622

SD5623

SD5624

SD5625

SD5626

SD5628

SD5629

SD5630

SD5631

Name









Positioning error (error occurrence table No.) 

Maximum speed



Bias speed

Acceleration time

Deceleration time

OPR speed

Creep speed

Origin address


OPR dwell time












R/W

*1

Page 47



















R/W

*1

R

R

R

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

R/W

Page 47

Page 44

Page 60

Page 59

Page 61

Page 60

Page 44

Page 45

Page 45

Page 45

Page 53

Page 53

Page 52

Page 56

Page 54

FX3 compatible

Axis 1 Axis 2

SD8136,SD8137

Axis 3



Axis 4



Name High Speed I/O Parameter R/W Reference

Total number of pulses output from axis 1 and axis 2



Number of pulses output by PLSY instruction 

R/W

R/W

Page 51

Page 52

SD8140

SD8141

SD8340

SD8341

SD8142

SD8143

SD8350

SD8351



SD8360

SD8361



SD8370

SD8371


R/W: Read/write, : Not supported




R/W

*1

Page 47

7

7 PROGRAMMING

7.4 List of Related Devices

165

8

TROUBLESHOOTING

This chapter explains the errors and problems related to the positioning function.

8.1

LED Status during Pulse Output and Rotation

Direction Output

Check the on/off status of LED indicator lamp on the CPU module that indicates the status of the output device (Y) to assess the positioning operation status. For other LEDs, refer to the following manual.



Signal Description

Pulse output destination

PULSE

(pulse train)

Axis

1

Axis

2

Axis

3

Axis

4

LED status during execution of positioning instruction

Y0 Y1 Y2 Y3 Flashing

(turned on and off at high speed)

OFF

The pulse output operation is controlled by the positioning instruction.

CW

(forward pulse train)

Y0 Y2

 

Flashing


OFF

One of the following has occurred:

1) The operation of the positioning instruction is completed.

2) An error occurred during positioning. The instruction, therefore, is not being executed.

Forward operation is being executed for a positioning instruction.

Reverse pulse train is off.

Rotation direction output

SIGN

(direction)

CCW

(reverse rotation pulse train)

Y0 to Y17

Y1 Y3

 

ON

OFF

Flashing


OFF




Forward operation is in execution.


1) The positioning instruction turns on, and operation is being performed in the reverse rotation direction.


Reverse operation is being executed for a positioning instruction.

Forward pulse train is off.




166

8 TROUBLESHOOTING

8.1 LED Status during Pulse Output and Rotation Direction Output

8.2

Error Check

Common error

When an error common to the functions other than the positioning function (operation error, parameter error) occurs, the following error flag turns on.

Operation error Latest self-diagnostic error

(Including the annunciator ON)

SM0

Latest self-diagnostic error

(Not including the annunciator ON)

SM1 SM56 SM8067

After the error flag above turns on, an error code is stored in the following device. One error code common to all the axes is stored.

Latest self-diagnostic error cord

SD0

Operation error

SD8067

When an operation error related to positioning occurs, one of the following error codes is stored.

Error code (HEX)

SD0/SD8067

1810

1811

2221

3405

3600

36F0

Description

Operation error

Operation error

Parameter error

Operation error

Operation error

ABS sum error

Cause

Positioning of the axis specified is already in operation.

17 or more DABS instructions were driven simultaneously.

The parameter set value is out of range or device specified by the parameter is out of range.

The operand of the instruction is out of range.

Positioning is attempted on an axis with no parameters specified. A function of the setting not used in parameters (such as interrupt input signal 1 or function related to origin return) is used.

The ABS data sum from the servo amplifier does not match.

For detailed error codes other than the above, refer to User's manual (Application).

Positioning-dedicated error

When an error related to the positioning function occurs, the following special device turns on.

Name


FX5 dedicated

Axis 1

SM5532

Axis 2

SM5533

Axis 3

SM5534

Axis 4

SM5535

R/W

Read only

After the device above turns on, an error code is stored in the corresponding special device below.

Name


FX5 dedicated

Axis 1

SD5510

Axis 2

SD5550

Axis 3

SD5590

Axis 4

SD5630

R/W

Read only

The following error codes are stored in the positioning error (error code).

Error code (HEX)


SD5510 SD5550 SD5590 SD5630

1821

3621

1822

3622

1823

3623

1824

3624

Description

Write during RUN error

Limit detection error

Cause

3631 3632 3633 3634 Positioning address error

Writing during RUN is performed on an instruction being executed.

• Both forward limit and reverse limit are detected at OPR.

• After the near-point dog signal is detected, the limit in the moving direction is detected.

• When the unit of the positioning address is changed, the value of the transfer distance exceeds the 32-bit data range.

• The total transfer distance (before and after interrupt) exceeds the

32-bit data range in the DVIT/DDVIT instruction or table operation

(control method [3: Interrupt 1 Speed Positioning]).

• For the absolute address, a value which needs a pulse greater than

32 bits is specified.

