FX Family - Training Manual (Positioning Control) 214562-B (08.12) PDF

MITSUBISHI ELECTRIC
MELSEC FX Series
Programmable Logic Controllers
Introduction to
FX Positioning Control Systems
Beginners Manual
Art. no.: 214562

13 08 2012
MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION
Version B Version check
Beginners Manual
Introduction to FX Positioning Control Systems
Art. no: 214562
Version Revisions / Additions / Corrections

A 05/2008 pdp - rw First edition
B 08/2012 pdp - dk Addition of FX3G main units
About This Manual
The texts, illustration, diagrams and examples in this manual are provided
for information purposes only. They are intended as aids to help explain the
operation, programming and use of programmable controllers of the programmable
logic controllers of the MELSEC FX1S, FX1N, FX2N, FX2NC, FX3G, FX3U and FX3UC series.
If you have any questions about the installation and operation of any of the
products described in this manual please contact your local sales office or distributor (see back cover).
You can find the latest information and answers to frequently asked questions on our website at
www.mitsubishi-automation.com.
MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes

to this manual or the technical specifications of its products at any time without notice.
05/2008
Safety Guidelines
General safety information and precautions
For use by qualified staff only
This manual is only intended for use by properly trained and qualified electrical technicians who
are fully acquainted with the relevant automation technology safety standards. All work with the
hardware described, including system design, installation, configuration, maintenance, service
and testing of the equipment, may only be performed by trained electrical technicians with
approved qualifications who are fully acquainted with all the applicable automation technology
safety standards and regulations. Any operations or modifications to the hardware and/or
software of our products not specifically described in this manual may only be performed by
authorised Mitsubishi Electric staff.
Proper use of the products

The programmable logic controllers of the FX1S, FX1N, FX2N, FX2NC, FX3G, FX3U and FX3UC
series are only intended for the specific applications explicitly described in this manual. All
parameters and settings specified in this manual must be observed. The products described
have all been designed, manufactured, tested and documented in strict compliance with the
relevant safety standards. Unqualified modification of the hardware or software or failure to
observe the warnings on the products and in this manual may result in serious personal injury
and/or damage to property. Only peripherals and expansion equipment specifically
recommended and approved by Mitsubishi Electric may be used with the programmable logic
controllers of the FX1S, FX1N, FX2N, FX2NC, FX3G, FX3U and FX3UC series.
All and any other uses or application of the products shall be deemed to be improper.
Relevant safety regulations

All safety and accident prevention regulations relevant to your specific application must be
observed in the system design, installation, configuration, maintenance, servicing and testing of
these products. The regulations listed below are particularly important in this regard. This list
does not claim to be complete, however; you are responsible for being familiar with and
conforming to the regulations applicable to you in your location.
VDE Standards
VDE 0100
Regulations for the erection of power installations with rated voltages below 1000 V
VDE 0105
Operation of power installations
VDE 0113
Electrical installations with electronic equipment
VDE 0160
Electronic equipment for use in power installations
VDE 0550/0551
Regulations for transformers
VDE 0700
Safety of electrical appliances for household use and similar applications
VDE 0860
Safety regulations for mains-powered electronic appliances and their accessories for
household use and similar applications.
FX Positioning Control Systems I

Fire safety regulations
Accident prevention regulations
VBG Nr.4
Electrical systems and equipment
Safety warnings in this manual

In this manual warnings that are relevant for safety are identified as follows:
m
DANGER:
Failure to observe the safety warnings identified with this symbol can result in health
and injury hazards for the user.
b
WARNING:
Failure to observe the safety warnings identified with this symbol can result in damage
to the equipment or other property.
II MITSUBISHI ELECTRIC
General safety information and precautions
The following safety precautions are intended as a general guideline for using PLC systems
together with other equipment. These precautions must always be observed in the design,
installation and operation of all control systems.
m
DANGER:
Observe all safety and accident prevention regulations applicable to your specific
application. Always disconnect all power supplies before performing installation
and wiring work or opening any of the assemblies, components and devices.
Assemblies, components and devices must always be installed in a shockproof
housing fitted with a proper cover and fuses or circuit breakers.
Devices with a permanent connection to the mains power supply must be integrated
in the building installations with an all-pole disconnection switch and a suitable
fuse.
Check power cables and lines connected to the equipment regularly for breaks and
insulation damage. If cable damage is found immediately disconnect the equipment
and the cables from the power supply and replace the defective cabling.
Before using the equipment for the first time check that the power supply rating
matches that of the local mains power.
Take appropriate steps to ensure that cable damage or core breaks in the signal
lines cannot cause undefined states in the equipment.
You are responsible for taking the necessary precautions to ensure that programs
interrupted by brownouts and power failures can be restarted properly and safely.
In particular, you must ensure that dangerous conditions cannot occur under any
circumstances, even for brief periods.
EMERGENCY OFF facilities conforming to EN 60204/IEC 204 and VDE 0113 must
remain fully operative at all times and in all PLC operating modes. The EMERGENCY
OFF facility reset function must be designed so that it cannot ever cause an
uncontrolled or undefined restart.
You must implement both hardware and software safety precautions to prevent the
possibility of undefined control system states caused by signal line cable or core
breaks.
When using modules always ensure that all electrical and mechanical specifications
and requirements are observed exactly.
FX Positioning Control Systems III

IV MITSUBISHI ELECTRIC
Table of Contents
Table of Contents
Safety Guidelines
1 The Basics of Positioning Control
1.1 What is positioning control? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.2 Actuators for positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2.1 Pneumatic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2.2 Brake motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2.3 Clutch brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.4 Stepping motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.5 DC servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.6 General purpose inverter and general purpose motor . . . . . . . . . . . . . . . . . 1-4
1.2.7 AC servo system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.3 Positioning method type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.3.1 Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.3.2 Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
2 Positioning by AC Servo System
2.1 Advantages for using an AC servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.2 Examples of AC servo systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.1 Constant feed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.2 Tapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2.3 Drilling in steel sheet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.2.4 Index table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.2.5 Lifter moving-up/down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.6 Cart travel control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.7 Carrier robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
3 Components of Positioning Control and their Roles
3.1 Positioning controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.1.1 Command pulse control method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.1.2 Basic parameter settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.3 Zero point return function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.2 Servo Amplifier and Servo Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.2.1 Positioning control in accordance with command pulse . . . . . . . . . . . . . . . . 3-8
3.2.2 Deviation counter function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.2.3 Servo lock function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.2.4 Regenerative brake function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.2.5 Dynamic brake function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.3 Drive mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.3.1 Concept of drive system movement quantity . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.3.2 Setting the target position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
FX Positioning Control Systems V

Table of Contents
4 Learning to Use the FX Familiy for Positioning Control
4.1 FX PLC positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.1.1 Overview of control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.2 Important memory locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.1.3 Program Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2 Inverter Drive Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4.2.1 Overview of control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4.2.2 Using the FX2N(C), FX3U(C) and FREQROL Inverter. . . . . . . . . . . . . . . . 4-22
4.2.3 Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4.3 FX2N-1PG-E positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36
4.3.2 Important buffer memory locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-37
4.3.3 Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38
4.4 FX2N-10PG positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-43
4.4.3 Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-45
4.5 FX2N-10GM and FX2N-20GM positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51
4.5.2 Using dedicated software to set positioning for the FX2N-20GM . . . . . . . . 4-52
4.5.3 Testing and monitoring operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-58
4.6 FX3U-20SSC-H positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60
4.6.2 Using dedicated software to set positioning for the FX3U-20SSC-H . . . . . 4-61
4.6.3 Testing and monitoring operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-64
4.6.5 Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-66
Index
VI MITSUBISHI ELECTRIC
What is positioning control? The Basics of Positioning Control
1 The Basics of Positioning Control