8 TROUBLESHOOTING

8.2 Error Check

167

8

Description Cause Error code (HEX)


SD5510 SD5550 SD5590 SD5630

3641 3642 3643 3644

3651

3661

3671

3681

3652

3662

3672

3682

3653

3663

3673

3683

3654

3664

3674

3684

Command speed error

Error stop (deceleration stop)

Error stop (immediately stop)

Positioning table operand error

Positioning table shift error (table specification)

• When the unit of the maximum speed is changed, the value of the command speed exceeds the 32-bit data range.

• Positioning is started with the command speed set at 0.

• Deceleration stop starts during pulse output or positioning operation due to a detection of the limit in the moving direction.

• Pulse deceleration stop is detected during pulse output or at start of a positioning operation.

• The command speed is set to 0 during pulse output.

Immediately stop starts during pulse output or positioning operation due to detection of the pulse output stop command flag or all outputs disable flag.

The table operand value (other than the positioning address or command speed) is abnormal.

• Tables which cannot be used together is specified in the continuous operation.

• The counterpart axis for the interpolation operation table is specified.

3691

36A1

36B1

3692

36A2

36B2

3693

36A3

36B3

3694

36A4

36B4

Positioning table shift error (table shift)

Interpolation operation error (no counterpart axis)

Interpolation operation error

(reference/counterpart axis error)

• Tables are switched so frequently that the table shift processing cannot be executed.

• Tables are not executed 4 times consecutively.

• Condition jumps are executed 4 times consecutively.

The counterpart axis table for the interpolation operation cannot be found.

• Even though one axis operates normally, pulse output is stopped due to limit detection in the other axis or other causes.

• Interpolation operation is duplicated in table of counterpart axis.

8.3

Servo Motor, Stepping Motor

If the servo motor or the stepping motor does not operate, check the following items.

(1) Check the wiring.

For the output specifications, refer to Page 16 Output Specifications.

For details on the MELSERVO servo amplifier (drive unit), refer to the manuals for the unit used.

(2)

Execute the positioning instruction, and then check the statuses of the following LED indicator lamps. (Page 166

LED Status during Pulse Output and Rotation Direction Output)

•

LED indicator lamp of the output specified as the pulse output destination device

• LED indicator lamp of the output specified as the rotation direction output device

(3) Verify that the same pulse output method is being applied for both the PLC and the servo amplifier (drive unit).

(Page 39 Pulse Output Mode)

(4)

Check that the flag which stops the pulse is off. (Page 64 Pulse output stop)

(5)

Check the operation timing of the positioning instruction. (Page 161 Positioning instruction activation timing)

168

8 TROUBLESHOOTING

8.3 Servo Motor, Stepping Motor

8.4

Stop Position

If operation is stopped at the wrong position, check the following items.

(1)

Check whether the electronic gear of the servo amplifier (drive unit) is set properly. (Page 41 Unit Setting)

(2) Check whether the origin is set properly.

(a) Properly set the near-point dog so that the near-point dog signal can be kept in the ON status until the speed is

reduced to the creep speed. (Page 55 Near-point Dog Signal, Page 53 Creep speed) The DSZR/DDSZR

instruction starts deceleration to the creep speed at the front end of the near-point dog, the operation stops at "the rear end of the near-point dog" or at "detection of the first zero signal after the rear end of the near-point dog", and

the current address is cleared. (Page 71 Mechanical OPR)

(b) The creep speed should be sufficiently slow. The DSZR/DDSZR instruction will not reduce the speed before stopping. For this reason, if the creep speed is not slow enough, the operation may not be stopped at the specified position due to inertia.

(c) Detection of (the rear end and the front end of) the near-point dog signal will be affected by the response time and the scan time of the sequence program.

Ensure 1 scan time or more from the rear end of the dog to turning on of the zero-point signal.

(d) When the DSZR/DDSZR instruction is used, the zero signal of the servo motor is used. Adjust the relation between the rear end of the near-point dog and the zero signal as shown in the following figure. If fine adjustment of the origin position is needed, adjust the position of the near-point dog.

Rear end

Operation direction

Forward end

Near-point DOG

Longer than

1 scan time

Zero signal

(3) If reciprocating operation (operation in the forward rotation direction and then reverse rotation direction) is not stopped at the specified position:

The positioning function cannot correct mechanical backlash (clearance/play). If it is necessary to correct the backlash or reverse the transfer direction, set the number of output pulses taking into account the backlash that may be caused beforehand.

Turntable

Feed screw

Backlash

(clearance/play)

8

8 TROUBLESHOOTING

8.4 Stop Position

169

APPENDIX

Examples (sink input/sink output) of connecting an FX5 CPU module to a MELSERVO MR-J4A, MR-J3A, or MR-JNA series servo amplifier are shown. Use a CPU module and I/O module is transistor output.

For pulse output mode, refer to Page 39 Pulse Output Mode.

For DABS instruction, refer to Page 130 Absolute Position Detection System.

For input/output of the CPU module assigned, refer to the following.

Page 18 Assignment of output numbers

Page 16 Input assignment

For details of the I/O module, refer to the following manual.



For details of the servo amplifier, refer to the manual for each servo amplifier.

170

APPENDIX

Appendix 1

MELSERVO-J4 series

PULSE/SIGN mode

FX5U CPU module

FX5U-32MT/ES

L

100V to 240V AC

Photocoupler

N

S/S

0V

24V

X0

Class-D grounding *1

X4

X10

DOG

*2

X14

Y7

FX5-16EYT/ES

*5

COM0

Y20

Y37

FX5-16EX/ES

*5

Photocoupler

S/S

X20

X21

X22

X23

X24

X25

X26

X27

X30

X17

COM0

Y0

COM1

Y4

24V DC

Zero signal (PG0)

Servo ready

(RD)

Pulse train

Direction

Clear signal

Immediate stop command

OPR command

JOG(+)command

JOG(-)command

Forward rotation positioning command

Reverse rotation positioning command

Forward rotation limit (LSF)*

*3

Reverse rotation limit (LSR)* *3

Stop command

CN1

DICOM

MR-J4A series servo amplifier *6

20

DOCOM

OPC

46

12

21

CN1

DICOM

23

24

ZSP

INP

25

48

TLC

ALM

LG

OP

34

33

15

19

CN1

SON

RES

42

EM2

RD

49

43

44

LSP

LSN

47

DOCOM

DOCOM

46

PP

10

NP

35

CR

SD

41

Plate

15

17

18

25

22

23

46

CN1

ABST

ABSB0

ABSB1

DOCOM

SON

ABSM

ABSR

X37

Zero speed

*4

Positioning completed(INP)

Torque being controlled *4

Servo error(ALM)

Servo ON *4

Reset

Emergency stop 2


*3

Reverse rotation limit 2 *3

*4

Connected to the

CPU module if the

DABS instruction is used.

*7

FX5-16EX/ES

FX5-16EYT/ES

A

APPENDIX

Appendix 1 MELSERVO-J4 series

171

*1 Be sure to use the class-D grounding method (grounding resistance: 100

 or less).

*2 Near-point signal (DOG)

*3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.

Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side.




(CPU module side)

LSR


(CPU module side)

LSF



Servo motor


*4 To detect absolute positions, connect this line to the CPU module.

*5 I/O module are used in the connection example.

Inputs and outputs built into the CPU module are available in place of I/O module.

*6 Set the command pulse input form of the servo amplifier (PA13) MR-J4A to "0211" (negative logic, signed pulse train, command input pulse train filter: 500 kpps or less).

*7 Refer to Page 178 FX5U CPU module.

172

APPENDIX



FX5UC-32MT/D

Photocoupler

COM

X0

X4

X10

DOG

*2

X14

X17

COM0

COM0

Y0

Y4

Y17

FX5-C32EYT/D

*5

COM0

COM0

Y20

Y57

FX5-C32EX/D

*5

Photocoupler

COM

X20

X21

X22

X23

X24

X25

X26

X27

X30

X57

Class-D grounding

*1

Zero signal (PG0)

Servo ready

(RD)

24V DC

Pulse train

Direction

Clear signal


OPR command

JOG(+)command

JOG(-)command




*3

Reverse rotation limit (LSR)*

*3

Stop command

CN1

DICOM


20

OPC

12

DOCOM

46

LG

21

CN1

DICOM

23

24

25

48

ZSP

INP

TLC

ALM

OP

34

33

RD

DOCOM

PP

49

46

10

NP

35

15

19

CN1

SON

RES

42

EM2

43

LSP

44

47

LSN

DOCOM

CR

SD

41

Plate

25

22

CN1

ABST

23

46

ABSB1

DOCOM

15

17

ABSB0

SON

ABSM

18

ABSR

Zero speed *4


Torque being controlled

*4

Servo error(ALM)

Servo ON

*4

Reset

Emergency stop 2



*3

*3

*4

Connected to the

CPU module if the


*7

FX5-C32EX/D

FX5-C32EYT/D

A

APPENDIX


173


 or less).







(CPU module side)

LSR


(CPU module side)

LSF



Servo motor





*6 Set the command pulse input form of the servo amplifier (PA13) MR-J4A to "0211" (negative logic, signed pulse train, command input pulse train filter: 500 kpps or less).

*7 Refer to Page 179 FX5UC CPU module.

174

APPENDIX


CW/CCW mode

FX5U CPU module

FX5U-32MT/ES

L

100V to 240V AC

Photocoupler

N

S/S

0V

24V

X0

Class-D grounding

*1

X4

X10

DOG *2

X14

X17

COM0

Y0

Y2

FX5-16EYT/ES

*5

COM0

Y20

Y37

FX5-16EX/ES

*5

Photocoupler

S/S

X20

X21

X22

X23

X24

X25

X26

X27

X30

24V DC

Zero signal (PG0)

Servo ready

(RD)

Forward rotation pulse train

Reverse rotation pulse train

Clear signal


OPR command

JOG(+)command

JOG(-)command




*3


Stop command

CN1

DICOM


20

DOCOM

OPC

46

12

21

23

CN1

DICOM

ZSP

24

25

48

INP

TLC

ALM

LG

OP

34

33

15

19

CN1

SON

RES

DOCOM

RD

46

49

42

EM2

43

LSP

44

47

LSN

DOCOM

PP

10

NP

35

CR

SD

41

Plate

15

17

18

25

22

23

46

CN1

ABST

ABSB0

ABSB1

DOCOM

SON

ABSM

ABSR

X37

Zero speed

*4



Servo error(ALM)

Servo ON

*4

Reset

Emergency stop 2

Forward rotation limit 2 *3


*3

*4

Connected to the

CPU module if the


*7

FX5-16EX/ES

FX5-16EYT/ES

A

APPENDIX


175


 or less).