1.1 What is positioning control?
The positioning controller, together with the programmable logic controller, personal computer
and operator interface, is one of the four main units of FA (factory automation).
Among these units, the positioning controller plays an important role and is regarded as the
center of the mechatronics field in which many senior engineers have been playing active roles.
Positioning is all about motion, and motion often involves speed and precision. And since speed
can be directly related to productivity, positioning is an area of much development. When the
speed of a machine increases, a problem with the stop precision is often generated. In order to
solve this problem, diversified grades of positioning controllers have been required and
developed.
Improving machine efficiency generates immeasurable added value, including reduced labor
costs and improved conservation of machine floor space for the same quantity of production. If
there are no problems related to the positioning aspect of a machine, it may mean that the
machine is not running as efficiently as it could be. This is where the science of developing and
retrofitting an optimum positioning control system comes in.
FX Positioning Control Systems 1-1

The Basics of Positioning Control Actuators for positioning
1.2 Actuators for positioning

The options available for positioning control depend on the type of actuator driving the system.
An actuator is a mechanical device that moves or controls a specific element or a series of
elements within a system.
In a mechanical system, an actuator is often used with a sensor to detect the motion or position
of a workpiece. The following illustrations provide examples of diversified actuators, their
features and their weak points.
1.2.1 Pneumatic
Features and Drawbacks
Air source and high grade piping are required.
High torque is not available.
Multi-point positioning is complex and very difficult to achieve.
Change in positioning is difficult.
Fig. 1-1: Schematic drawing

Piping Air cylinder Pneumatic
Workpiece
Compressor
120010da.eps
1.2.2 Brake motor

Positioning mechanism is simple.
Repeatability is poor.
(When optical sensors or limit switches are used for stop)

Brake motor
Motor with brake
Limit switch
120020da.eps
1-2 MITSUBISHI ELECTRIC

Actuators for positioning The Basics of Positioning Control
1.2.3 Clutch brake

Frequent positioning is possible.
Life of friction plate is limited.
(When optical sensors or limit switches are used for stop)

Speed reducer
Costant Clutch Brake
quantity
feed hopper
Clutch brake
unit
Optical
sensor
Motor
120030da.eps
1.2.4 Stepping motor

Simple positioning mechanism.
If load is heavy, motor may step out and displacement can occur.
Motor capacity is small.
Precision is poor at high speed.

Stepping motor
Controller
Stepping
motor
120040da.eps

The Basics of Positioning Control Actuators for positioning
1.2.5 DC servo system

Positioning precision is accurate.
Maintenance is required for motor brushes.
It is not suitable for rotation at high speed.

DC servo amplifier
DC servo system
DC servomotor
120050da.eps
1.2.6 General purpose inverter and general purpose motor

Multi-speed positioning is available using a high-speed counter.
High precision positioning is not available.
Large torque is not available at start.
(Specialized inverter is required)
Lifter
General purpose inverter and
Motor with brake general purpose motor
General-purpose
inverter
120060da.eps

Actuators for positioning The Basics of Positioning Control
1.2.7 AC servo system

Positioning precision is good.
Maintenance is not required.
Positioning address can be easily changed.
It is compact, and offers high power.

AC servo system
Cutter
Sheet material
AC servo
motor
AC servo amplifier
120030da.eps

The Basics of Positioning Control Positioning method type
1.3 Positioning method type

In general, there are two methods to control the movement of a workpiece: speed control and
position control. For basic, more rudimentary positioning, speed control can be used with an
inverter and general purpose motor. For systems where precision is a must, servo systems are
required for the advanced handling of pulse commands.
1.3.1 Speed control

Limit switch method
Two limit switches are provided in places where a systems moving part passes. At the first limit
switch, the motor speed is reduced. At the second limit switch, the motor turns off and the brake
turns on to stop the moving part.
In this method, because position controllers are not required, the system configuration can be
realized at reasonable cost.
Guideline of stopping precision: Approximately 1.0 to 5.0 mm
(The stop precision shows a value in a case where the low speed is 10 to 100 mm/s.)
Inductive motor Moving part
Brake Ball screw

B IM
Limit switch for
changeover to
low speed
Inverter
INV Limit switch for
stop
High speed
0 to 10 V DC
Low speed
Movement distance
120080da.eps
Fig. 1-8: Schematic drawing Limit switch method

Positioning method type The Basics of Positioning Control
Pulse count method

A position detector (such as a pulse encoder) is set up in a motor or rotation axis. The pulse
number generated from the position detector is counted by a high-speed counter. When the
pulse number reaches the preset value, the moving part stops.
In this method, because limit switches are not used, the stop position can be easily changed.
Inductive motor
Pulses are fed
Moving part
back
Ball screw
PLG IM
Pulse generator
Inverter
INV
DC 0 to
10 V
High speed
Programmable
controller PLC
Low speed
High speed
counter unit Movement distance
120090da.eps
Fig. 1-9: Schematic drawing Pulse count method
In speed control applications with inverters, stop precision is not very accurate. With the limit
switch method, a system operates without any feedback to the controller to indicate the location
of the workpiece. With the pulse count method, the speed can be changed and the stop
command can be executed at specific distances (at specific timings) according to the feedback
from the pulse generator connected to the motor. Both the limit switch method and the pulse
count method, however, are subject to a loss in stop precision due to the dispersion of distance
that occurs for workpieces at different speeds.
When automatically stopping a moving part driven by a motor, stop the motor by a position
signal (using a limit switch or pulse count comparison). In general conditions, turn on the
brake at the same time.

The moving part continues by a coasting distance until it completely stops, after the stop
command is given. The coasting distance is not controlled and it is represented as the
shaded part in the figure below.
Speed
Fig. 1-10: Positioning pattern
Coasting
distance
Time
Stop command Stop
1200b0da.eps
Dispersion in the stop distance changes as shown below. Dispersion is affected by the speed
of the workpiece when the stop command is given and the speed reduction time delay after
stop.
Speed Fig. 1-11: Positioning pattern

Speed recuction start
Time delay
Dispersion in
stop
Time
Stop Stop
command Stop
1200c0da.eps
If the required stop precision is not satisfactory when stopping from the normal operation
speed, the most effective method to improve the stop precision is to reduce the operation
speed. However, if the operation speed is simply reduced, the machine efficiency may also
be reduced. Therefore, in actual operation, the motor speed can be reduced from a high
speed to a low speed before the motor is stopped, as shown below.
Speed Speed
Time delay
High speed High speed
Poor stop
precision
Low Improved stop

speed precision
Time Time
Stop Stop Stop
command Speed reduction Stop command
command
1200d0da.eps

Positioning method type The Basics of Positioning Control
1.3.2 Position control

Pulse command method
An AC servo motor which rotates in proportion to the input pulse number is used as the drive
motor.
When the pulse number corresponding to the movement distance is input to the servo amplifier
of the AC servo motor, positioning can be performed at high speed in proportion to the pulse
frequency.
Servo motor
Pulses are fed
Moving part
back
Ball screw
PLG SM
Pulse generator
Servo
amplifier
Programmable
controller PLC
Position controller
Movement distance
1200a0da.eps
Fig. 1-13: Schematic drawing Pulse command method
Using the pulse command method with a servo amplifier, the weak points described above for
speed control are improved. A pulse encoder is attached to the servo motor to detect the motor
rotation quantity (workpiece movement distance) and feed the information directly to the servo
amplifier in order to continuously and directly control the high-speed positioning operation to the
target position. This method allows the workpiece to stop with better precision and eliminates
the coasting and dispersion distance at stop. Furthermore, limit switches to stop normal
positioning operations, along with counting methods from the PLC are not needed.

1 - 10 MITSUBISHI ELECTRIC
Advantages for using an AC servo system Positioning by AC Servo System
2 Positioning by AC Servo System

2.1 Advantages for using an AC servo system
With an AC servo system, positioning can be performed by many diversified methods. Typically,
a position controller, servo amplifier and servo motor are required for positioning with an AC
servo system. The representative servo system configuration is shown below.
Servo amplifier
Servo
Commercial Smoothing motor
power supply Converter circuit Inverter
AC DC DC DC AC SM
Command
pulse Speed PLG
command Feedback
Deviation current
Positioning counter Encoder
controller
Current PWM (pulse width Feedback
control modulation control pulse
The positioning controller The command pulse number The servo motor is equipped with a
generates a specified quantity is subtracted by the feedback pulse built-in encoder (pulse generator),
of forward rotation (or reverse rotation) number, and the speed command to dedicated to high speed response, and
pulses at a specified frequency. drive the servo motor is made from the suitable for positioning control.
deviation (accumulated pulse number).
When the accumulated pulse number
becomes 0, the servo motor stops.
210010da.eps
Fig. 2-1: Block diagram of an AC servo system
In the latest AC servo systems, conventional weak points have been improved as follows:
Although the latest systems are completely digital, they are equipped with parameters in
conformance to diversified mechanical specifications and electrical specifications so that
simple set-up is possible.
As frequent operation is enabled by a low inertia motor, the maximum torque is increased
and the system can be applied to a wide variety of machines.
The latest systems are equipped with an auto tuning function, with which the servo amplifier
automatically detects the load inertia moment and adjusts the gain. This is possible even if
the load inertia moment is unknown.
The command communication cycle from the controller to the servo amplifier is improved
for synchronization accuracy and better speed/positioning accuracy.
The latest systems also allow for long-distance wiring, reduced noise resistance, and
simplified wiring.
The top advantages to using an AC servo system are described below.
Compact and light servo Robust servo system Easy servo system Good cost performance
system servo system
In the FA workplace, a In accordance with severe AC servo systems are eas- An AC servo system with
downsized AC servo sys- operation conditions, a ier to handle than hydraulic good cost performance
tem occupying less space tougher AC servo system is equipment. Easy systems saves a company in overall
is beneficial. often required. are also flexible for new engineering costs.
staff.

Positioning by AC Servo System Examples of AC servo systems
2.2 Examples of AC servo systems

Positioning indicates the operation to move an object, such as a workpiece or tool (drill or cutter),
from one point to another point and to stop it with efficiency and precision.
In other words, the principle of positioning is the control of speed in accordance with the position,
performed to promptly eliminate the remaining distance to the target position. The flexibility to
change the target position electrically and easily is an important requirement.
Several cases of positioning using an AC servo motor are systematically shown below.
2.2.1 Constant feed

Description
In the press/shear process for cutting, punching, etc., the processed material is positioned with
high precision to produce a constant sized product.

Press main unit Constant feed
Uncoiler Roll feeder
220010da
2.2.2 Tapping
Description
In order to tap a workpiece,
Quick feed
Cutting feed and
Quick return are performed repeatedly.
Workpiece Fig. 2-3: Schematic drawing

Drill Tapping
M
Slide
Timing Ball
belt Quick Cutting screw
feed feed
M
Feed
Pulley motor Quick
return
220020da.eps

Examples of AC servo systems Positioning by AC Servo System
2.2.3 Drilling in steel sheet

Description
In order to perform processing on a flat face, positioning with high precision is performed by two
motors (X axis feed motor and Y axis feed motor).

Drilling Drill unit Drilling in steel sheet
X axis Y axis
Workpiece
X-Y table
M
M
X axis feed motor
Y axis feed motor
200030da.eps
2.2.4 Index table

Description
The position of the circular table is indexed. The index position is set on the outside (digital
switch) or the inside (program). Shortcut drive is performed depending on the index position.

Index table Index table
Worm
wheel
Servo
motor
200040da.eps

2.2.5 Lifter moving-up/down

Description
As negative load is applied on the servo motor in positioning of the lifter in the vertical direction,
a regenerative option is also used.
In order to hold the lifter stationary and prevent drop of the lifter by power interruption, a servo
motor with an electromagnetic brake is used.

Servo
amplifier
Lifter moving-up/down
Lifter
Regenerative
option
Servo
motor
200050da.eps
2.2.6 Cart travel control

Description
A servo motor is mounted in the travel cart as the drive source.
A mechanism such as rack and pinion is adopted to prevent slippage between the wheels and
rails.

Cart Cart travel control
Drive wheel
(on each of left
and right sides)
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Examples of AC servo systems Positioning by AC Servo System
2.2.7 Carrier robot

Description
After the conveyor stops, the 2-axis servo system and the arm lifting mechanism transfer
workpieces to a palette. The workpiece input positions on the palette can be set to many points
so that setup change can be easily performed, even if the palette position and the palette shape
change.
Travel head Fig. 2-8: Schematic drawing

Carrier robot
Y direction Servo motor
to drive
Slide arm slide arm
Pallet
Workpiece
Conveyor Servo motor
to drive
travel head
A
200070da.eps


Components of Positioning Control and their Roles
3 Components of Positioning Control and

their Roles
Positioning control requires a number of components such as a positioning controller, servo
amplifier, servo motor and drive mechanism. This section describes the role of each component.
To begin, the following two-page spread illustrates how the seven key elements function
together to perform positioning.

Postion controller
AC power
supply
Outputs the positioning speed and the
movement quantity in command pulses to the
servo amplifier.
Transfers signals between the programmable
controller. Power factor Radio noise
Controls return to the zero point. Breaker
improving AG reactor filter
Electromagnetic Line noise

contactor filter
Powerboard
Nearpoint DOG signal Improves the power factor and cuts noise.
Protects the power circuit.
In some types, the limit switch signal

is wired to the position controller
Main circuit
Position controller Servo amplifier
Smoothing Regenerative Dynamic

Converter circuit brake Inverter brake
Positioning AC DC DC DC AC R
command
control Command
pulse
Parameter Speed Feedback

Pulse command
Deviation current
magnification counter
Zero point Current PWM (pulse width
return (Electronic gear) control modulation) control
control
Counter clear
Feedback pulse
Servo
ready
Zero point signal (PGO)
10 Servo amplifier
0
Rectifies the AC power of the main circuit into the DC power in the
90
converter, and smooths it in the smoothing circuit. When the DC

power is converted into AC power in the inverter, the current supplied
80
to the servo motor is changed by the PWM (pulse width modulation)