(CPU module side)

LSR


(CPU module side)

LSF



Servo motor





*6 Set the command pulse input form of the servo amplifier (PA13) MR-J4A to "0210" (negative logic, forward rotation pulse train, reverse rotation pulse train, command input pulse train filter: 500 kpps or less).


176

APPENDIX



FX5UC-32MT/D

Photocoupler

COM

X0

X4

Y2

FX5-C32EYT/D

*5

COM0

COM0

Y20

Y57

FX5-C32EX/D

*5

X10

DOG

*2

X14

X17

COM0

COM0

Y0

Photocoupler

COM

X20

X21

X22

X23

X24

X25

X26

X27

X30

X57

Class-D grounding

*1

Zero signal (PG0)

Servo ready

(RD)

24V DC



Clear signal


OPR command

JOG(+)command

JOG(-)command




*3


*3

Stop command

CN1

DICOM


20

OPC

12

DOCOM

46

21

CN1

DICOM

LG

OP

34

33

23

24

25

48

ZSP

INP

TLC

ALM

DOCOM

RD

PP

46

49

10

NP

35

15

19

CN1

SON

RES

42

EM2

43

LSP

44

47

LSN

DOCOM

CR

SD

41

Plate

25

22

CN1

ABST

23

46

ABSB1

DOCOM

15

17

ABSB0

SON

ABSM

18

ABSR

Zero speed *4



*4

Servo error(ALM)

Servo ON

*4

Reset

Emergency stop 2



*3

*3

*4

Connected to the

CPU module if the


*7

FX5-C32EX/D

FX5-C32EYT/D

A

APPENDIX


177


 or less).







(CPU module side)

LSR


(CPU module side)

LSF



Servo motor





*6 Set the command pulse input form of the servo amplifier (PA13) MR-J4A to "0210" (negative logic, forward rotation pulse train, reverse rotation pulse train, command input pulse train filter: 500 kpps or less).


Absolute position detection

FX5U CPU module

FX5U-32MT/ES

L

100V to 240V AC

N

Class-D grounding

*1

Photocouple

S/S

0V

24V

X0

FX5-16EYT/ES

*2

COM0

Y20

Y21

Y22

Y23

Y37

FX5-16EX/ES

*2

Photocouple

S/S

X20

X31

X32

X33

X37

Servo-ON

ABS transfer mode

ABS request

ABS(bit0)

ABS(bit1)

Send data ready

24V DC

CN1

DOCOM

DICOM

MR-J4A series servo amplifier

46

20

SON

ABSM

ABSR

15

17

18

ABSB0

ABSB1

ABST

SD

22

23

25

Plate


 or less).



178

APPENDIX



FX5UC-32MT/D

24V DC

CN1

DICOM


20

DOCOM 46

Photocoupler

COM

X0

FX5-C32EYT/D

*2

COM0

COM0

Y20

Y21

Y22

Y23

Y57

FX5-C32EX/D

*2


Servo-ON

ABS transfer mode

ABS request

SON

ABSM

ABSR

15

17

18

Photocoupler

COM

X20

X31

X32

X33

X57

ABS(bit0)

ABS(bit1)

Send data ready

ABSB0

ABSB1

ABST

SD

22

23

25

Plate


 or less).



A

APPENDIX


179

Appendix 2

MELSERVO-J3 series

PULSE/SIGN mode

FX5U CPU module

FX5U-32MT/ES

L

100V to 240V AC

Photocoupler

N

S/S

0V

24V

X0


X4

X10

DOG

*2

X14

Y7

FX5-16EYT/ES

*5

COM0

Y20

Y37

FX5-16EX/ES

*5

Photocoupler

S/S

X20

X21

X22

X23

X24

X25

X26

X27

X30

X17

COM0

Y0

COM1

Y4

24V DC

Zero signal (PG0)

Servo ready

(RD)

Pulse train

Direction

Clear signal


OPR command

JOG(+)command

JOG(-)command




*3


Stop command

CN1

DICOM


*6

20

DOCOM

OPC

46

12

21

CN1

DICOM

23

24

ZSP

INP

25

48

TLC

ALM

LG

OP

34

33

15

19

CN1

SON

RES

42

EMG

RD

49

43

44

LSP

LSN

47

DOCOM

DOCOM

46

PP

10

NP

35

CR

SD

41

Plate

15

17

18

25

22

23

46

CN1

ABST

ABSB0

ABSB1

DOCOM

SON

ABSM

ABSR

X37

Zero speed

*4



Servo error(ALM)

Servo ON *4

Reset

Emergency stop


*3


*4

Connected to the

CPU module if the


*7

FX5-16EX/ES

FX5-16EYT/ES

180

APPENDIX



 or less).







(CPU module side)

LSR


(CPU module side)

LSF



Servo motor





*6 Set the command pulse input form of the servo amplifier (PA13) MR-J3A to "0011" (negative logic, signed pulse train).