70 control in the control circuit.
The deviation counter receives and counts the command pulses from
60
Operation switch the positioning controller, subtracts the feedback pulses from them,
Manual pulse generator then drives the servo motor until the accumulated pulse number
becomes 0.
Operation equipment
Gives inputs for manual/automatic mode, start/stop,

zero point return command, manual forward rotation/
reverse rotation and manual pulse generator to the
positioning controller.
300010da.eps
Fig. 3-1: Components of Postioning Control (1)

Servo motor
Dedicated to high speed response optimal to positioning control,
has large start torque, large maximum torque and wide variable
speed range 1/1 or more (1/1,000 to 1/5,000).
When a moving element goes beyond a limit switch

(LS), the motor stops.
Servo motor
In the case of large motor

Cooling fan
Limit switch Nearpoint Limit switch

(LS) dog switch Moving element (LS)
Servo
motor
Speed
SM reducer
Ball screw
Encoder
PLG (pulse
generator)
When Electro-
required magnetic
brake
Auxiliary device such as chuck, drill and cylinder
Sensor, actuator, auxiliary device
The actuator (moving part drive

mechanism) is equipped with speed
reducer, timing belt, ball screw and limit
switch.
Diversified auxiliary devices are also
controlled in accordance with positioning.
The PLC or the positioning controller also
controls auxiliary devices.
The auxiliary device operation completed
signal is output to the PLC or the position
Personal controller.
Hand help
programmer Computer
Setting / display unit
Used to write programs to the position

controller, allows setting and display of
the data.
300020da.eps
Fig. 3-1: Components of Postioning Control (2)

Components of Positioning Control and their Roles Positioning controller
3.1 Positioning controller

Positioning controllers use programs and parameters to send positioning commands to the
servo amplifier. Contents related to programs and parameters are described below.
3.1.1 Command pulse control method

There are two types of control formats used for outputting command pulses from an FX Series
positioning controller:
PLS/DIR (Pulse/Direction) method
FP/RP (Forward Pulse/Reverse Pulse) method
Each method requires two outputs from the controller to control specific signals for direction and
pulse control. A third method, known as the A phase/B phase method, uses overlapping pulse
signals to specify direction.
PLS/DIR method
In the PLS/DIR method, one output sends pulses to the drive unit while the other output specifies
the direction of travel.
Forward rotation Reverse rotation Fig. 3-2: Timing diagram

Output # 1Pulse train H
L
H
Output # 2Direction
L ON OFF
311010da.eps

"ON" and "OFF" represent the status of the controllers output.
"H" and "L" respectively represent the HIGH status and the LOW status of the waveform.
The command pulse pattern in the figure assumes negative logic.
FP/RP method
In the FP/RP method, each output has a different direction and operates individually to send
pulses to the drive unit.
Forward rotation Reverse rotation Fig. 3-3: Timing diagram

Output # 1Forward rotation H
pulse train (FP) L OFF
Output # 2Reverse rotation H

pulse train (RP) L OFF
311020da.eps

"ON" and "OFF" represent the status of the controllers output.
"H" and "L" respectively represent the HIGH status and the LOW status of the waveform.
The command pulse pattern in the figure assumes negative logic.

Positioning controller Components of Positioning Control and their Roles
3.1.2 Basic parameter settings

To send a series of pulses (a pulse train) to a servo amplifier, positioning controllers use a
specified feed quantity, which is proportional to the number of pulses. A feed speed must also
be specified to control the number of pulses output per second.
Feed quantity
The feed quantity determined by the target address tells the servo system how far to move the
workpiece. So, for example, if a servo motor encoder generates 8,192 pulses for one rotation,
the command pulse number "8,192" can be output to rotate the servo motor by 1 rotation.
Feed speed
The feed speed defines the amount of travel per unit of time for the workpiece. When a servo
motor encoder generates 8,192 pulses for one rotation, the command pulse frequency (speed)
"8,192 pulses/s" should be output to rotate the servo motor by 1 rotation per second. Decrease
the pulse frequency to rotate the servo motor at a lower speed. Increase the pulse frequency to
rotate the servo motor at a higher speed.
Acceleration/deceleration time
When the start command is given, acceleration, operation at constant speed, and deceleration
are performed for positioning. Set the acceleration time and the deceleration time in the
controllers parameters.
Parameter:
Fig. 3-4: Positioning pattern of
Max. speed acceleration/deceleration time
Speed
Positioning speed
Actual Actual
acceleration deceleration
time time
Parameter: Parameter:
Acceleration Deceleration
time time
312010da.eps
3.1.3 Zero point return function

Many positioning systems include a "home position" to where a workpiece may need to return
after performing various operations. For this reason, positioning controllers include a built-in
function to return a workpiece to a defined position by using a mechanical DOG switch.
To understand how this works, it is necessary to first understand when the function is needed
according to the parameter setting of the servo amplifier and the type of servo motor encoder.
Incremental type servo motor encoder (pulse count method)

When the servo system uses an incremental or relative type encoder, the current value of the
address stored in the position controller is not "remembered" or maintained when the power is
turned off. This means that the address is set to zero every time the power is cycled, which can
be disadvantageous in an application. Accordingly, every time the system is re-powered, it must
be calibrated to the correct zero-point location by executing the zero point return function.

Components of Positioning Control and their Roles Positioning controller
Absolute type servo motor encoder (absolute position detection system)

The absolute position detection system requires an absolute position motor encoder, a backup
battery on the servo amplifier, and a parameter specification setting. It is constructed so that the
current value stored in the positioning controller is always assured, regardless of power outages
or movement while the power is turned off. The advantage to using this method is that after
executing the zero point return function once, zero point return it is not needed again.
NOTE The zero point return function does not actuate movement to a physical zero address.
Instead, the zero point return function causes movement in a specified direction (positive or
negative) in order to define the physical zero address after contact with a DOG switch.
Example Example of DOG type zero return
In the example in Fig. 3-5, the DOG (which is attached to the workpiece) comes in contact with
the DOG switch to turn the DOG signal ON, which then initiates deceleration to creep speed.
After the backward end of the DOG passes the DOG switch, turning the DOG signal OFF, the
first detected zero point signal stops the motion, turns the CLEAR signal on, and sets the zero
point address.
The zero point address (specified in the controllers parameters) is typically zero. When the zero
return function finishes, the zero point address is written to the current value register of the
positioning controller to overwrite the current address. Since the zero point address is not always
zero, the zero return function should be thought of as a homing function instead of a
return-to-zero function.
The zero point return direction, zero point address, zero signal count, return speed, deceleration
time and creep speed are all set by parameters in the positioning controller.
Zero point Fig. 3-5: Positioning pattern of

Deceleration time return speed
DOG type zero return
DOG switch
Creep activated
speed
Zero point Initial position

DOG Zero point return
switch direction
DOG DOG
Forward end Backward end
CLEAR signal

313010da.eps
The location of the DOG switch should be adjusted so that the backward end of the DOG
is released between two consecutive zero point signals (1 pulse per rotation of the motor).
In this example, the DOG length should not be less than the deceleration distance of the
machine.