A

APPENDIX


181


FX5UC-32MT/D

Photocoupler

COM

X0

X4

X10

DOG

*2

X14

X17

COM0

COM0

Y0

Y4

Y17

FX5-C32EYT/D

*5

COM0

COM0

Y20

Y57

FX5-C32EX/D

*5

Photocoupler

COM

X20

X21

X22

X23

X24

X25

X26

X27

X30

X57

Class-D grounding

*1

Zero signal (PG0)

Servo ready

(RD)

24V DC

Pulse train

Direction

Clear signal


OPR command

JOG(+)command

JOG(-)command




*3


*3

Stop command

CN1

DICOM


*6

20

OPC

12

DOCOM

46

LG

21

CN1

DICOM

23

24

25

48

ZSP

INP

TLC

ALM

OP

34

33

RD

DOCOM

PP

49

46

10

NP

35

15

19

CN1

SON

RES

42

EMG

43

LSP

44

47

LSN

DOCOM

CR

SD

41

Plate

25

22

CN1

ABST

23

46

ABSB1

DOCOM

15

17

ABSB0

SON

ABSM

18

ABSR

Zero speed *4



*4

Servo error(ALM)

Servo ON

*4

Reset

Emergency stop



*3

*3

*4

Connected to the

CPU module if the


*7

FX5-C32EX/D

FX5-C32EYT/D

182

APPENDIX



 or less).







(CPU module side)

LSR


(CPU module side)

LSF



Servo motor





*6 Set the command pulse input form of the servo amplifier (PA13) MR-J3A to "0011" (negative logic, signed pulse train).


A

APPENDIX


183

CW/CCW mode

FX5U CPU module

FX5U-32MT/ES

L

100V to 240V AC

Photocoupler

N

S/S

0V

24V

X0

Class-D grounding

*1

X4

X10

DOG *2

X14

X17

COM0

Y0

Y2

FX5-16EYT/ES

*5

COM0

Y20

Y37

FX5-16EX/ES

*5

Photocoupler

S/S

X20

X21

X22

X23

X24

X25

X26

X27

X30

24V DC

Zero signal (PG0)

Servo ready

(RD)



Clear signal


OPR command

JOG(+)command

JOG(-)command




*3


Stop command

CN1

DICOM


*6

20

DOCOM

OPC

46

12

21

23

CN1

DICOM

ZSP

24

25

48

INP

TLC

ALM

LG

OP

34

33

15

19

CN1

SON

RES

DOCOM

RD

46

49

42

EMG

43

LSP

44

47

LSN

DOCOM

PP

10

NP

35

CR

SD

41

Plate

15

17

18

25

22

23

46

CN1

ABST

ABSB0

ABSB1

DOCOM

SON

ABSM

ABSR

X37

Zero speed

*4



Servo error(ALM)

Servo ON

*4

Reset

Emergency stop



*3

*4

Connected to the

CPU module if the


*7

FX5-16EX/ES

FX5-16EYT/ES

184

APPENDIX



 or less).







(CPU module side)

LSR


(CPU module side)

LSF



Servo motor





*6 Set the command pulse input form of the servo amplifier (PA13) MR-J3A to "0010" (negative logic, forward rotation pulse train, reverse rotation pulse train).


A

APPENDIX


185


FX5UC-32MT/D

Photocoupler

COM

X0

X4

Y2

FX5-C32EYT/D

*5

COM0

COM0

Y20

Y57

FX5-C32EX/D

*5

X10

DOG

*2

X14

X17

COM0

COM0

Y0

Photocoupler

COM

X20

X21

X22

X23

X24

X25

X26

X27

X30

X57

Class-D grounding

*1

Zero signal (PG0)

Servo ready

(RD)

24V DC



Clear signal


OPR command

JOG(+)command

JOG(-)command




*3


*3

Stop command

CN1

DICOM


*6

20

OPC

12

DOCOM

46

21

CN1

DICOM

LG

OP

34

33

23

24

25

48

ZSP

INP

TLC

ALM

DOCOM

RD

PP

46

49

10

NP

35

15

19

CN1

SON

RES

42

EMG

43

LSP

44

47

LSN

DOCOM

CR

SD

41

Plate

25

22

CN1

ABST

23

46

ABSB1

DOCOM

15

17

ABSB0

SON

ABSM

18

ABSR

Zero speed *4



*4

Servo error(ALM)

Servo ON

*4

Reset

Emergency stop



*3

*3

*4

Connected to the

CPU module if the


*7

FX5-C32EX/D

FX5-C32EYT/D

186

APPENDIX



 or less).







(CPU module side)

LSR


(CPU module side)

LSF



Servo motor





*6 Set the command pulse input form of the servo amplifier (PA13) MR-J3A to "0010" (negative logic, forward rotation pulse train, reverse rotation pulse train).


Absolute position detection

A

FX5U CPU module

FX5U-32MT/ES

L

100V to 240V AC

N

Class-D grounding

*1

Photocouple

S/S

0V

24V

X0

FX5-16EYT/ES

*2

COM0

Y20

Y21

Y22

Y23

Y37

FX5-16EX/ES

*2

Photocouple

S/S

X20

X31

X32

X33

X37

Servo-ON

ABS transfer mode

ABS request

ABS(bit0)

ABS(bit1)

Send data ready

24V DC

CN1

DOCOM

DICOM


46

20

SON

ABSM

ABSR

15

17

18

ABSB0

ABSB1

ABST

SD

22

23

25

Plate


 or less).