Positioning controller Components of Positioning Control and their Roles
DOG search function

In some PLC models, if the zero point return function is performed while the workpiece is
stopped beyond the DOG switch, the machine moves until the limit switch is actuated, changes
direction, then returns to the zero point again (DOG search function, zero point return retry
function).
DOG
Fig. 3-6: Positioning pattern of
Limit
switch switch DOG search function
Initial
position Zero point
Escape operation
313020da.eps

Components of Positioning Control and their Roles Servo Amplifier and Servo Motor
3.2 Servo Amplifier and Servo Motor

The servo amplifier controls the movement quantity and the speed according to the commands
given by the positioning controller. The servo motor then transmits rotation to the drive
mechanism after receiving signals from the servo amplifier.
3.2.1 Positioning control in accordance with command pulse

In accordance with speed and position command pulses from the positioning controller, PWM
(pulse width modulation) control is performed by the main circuit of the servo amplifier in order
to drive the motor. The rotation speed and the rotation quantity are fed back to the amplifier from
the encoder attached to the servo motor.
3.2.2 Deviation counter function

The difference between the command pulses and the feedback pulses counted by the deviation
counter in the servo amplifier is called accumulated pulses.
While the machine is operating at a constant speed, the accumulated pulse quantity is almost
constant. During acceleration and deceleration, the accumulated pulse quantity changes more
dramatically.
When the accumulated pulse quantity becomes equivalent to or less than a specified quantity
(in-position set value) after command pulses have stopped, the servo amplifier outputs the
positioning complete signal.
The servo motor continues operation even after that. Then, when the accumulated pulse
quantity becomes 0, the servo motor stops.
The time after the servo motor outputs the positioning complete signal until it stops is called the
stop settling time.
Speed Command speed
Motor speed
The accumulated pulse quantity is 0, and

positioning is completed
Accumulated
pulses
Time
Stop setting time
322010da.eps

Servo Amplifier and Servo Motor Components of Positioning Control and their Roles
3.2.3 Servo lock function

The servo motor is controlled so that the accumulated pulse quantity counted in the deviation
counter becomes 0.
For example, if an external force for forward rotation is applied on the servo motor, the servo
motor performs the reverse rotation operation to eliminate the accumulated pulses.
Accumulated pulses in deviation counter Servo motor

Minus pulses Reverse rotation operation
Plus pulses Forward rotation operation
0 (zero) Stop
Tab. 3-1: Control of servo motor by accumulated pulses
3.2.4 Regenerative brake function

During deceleration, because the servo motor rotates by the load inertia of the drive mechanism,
it functions as a generator and electric power returns to the servo amplifier.
The regenerative resistor absorbs this electric power and functions as a brake (called a
regenerative brake.)
A regenerative brake is required to prevent regenerative over voltage in the servo amplifier
when the load inertia is large and operations are frequently performed.
The regenerative resistor is required when the regenerative power generation quantity during
deceleration exceeds the allowable regenerative electric power of the servo amplifier.

Components of Positioning Control and their Roles Servo Amplifier and Servo Motor
3.2.5 Dynamic brake function

When a circuit inside the servo amplifier is disabled by a power interruption in the AC power of
the main circuit or actuation of the protective circuit, the terminals of the servo motor are
short-circuited via resistors, the rotation energy is consumed as heat, then the motor
immediately stops without free run.
When the motor stops by elimination of the rotation energy, the brake is not effective and the
motor runs freely.
NFB
Main R U
circuit S Converter Inverter V
AC to DC DC to AC SM PLG
AC power T W
supply
Position Deviation D/A These contacts of the

controller counter conversion dynamic brake turn ON
when the power is
interrupted.
Number of
rotations of motor
Motor stop characteristics when the

dynamic brake is actuated
When the dynamic brake
is not actuated
Time
Power: OFF
Contacts of dynamic brake: ON
325010da.eps
Fig. 3-8: Dynamic brake function
Drive mechanism Components of Positioning Control and their Roles
3.3 Drive mechanism

The drive mechanism converts the rotation motion of the servo motor into reciprocating or
vertical motion through a speed reducer, timing belt, ball screw, etc. to move the machine.
3.3.1 Concept of drive system movement quantity

The following diagram is a representative AC servo motor positioning system.
Fig. 3-9: AC servo motor positioning

Encoder
Moving part v0 system
Servo Speed
motor reducer
1
N0 n PB
Pf
Servo
amplifier
f0
Position
controller
331010da.eps
l: Transfer distance per pulse (mm/pulse)

v0 : Moving part speed during quick feed (mm/min)
P B: Lead of ball screw (mm/rev)
1/n: Speed reduction ratio
S: Transfer distance per rotation of motor (mm/rev)
N0: Number of rotations of motor during quick feed (rev/min)
Pf: Feedback pulse number (pulse/rev)
f0 : Command pulse frequence during quick feed (pulse/sec)
The servo motor stops with the precision l, which is within 1 pulse against the command
pulse.
The movement quantity of the workpiece is:
[Output pulses from position controller] [l]
The moving part speed is:
[f0] [l]
Either "mm", "inch", "degree", or "pulse" can be selected for the positioning command unit.
Accordingly, when data such as the movement quantity per pulse, positioning speed, or the
positioning address in accordance with the positioning command unit are set, pulse trains
are output for the target address, and positioning is performed.
FX Positioning Control Systems 3 - 11

Components of Positioning Control and their Roles Drive mechanism
Useful equations
To define the system illustrated above, l and v0 need to be determined using a series of
equations. The speed of the moving part (v0) is constrained by the mechanical gearing system
between the servo motor and moving part, the pitch of the ball screw, and the specification of the
motor as shown through the following two formulas.
Transfer distance per rotation of motor:
mm 1
S rev = PB
n
Number of rotations of motor during quick feed:
rev v0 Rated number of

N0 min = rotations of
S servo motor
If N0 does not exceed the rated speed of the motor, this means that the servo system can be
used for the application. In order to determine if the positioning controller is applicable, the
command pulse frequency during quick feed (f0) should be checked to verify it does not exceed
the maximum allowable frequency setting for the "maximum speed" parameter setting of the
controller.
Transfer distance per pulse:
mm S
l PLS = (Electronic gear ratio)
Pf
Command pulse frequency during quick feed:
PLS S 1
f0 = N0
S l 60
During the above process, the Electronic gear ratio (often "CMX/CDV" for Mitsubishi servos)
and Speed reduction ratio can be adjusted to fit the applications needs.
In each of the absolute and incremental positioning methods, the entire movement distance of
the machine should not exceed the maximum allowable pulse output number from the
positioning controller.
Drive mechanism Components of Positioning Control and their Roles
3.3.2 Setting the target position

In positioning control, the target position can be set by the following two methods, specified by
the controllers parameter settings. (Available command units are "mm," "inch", "degree", or
"pulse".)
Absolute method
In this method, a point (absolute address) is specified for positioning while the zero point is
regarded as the reference. The start point is arbitrary.
Address 100 Startpoint

Address 100 Endpoint
Address 150
Address 300
Address 150
Address 100
Address 150
0 100 150 300

Zero point Point A Point B Point C
332010da.eps
Fig. 3-10: Setting the target position, absolute method
Incremental method
In this method, positioning is performed through specification of the movement direction and the
movement quantity while the current stop position is regarded as the start point.
Movement quantity
-100 Startpoint
Movement quantity
+100 Endpoint
Movement quantity +100
Movement quantity +100
Movement quantity -150
Movement quantity -100 Movement quantity +50
0 100 150 300

Zero point Point A Point B Point C
332020da.eps
Fig. 3-11: Setting the target position, incremental method