APPENDIX


187


FX5UC-32MT/D

24V DC

CN1

DICOM


20

DOCOM 46

Photocoupler

COM

X0

FX5-C32EYT/D

*2

COM0

COM0

Y20

Y21

Y22

Y23

Y57

FX5-C32EX/D

*2


Servo-ON

ABS transfer mode

ABS request

SON

ABSM

ABSR

15

17

18

Photocoupler

COM

X20

X31

X32

X33

X57

ABS(bit0)

ABS(bit1)

Send data ready

ABSB0

ABSB1

ABST

SD

22

23

25

Plate


 or less).



188

APPENDIX


Appendix 3

MELSERVO-JN series

PULSE/SIGN mode

FX5U CPU module

FX5U-32MT/ES

L

100V to 240V AC

Photocoupler

N

S/S

0V

24V

X0


X4

X10

DOG

*2

X14

X17

COM0

Y0

COM1

Y4

24V DC

Zero signal (PG0)

Servo ready

(RD)

Pulse train

Direction

CN1

DICOM

MR-JNA series servo amplifier

*5

1

DOCOM

OPC

13

2

1

CN1

DICOM

10

INP

9

ALM

LG

OP

14

21

4

3

CN1

SON

RES

8

EM1

RD

11

6

7

LSP

LSN

13

DOCOM

DOCOM

13

PP

23

NP

25

Y7

FX5-16EYT/ES

*4

COM0

Y20

Y37

FX5-16EX/ES

*4

Photocoupler

S/S

X20

X21

X22

X23

X24

X25

X26

X27

X30

X37

Clear signal

CR

SD

5

Plate


OPR command

JOG(+)command

JOG(-)command




*3


Stop command


Servo error(ALM)

Servo ON

Reset

Emergency stop


*3


A

APPENDIX

Appendix 3 MELSERVO-JN series

189


 or less).







(CPU module side)

LSR


(CPU module side)

LSF



Servo motor




*5 Set the command pulse input form of the servo amplifier (PA13) MR-JNA to "211" (negative logic, signed pulse train, command input pulse train filter: 200 kpps or less).

190

APPENDIX



FX5UC-32MT/D

Photocoupler

COM

X0

X4

X10

DOG

*2

X14

X17

COM0

COM0

Y0

Y4

Y17

FX5-C32EYT/D

*4

COM0

COM0

Y20

Y57

FX5-C32EX/D

*4

Photocoupler

COM

X20

X21

X22

X23

X24

X25

X26

X27

X30

X57

Class-D grounding

*1

Zero signal (PG0)

Servo ready

(RD)

24V DC

Pulse train

Direction

Clear signal

CN1

DICOM


*5

1

OPC

2

DOCOM

13

1

CN1

DICOM

10

INP

LG

OP

14

21

9

ALM

RD

DOCOM

PP

11

13

23

NP

25

4

3

CN1

SON

RES

8

EM1

6

LSP

7

13

LSN

DOCOM

CR

SD


OPR command

JOG(+)command

JOG(-)command




*3


*3

Stop command

5

Plate


Servo error(ALM)

Servo ON

Reset

Emergency stop



*3

*3

A

APPENDIX


191


 or less).







(CPU module side)

LSR


(CPU module side)

LSF



Servo motor




*5 Set the command pulse input form of the servo amplifier (PA13) MR-JNA to "211" (negative logic, signed pulse train, command input pulse train filter: 200 kpps or less).

192

APPENDIX


CW/CCW mode

FX5U CPU module

FX5U-32MT/ES

L

100V to 240V AC

Photocoupler

N

S/S

0V

24V

X0

Class-D grounding

*1

X4

X10

DOG *2

X14

X17

COM0

Y0

Y2

FX5-16EYT/ES

*4

COM0

Y20

Y37

FX5-16EX/ES

*4

Photocoupler

S/S

X20

X21

X22

X23

X24

X25

X26

X27

X30

X37

24V DC

Zero signal (PG0)

Servo ready

(RD)



Clear signal

CR

SD

5

Plate


OPR command

JOG(+)command

JOG(-)command




*3


Stop command

CN1

DICOM


*5

1

CN1

DOCOM

13

1

DICOM

OPC

2

10

INP

9

ALM

LG

OP

14

21

4

3

CN1

SON

RES

DOCOM

RD

13

11

8

EM1

3

LSP

7

13

LSN

DOCOM

PP

23

NP

25


Servo error(ALM)

Servo ON

Reset

Emergency stop



*3

A

APPENDIX


193


 or less).







(CPU module side)

LSR


(CPU module side)

LSF



Servo motor




*5 Set the command pulse input form of the servo amplifier (PA13) MR-JNA to "210" (negative logic, forward rotation pulse train, reverse rotation pulse train, command input pulse train filter: 200 kpps or less).

194

APPENDIX



FX5UC-32MT/D

Photocoupler

COM

X0

X4

Y2

FX5-C32EYT/D

*4

COM0

COM0

Y20

Y57

FX5-C32EX/D

*4

X10

DOG

*2

X14

X17

COM0

COM0

Y0

Photocoupler

COM

X20

X21

X22

X23

X24

X25

X26

X27

X30

X57

24V DC

Class-D grounding

*1

Zero signal (PG0)

Servo ready

(RD)



Clear signal


OPR command

JOG(+)command

JOG(-)command




*3


*3

Stop command

CN1

DICOM


*5

1

OPC

2

DOCOM

13

1

CN1

DICOM

10

INP

LG

OP

14

21

9

ALM

DOCOM

RD

PP

13

11

23

NP

25

4

3

CN1

SON

RES

8

EM1

6

LSP

7

13

LSN

DOCOM

CR

SD

5

Plate


Servo error(ALM)

Servo ON

Reset

Emergency stop



*3

*3

A

APPENDIX


195


 or less).







(CPU module side)

LSR


(CPU module side)

LSF



Servo motor




*5 Set the command pulse input form of the servo amplifier (PA13) MR-JNA to "210" (negative logic, forward rotation pulse train, reverse rotation pulse train, command input pulse train filter: 200 kpps or less).

196

APPENDIX


INDEX

0 to 9

1 speed positioning (absolute address specification)

1 speed positioning (relative address specification)

1-speed positioning

2-speed positioning

. . 138

. . 137

. . . . . . . . . . . . . . . . . . . . . . 21

. . . . . . . . . . . . . . . . . . . . . . 22

A

Absolute position detection system


Acceleration time

Axis to be interpolated

. . . . . . . . . . 130

. . . . . . . . . . . . . . . . . . . . . 86

. . . . . . . . . . . . . . . . . . . . . . . 45

. . . . . . . . . . . . . . . . . . . . 58

B

Basic setting

Bias speed

. . . . . . . . . . . . . . . . . . . . . . . . . . . 36

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

C

Clear signal output

Command speed

. . . . . . . . . . . . . . . . . . . . . . 54

. . . . . . . . . . . . . . . . . . . . . . . 43

Command speed change during positioning operation

Complete flag

. . 32

. . . . . . . . . . . . . . . . . . . . . . . . . . 62

Condition jump

. . . . . . . . . . . . . . . . . . . . . . . . 148

Continuous operation

Control method

Creep speed

. . . . . . . . . . . . . . . . . . . 159

. . . . . . . . . . . . . . . . . . . . . . . . 136

. . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Current speed

. . . . . . . . . . . . . . . . . . . . . . . . 44,59

CW/CCW mode

. . . . . . . . . . . . . . . . . . . . . . . . 39

D

Deceleration time

. . . . . . . . . . . . . . . . . . . . . . . 45

Detection of absolute position

Dog search function

Dwell time

. . . . . . . . . . . . . . . 34

. . . . . . . . . . . . . . . . . . . . . 28

. . . . . . . . . . . . . . . . . . . . . . . . . . 29,57

E

External start signal

. . . . . . . . . . . . . . . . . . . . . . 49

F

Forward limit

. . . . . . . . . . . . . . . . . . . . . . . . . 30,50

H

High speed I/O parameter

High-speed OPR

. . . . . . . . . . . . . . . . . 35

. . . . . . . . . . . . . . . . . . . . . . . . 21

I

Input check

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Interpolation operation

(absolute address specification target axis)


(absolute address specification)

. . . . 156

. . . . . . . . . . . . 153


(relative address specification target axis)

. . . . . 152

Interpolation operation (relative address specification)

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .149

Interpolation speed specified method


. . . . . . . . . .59

. . . . . . . . . .24,93,139


. . . . . . . . . . . . . . . .25


. . . . . . . . . . . . . . . . . . . . .48

. . . . . . . . . . . . . . . . . 57,142


Interrupt stop

. . . . . . . . . . . . . . . . . . . . . . . . . . .24

Interrupt stop (absolute address specification)

Interrupt stop (relative address specification)

. . .146

. . . .144

J

Jump destination table No.