Components of Positioning Control and their Roles Drive mechanism
FX PLC positioning Learning to Use the FX Familiy for Positioning Control
4 Learning to Use the FX Familiy for Posi-

tioning Control
4.1 FX PLC positioning
The FX1S, FX1N, FX3G and FX3U(C) Series PLC main units include basic positioning instructions
to send command pulses to a stepper motor or servo amplifier. While FX PLCs support
point-to-point positioning, full control is also available for reading the absolute position from a
servo amplifier, performing zero return, and altering the workpiece speed during operation.
Important references for understanding positioning with FX PLCs include:
FX Series Programming Manual (JY992D88101)
FX3G/FX3U/FX3UC Series Programming Manual (JY997D16601)
FX3G Series Users Manual - Hardware Edition (JY997D31301)
FX3U Series Users Manual - Hardware Edition (JY997D16501)
FX3UC Series Users Manual - Hardware Edition (JY997D28701)
FX3G/FX3U/FX3UC Series Users Manual - Positioning Control Edition (JY997D16801)
FX2N-1PG Users Manual (JY992D65301)
FX2N-10GM/FX2N-10GM Users Manual (JY992D77801)
It is assumed that you will have read and understood the above manuals or that you will have
them close at hand for reference.
4.1.1 Overview of control

Number of Axes
The FX1S and FX1N transistor type PLCs support positioning on 2 axes with operation speeds
up to 100,000 pulses/second (100 kHz).
The main units FX3G-14MT/ and FX3G-24MT/ (transistor outputs) can control up to two axes
and the main units FX3G-40MT/ and FX3G-60MT/ can control a maximum of three axes with
up to 100 kHz.
The FX3U(C) transistor type PLC main units support positioning speeds up to 100 kHz on 3 axes.
If two FX3U-2HSY-ADP adapters are connected to the FX3U, 4 axes are available with operation
speeds up to 200 kHz.
The PLS/DIR pulse output method is used for all PLC main units to output pulses as shown in
the following table.
1st Axis 2nd Axis 3rd Axis 4th Axis
FX1S, FX1N, FX3G-14MT/, FX3G-24MT/
Applicable Model FX3U(C), FX3G-40MT/, FX3G-60MT/
FX3U + (2) FX3U-2HSY-ADP
Pulse Output Y0 Y1 Y2 Y3
Direction Output Y4 Y5 Y6 Y7
Tab. 4-1: Overview of applicable PLC main units

Output terminals for direction can be specified arbitrarily when the FX3U-2HSY-ADP is not used.
Y4, Y5, Y6 and Y7 are used as an example.

The FP/RP pulse output method is also available with the FX3U-2HSY-ADP.

The FX3UC can not be connected with the FX3U-2HSY-ADP.

Learning to Use the FX Familiy for Positioning Control FX PLC positioning
Limit switches
As with any other positioning system, inputs are needed to detect when the workpiece reaches
the outer boundary limits in order to prevent damage to the machine. For the FX3G and FX3U(C)
programmable logic controller, limits are wired to the controller to be used with the DOG search
zero return function for reversing the motors direction of travel in order to hunt for the DOG
switch. These limits are called the forward rotation limit (LSF) and the reverse rotation limit
(LSR). Hardware limits are used on the servo amplifier side to stop the motor in worst case
scenarios.
Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2
(Servo amplifier side) (Programmable (Programmable (Servo amplifier side)
controller side) controller side)
LSR LSF
Servo motor
Reverse rotation Forward rotation
141010da.eps
Fig. 4-1: Example of limit switches for the FX3U(C) PLC
Sink vs. Source outputs

In general, MELSERVO Series amplifiers are configured with sink type inputs. To communicate
appropriately with sink type inputs, sink type outputs are used on the PLC side. Therefore, when
using a Mitsubishi servo control system, a transistor sink output type PLC is used.
Options for positioning

Before choosing a PLC for a positioning system, it is important to understand the instructions
available for each PLC. The FX1S and FX1N include the same set of positioning instructions. The
only disadvantage to choosing an FX1S PLC for positioning is that it does not include as many
I/O and that it cannot be expanded with special function blocks for analog or communication
control.
The FX3U, combined with high speed positioning adapters, can operate with higher pulse output
frequencies and includes 3 additional positioning instructions. The available instructions for FX
PLCs are described in the chart below.
Applicable Positioning
Description Instruction Illustration
Model instruction
Speed JOG speed
JOG operation
FX1S
The motor moves in a speci-
FX1N
fied direction depending on
FX3G DRVI
the logic and timing of the
FX3U Start
drive input signal. Stop
FX3UC
(There is no target position.) JOG
command
Start Stop 411020da.eps
Tab. 4-2: Instructions for FX PLCs (1)

Applicable Positioning
Description Instruction Illustration
Model instruction
Speed Operation speed
FX1S 1-speed positioning

FX1N A start command accelerates
DRVI
FX3G the motor to a constant
DRVA
FX3U speed and moves the work-
FX3UC piece to a specified distance. Start Target position
Travel distance
411030da.eps
Speed Zero point return

Zero return
FX1S The machine moves at a Creep speed
FX1N specified speed until the DOG
FX3G input turns ON. The work- ZRN
FX3U piece then slows to creep
FX3UC speed and stops before the Zero point DOG input ON Start
CLEAR signal is output. CLEAR signal
411040da.eps
Variable speed operation

After starting with a specified Speed
FX1S speed, the motor can change
FX1N its speed depending on com-
PLSV
FX3G mands from the PLC.
(RAMP)
FX3U (For the FX1S and FX1N,
FX3UC acceleration to different
Start Speed change Speed change
speeds is approximated with
411050da.eps
the RAMP instruction.)
Interrupt 1-speed Speed Travel distance

positioning
When an interrupt signal
FX3U
turns ON, the workpiece trav- DVIT
FX3UC
els a specific distance at the
same speed before decelerat-
ing to stop. Start Interrupt input 411060da.eps
Limit DOG
DOG search zero return (LSR)
The machine operates similar
FX3G
to the zero return instruction Origin
FX3U DSZR
except for features to hunt
FX3UC
for the DOG switch and to Start
use the zero-phase signal.
411070da.eps
Input
DTBL Y0 K1
Table operation
For programming simplicity, Input Y000 is postioned by
FX3G the operation in table
position and speed data can DTBL Y0 K2
FX3U DTBL number 1-3.
be organized in table format
FX3UC
for the DRVI, DRVA, DVIT Input
and PLSV instructions. DTBL Y0 K3
Axis Table No.
411080da.eps
Tab. 4-2: Instructions for FX PLCs (2)

4.1.2 Important memory locations

For FX PLC programs using positioning instructions, there are several built-in special devices
to define control parameters and facilitate system operation. These devices consist of 1-bit,
16-bit, and 32-bit address locations and are briefly outlined below according to their use in the
example programs in the following section. Use this table as a reference to understand the
example programs. For details on other memory addresses (for example, operation information
for control on Y001 or Y002), refer to the FX3G/FX3U/FX3UC Series Users Manual - Positioning
Control Edition (JY997D16801).
Function name Device Length Description Applicable PLC

RUN monitor M8000 1-bit ON when PLC is in RUN. FX1S, FX1N, FX3G,
FX3U(C)
Initial pulse M8002 1-bit ON for the first scan only. FX1S, FX1N, FX3G,
FX3U(C)
Instruction execution M8029 1-bit Programmed immediately after a positioning FX1S, FX1N, FX3G,
complete flag instruction. Turns ON when the preceding FX3U(C)
instruction finishes its operation and stays ON
until the instruction stops being driven.
CLEAR signal output M8140 1-bit Enables a CLEAR signal to be output to the FX1S, FX1N
enable servo.
Pulse output stop M8145 1-bit Stop outputting Y000 pulses. (Immediate stop) FX1S, FX1N, FX3G
command
M8349 FX3G, FX3U(C)
Pulse output monitor M8147 1-bit OFF when Y000 is READY FX1S, FX1N, FX3G
flag ON when Y000 is BUSY
M8340 FX3G, FX3U(C)
Instruction execution M8329 1-bit Programmed immediately after a positioning FX3G, FX3U(C)
abnormally complete instruction. Turns ON when an instruction fails
flag to complete correctly and stays ON until the
instruction stops being driven.
CLEAR signal output M8341 1-bit Enables an output to be used for the CLEAR
function enable signal for Y000.
(Y000) Zero return M8342 1-bit OFF Reverse rotation
direction specification ON Forward rotation
Forward rotation limit M8343 1-bit Forward pulses on Y000 stop when this relay
turns ON.
Reverse rotation limit M8344 1-bit Reverse pulses on Y000 stop when this relay FX3G, FX3U(C)
turns ON.
(Y000) Positioning M8348 1-bit OFF when a positioning instruction is not active.
instruction activation ON when a positioning instruction is active.
CLEAR signal device M8464 1-bit Enables the output terminal for the CLEAR sig-
specification function nal to be changed for Y000.
enable
Bias speed [Hz] D8145 16-bit Sets the bias speed for Y000. FX1S, FX1N
D8342 FX3G, FX3U(C)
Maximum speed [Hz] D8146 32-bit Sets the maximum speed for positioning instruc- FX1S, FX1N
tions on Y000.
D8343 FX3G, FX3U(C)
Acceleration/decelera- D8148 16-bit Sets the acceleration and deceleration time. FX1S, FX1N
tion time [ms]
Acceleration time [ms] D8348 16-bit Sets the acceleration time for Y000.
Deceleration time [ms] D8349 16-bit Sets the deceleration time for Y000.
FX3G, FX3U(C)
CLEAR signal device D8464 16-bit Sets the output terminal for the CLEAR signal
specification for Y000.
Tab. 4-3: Buffer memory addresses of FX1S, FX1N, FX3G and FX3U(C)

4.1.3 Program Examples

Two positioning examples are included as a reference to get started with PLC programming.
Hybrid programming example for FX1S, FX1N, FX3G and FX3U(C) PLCs
The first example below illustrates zero return and absolute positioning control on 1 axis with an
FX1S, FX1N or FX3U(C) PLC. Since the special devices for utilizing positioning instructions are
different depending on the PLC, please note that the following program is a hybrid program and
that device addresses must be changed according to the type of PLC.
A general understanding of step ladder and ladder logic is necessary to use the program.
Forward 500,000
positioning
Output pulse frequency: Reverse rotation limit 2 Forward rotation limit 2

100,000 Hz Bias speed (Servo amplifier side) (Servo amplifier side)
100 500 Hz
500 Hz Servo motor
Origin after
zero return
Reverse Reverse Forward
positioning rotation rotation
Acceleration/deceleration time:
100 ms
413010da.eps
Fig. 4-2: Configuration for the program example

See marker in program fig. 4-3 (3).

Inputs Outputs
X000 Immediate stop Y000 Pulse train output
X001 Zero return command Y002 CLEAR signal
X002 Forward rotation positioning command Y004 Rotation direction signal
X003 Reverse rotation positioning command Y010 CLEAR signal
X004 Stop command
X005 Near-point signal (DOG)
X006 Servo ready
Tab. 4-4: Used inputs and outputs

Use this for FX3G and FX3U(C) PLCs

X000
M8349
Immediate stop
X006 Use this for FX1S and FX1N PLCs
Servo ready M8145
RST M10
RST M11
RST M12

M8000 FNC 12
H0010 D8464
RUN monitor MOVP
M8464
M8341
Use this for FX1S and FX1N PLCs

M8140
413020da.eps
Fig. 4-3: Program example (1)
Number Description
Stops outputting Y000 pulses. (Immediate stop)
Resets "zero return completion" flag.

Resets "forward rotation positioning completion" flag.
Resets "reverse rotation positioning completion" flag.
Enables the zero return operation with CLEAR signal outputting function (CLEAR signal: Y010)
Return to the zero point with CLEAR signal output Y002
Tab. 4-5: Description of progam example in fig. 4-3 (1)

S0 S20 S21 M8349

M5
Return to Positioning Positioning Y000
zero point in forward in reverse output stop
rotation rotation
S0 S20 S21 M8145

M5
Return to Positioning Positioning Y000
zero point in forward in reverse output stop
rotation rotation

M8002 FNC 12
DMOV
K100000 D8343
Initial pulse
FNC 12 K500 D8342
MOV
FNC 12
MOV
K100 D8348
FNC 12
MOV
K100 D8349

FNC 12 K100000 D8146
DMOV
FNC 12
MOV
K500 D8145
FNC 12
MOV
K100 D8148
X001 M5
RST M10
Return to Operation
zero point stopped
RST M11
RST M12
SET S0
X002 M5 M10
RST M11
Positioning Operation "Zero return
in forward stopped completion" flag
rotation RST M12
SET S20
X003 M5 M10
RST M11
Positioning Operation "Zero return
in reverse stopped completion" flag
rotation RST M12
SET S21
413030da.eps

Number Description
Operation is stopped.
Sets the maximum speed to 100,000 Hz. (100,000 in D8344, D8343)

Sets the bias speed to 500 Hz. (500 in D8342)
Sets the acceleration time to 100 ms. (100 in D8348)
Sets the deceleration time to 100 ms. (100 in D8349)
Sets the maximum speed to 100,000 Hz. (100,000 in D8147, D8146 )
Sets the bias speed to 500 Hz. (500 in D8145)
Sets the acceleration/deceleration time to 100 ms. (100 in D8148)
Enters the zero point return state (S0).
Enters the foward rotation positioning state (S20).
Enters the reverse rotation positioning state (S21).
Tab. 4-5: Description of program example in fig. 4-3 (2)

STL S0

M50 X004 FNC 156
K50000 K1000 X005 Y000
Waiting for Stop DZRN
1 scan time command Zero return Creep Near-point Pulse
start speed speed signal output
destination
number
M8029
SET M10
"Execution completion" flag

Zero return
M8340 M50
RST S0
Y000 Waiting for
Outputting 1 scan time
M8147 M50
RST S0
Y000 Waiting for

M8000
M50
RUN monitor
STL S20

M51 X004
FNC 159
K500000 K100000 Y000 Y004
Waiting for Stop DDRVA
1 scan time command Designation Output Pulse Rotation
of absolute pulse output direction
Positioning in forward rotation direction
position frequency destination signal

number
M8029
SET M11
M8340 M51
RST S20
Y000 Waiting for
M8147 M51
RST S20
Y000 Waiting for

M8000
M51
RUN monitor
413040da.eps

To stop the positioning operation, be sure to insert the stop contact before the positioning
instruction so that STL instruction cannot be turned off (reset) until "pulse output monitor"
flag (M8340 or M8147 (for Y000)) is turned off.

To prevent simultaneous activation of positioning instructions, the instruction activation tim-
ing should be delayed by 1 scan time.