. . . . . . . . . . . . . . . . .58

M

M No. for jump condition

. . . . . . . . . . . . . . . . . . .58

Maximum speed

Mechanical OPR

. . . . . . . . . . . . . . . . . . . . . . . . .44

. . . . . . . . . . . . . . . . . . . . . 20,71

Movement amount per rotation

. . . . . . . . . . . . . . .43

Multiple axes simultaneous activation

Multiple-axis table operation

Multiple-table operation


. . . . . . . . . .34

. . . . . . . . . . . . . . .124

. . . . . . . . . . . . . . . . . . .116

. . . . . . . . . . . . . . . . . . . . .23

N

Near-point dog signal

No positioning

. . . . . . . . . . . . . . . . . . . . .55

. . . . . . . . . . . . . . . . . . . . . . . . .136

O

Operand

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35

OPR direction

. . . . . . . . . . . . . . . . . . . . . . . . . . .52

OPR dwell time

OPR speed

. . . . . . . . . . . . . . . . . . . . . . . . .54

. . . . . . . . . . . . . . . . . . . . . . . . . . . .53

OPR zero signal count

Output confirmation

. . . . . . . . . . . . . . . . . . . .30

. . . . . . . . . . . . . . . . . . . . . .38

P

Position data magnification

Positioning address

. . . . . . . . . . . . . . . . .43

. . . . . . . . . . . . . . . . . . . . . .46

Positioning address change during positioning operation

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

Pulse decelerate and stop

Pulse No. of per rotation

Pulse output mode

. . . . . . . . . . . . . . . . . .33


. . . . . . . . . .49

. . . . . . . . . . . . . . . . . . .42

. . . . . . . . . . . . . . . . . . . . . . .39


. . . . . . . . . . . . . . . . .48

Pulse Y output

. . . . . . . . . . . . . . . . . . . . . . . . . .66

PULSE/SIGN mode

. . . . . . . . . . . . . . . . . . . . . .39

R

Relative positioning

. . . . . . . . . . . . . . . . . . . . . . .79

Remaining distance operation

Reverse limit

. . . . . . . . . . . . 33,50

. . . . . . . . . . . . . . . . . . . . . . . . 30,50


. . . . . . . . . . . . . . . . . . .40

I

197

198

S


Single-table operation

Special device

. . 27

. . . . . . . . . . . . . . . . . . . 108

. . . . . . . . . . . . . . . . . . . . . . . . . 35

Starting point address

Stepping operation

. . . . . . . . . . . . . . . . . . . . 52

. . . . . . . . . . . . . . . . . . . . . 157

T

Table data

. . . . . . . . . . . . . . . . . . . . . . . . . . . 135

Table operation

. . . . . . . . . . . . . . . . . . . . . . . . . 26

Table shift command

. . . . . . . . . . . . . . . . . . . . . 59

Table transition variable speed operation

. . . . . . 142

U

Unit setting

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

V


. . . . . . . . . . . 26,101,141

Z

Zero signal

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

MEMO

I

199

REVISIONS

Revision date

October 2014

January 2015

April 2015

Revision

A

B

C

Description

First Edition

■Added functions

Chapter 1, 2, Section 3.4 ,4.2, Chapter 5, Section 6.2, 6.3, 7.2, 7.4, 8.2, Appendix 1, 2, 3

A part of the cover design is changed.

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.

© 2014 MITSUBISHI ELECTRIC CORPORATION

200

WARRANTY

Please confirm the following product warranty details before using this product.

1.

Gratis Warranty Term and Gratis Warranty

Range

2. Onerous repair term after discontinuation of production

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.

[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.

[Gratis Warranty Range]

1)

2)

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.

Even within the gratis warranty term, repairs shall be charged for in the following cases. a) Failure occurring from inappropriate storage or b) handling, carelessness or negligence by the user. Failure caused by the user's hardware or software design.

Failure caused by unapproved modifications, c) d) etc., to the product by the user.

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.

Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the instruction manual had e) f) g) h) been correctly serviced or replaced.

Relay failure or output contact failure caused by usage beyond the specified life of contact

(cycles).

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.

Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi.

Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user.

1)

2)

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.

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.

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 failure 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.

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)

2)

In using the Mitsubishi MELSEC programmable 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 controller device, and that backup and fail-safe functions are systematically provided outside of the device for any problem or fault.

The Mitsubishi programmable 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 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 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 user's discretion.

201

TRADEMARKS

Microsoft



and Windows



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

Ethernet is a trademark of Xerox Corporation.

MODBUS



is a registered trademark of Schneider Electric SA.

Phillips is a registered trademark of Phillips Screw Company.

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

202

Manual number: JY997D56301C

Model: FX5-U-POS-E

Model code: 09R544

When exported from Japan, this manual does not require application to the

Ministry of Economy, Trade and Industry for service transaction permission.

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

Specifications are subject to change without notice.

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

MELSEC iQ-F

FX5 User's Manual (Positioning Control)

SAFETY PRECAUTIONS

WARNING

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

CAUTION

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

[DESIGN PRECAUTIONS]

WARNING

1

2

[WIRING PRECAUTIONS]

WARNING

[WIRING PRECAUTIONS]

CAUTION

[STARTUP AND MAINTENANCE PRECAUTIONS]

WARNING

[STARTUP AND MAINTENANCE PRECAUTIONS]

CAUTION

INTRODUCTION

Regarding use of this product

Note

3

4

CONTENTS

5

6

7

8

RELEVANT MANUALS

User's manuals for the applicable modules

TERMS

9

10

OUTLINE

Features

11

List of Functions

12

Setup Procedure for Positioning Control

13

SPECIFICATIONS

Performance Specifications

14

Input Specifications

FX5U CPU module

FX5UC CPU module

15

Input assignment

Output Specifications

16

Sink internal output circuit

■FX5U CPU module

■FX5UC CPU module

17

Source internal output circuit

■FX5U CPU module

■FX5UC CPU module

Assignment of output numbers

18

POSITIONING CONTROL FUNCTION

List of Control Functions

List of control patterns

List of auxiliary functions

19

OPR Control

Mechanical OPR

20

High-speed OPR

Positioning Control

1-speed positioning

21

2-speed positioning

22

Multi-speed operation

23

Interrupt stop

Interrupt 1-speed positioning

24