Number Description
Zero return
Zero return instruction (CLEAR signal: Y010 (FX3G, FX3U(C)), Y002 (FX1S, FX1N))

"Zero return completion" flag
End of zero return (Self-reset)
Waiting for 1 scan time
Moves to absolute position 500,000 using the drive to absolute instruction. (Y004=ON)
"Forward rotation positioning completion" flag
Ends the positioning operation in the forward rotation derection. (Self-reset)
STL S21

M52 X004
FNC 159
K100 K100000 Y000 Y004
Waiting for Stop DDRVA
1 scan time command Designation Output Pulse Rotation
Positioning in reverse rotation direction
of absolute pulse output direction

position frequency destination signal
number
M8029
SET M12
M8340 M52
RST S21
Y000 Waiting for
M8147 M52
RST S21
Y000 Waiting for

M8000
M52
RUN monitor
RET
END
413050da.eps

To stop the positioning operation, be sure to insert the stop contact before the positioning
instruction so that STL instruction cannot be turned off (reset) until "pulse output monitor"
flag (M8340 or M8147 (for Y000)) is turned off.

To prevent simultaneous activation of positioning instructions, the instruction activation tim-
ing should be delayed by 1 scan time.
Number Description
Moves to absolute position 100 using the drive to Absolute instruction. (Y004=OFF)

"Reverse rotation positioning completion" flag
Ends the positioning operation in the reverse rotation direction. (Self-reset)
Waiting for 1 scan time

Programming example for a FX3G or FX3U(C) PLC

The following program is similar to the previous one except that it is programmed only in ladder
logic and does not follow a specific sequence of step ladder states. Additionally, it includes
control for relative positioning with JOG(+) and JOG(-) commands, a DOG search zero return
function, and utilization of the DTBL instruction.
When using an FX3G or FX3U(C) PLC, the DOG search zero return function can be programmed
with limit switches wired to the PLC as follows
Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2
(Servo amplifier side) (Programmable (Programmable (Servo amplifier side)
controller side) controller side)
LSR LSF
Servo motor
413060da.eps
Fig. 4-4: Configuration example for FX3U(C) PLC
The DTBL instruction helps to simplify the programming and is set up beforehand (along with
positioning parameters such as the bias speed, acceleration/deceleration, etc.) with
GX Developer, GX IEC Developer or GX Works2.
In this example, positioning may be performed arbitrarily along the path in fig. 4-5.
Using the JOG command, the workpiece is moved to any relative position. This is not illustrated
in the figure below.

Forward 500,000
positioning
Output pulse frequency:

100,000 Hz Bias speed
100 500 Hz
500 Hz
Origin after
zero return
Reverse
positioning
Acceleration/deceleration time:
100 ms
413070da.eps
Required hardware and software are as follows:

FX3G PLC version 1.00 or later
or
FX3U(C) PLC version 2.20 or later
GX Developer 8.23Z or later
or
GX IEC Developer
or
GX Works2
Parameters for the DTBL instruction are set for example in GX Developer as shown below.
Double-click Parameter and then PLC parameter from the project tree on the left side of
the screen.
If the project tree is not displayed on the screen, click View on the menu bar, and then click
Project Data List.
413080da.epse
Fig. 4-6: Project window
Click on the Memory capacity tab and then enter a check in the Positioning Instruction
Settings check box.
Take note that 9,000 steps are needed to set the positioning data. Therefore, it is necessary
to specify a Memory capacity of 16,000 steps or more.
413090da.eps
Fig. 4-7: "Memory capacity" window

Click on the Positioning tab and then set Y000 (pulse output destination) as follows.
4130a0da.eps
Fig. 4-8: "Positioning" window
Setting item Setting value
Bias speed [Hz] 500

Maximum speed [Hz] 100,000
Creep speed [Hz] 1000
Zero return speed [Hz] 50,000
Acceleration time [ms] 100
Deceleration time [ms] 100
Interrupt input for DVIT instruction X000
Tab. 4-6:Settings for Y000

The "Bias speed" corresponds to the minimum speed.

Can only be set for a FX3U or FX3UC main unit.
Click the Individual setting button. The Positioning instruction settings window will
appear. In this window, click on the Y0 tab to display the positioning table for Y000 (pulse
output destination). Set the data in the positioning table as follows:
4130b0da.eps
Fig. 4-9: "Positioning instruction settings" window
Be sure to change the [Rotation direction signal] to "Y004".
Setting item Setting value

Rotation direction signal Y004
First device R0
Positioning type DDRVI (Drive to increment)
No. 1 Number of pulses (PLS) 999,999
Frequency [Hz] 30,000
Positioning type DDRVI (Drive to increment)
No. 2 Number of pulses (PLS) -999,9990
Positioning type DDRVA (Drive to absolute)
No. 3 Number of pulses (PLS) 500,000
Positioning type DDRVA (Drive to absolute)
No. 4 Number of pulses (PLS) 100
Tab. 4-7:Settings for positioning instruction
Click the OK button and then the End button to close the parameters.
Create the ladder program as shown in fig. 4-9.

Once the ladder program is complete, click on Online from the top menu bar in GX Developer
and select Write to PLC. The following window will appear.
4130c0da.eps
Fig. 4-10: "Write to PLC" window
Click the Param + Prog button and then click the Execute button. The parameters and the
created program will be transferred to the PLC. To enable the transferred parameters, stop
the PLC and then restart it.
Inputs Outputs
X004 Zero-point signal Y000 Pulse train output
X010 Near-point signal (DOG) Y004 Rotation direction signal
X014 Servo ready Y020 CLEAR signal
X020 Immediate stop
X021 Zero return command
X022 JOG(+) command
X023 JOG(-) command
X024 Forward rotation positioning command
X025 Reverse rotation positioning command
X026 Forward rotation limit (LSF)
X027 Reverse rotation limit (LSR)
X030 Stop command
Tab. 4-8:Used inputs and outputs
X020
M8349
Immediate stop
X014
RST M10
Servo ready
RST M12
RST M13
X026
M8343
Forward rotation limit
X027
M8344
Reverse rotation limit
M8000 FNC 12 H0020 D8464
RUN monitor MOVP
M8464
M8341
M8000
M8342
RUN monitor
X021 M8348 M101 M102

RST M10
Zero Positioning Normal Abnormal
return being end of end of
performed
(Y000)
zero
return
zero
return RST M12
M100
DOG search zero return
RST M13
Zero return
being performed
M100
X030
FNC 150 X010 X004 Y000 Y004
DSZR
Stop Near-point Zero-point Pulse Rotation
command signal signal output direction
destination signal
number
M8029
SET M10
"Execution
completion" flag
M101
M8329
M102
Abnormal
end
X022 M8348 M104

RST M12
JOG Positioning Completes

(+) being the JOG (+)
performed operation.
RST M13
(Y000)
M103
JOG (+) operation
M103
JOG (+) operation is
being performed. X030 FNC 152
Y000 K1
Stop DTBL
command Pulse Table
output number
destination
number
X022
M104
JOG(+)
M8329
Abnormal
end
4130d0da.eps

Number Description
Stops outputting Y000 pulses. (Immediate stop)

Normal rotation limit (Y000)
Reverse rotation limit (Y000)
Enables the zero return operation with CLEAR signal outputting function. (CLEAR signal: Y020)
Performs zero return in the forward rotation direction.
Zero return is being performed.
Zero return instruction with DOG search function (CLEAR signal: Y020)
"Zero return completion" flag
Normal end of zero return
Abnormal end of zero return
JOG(+) operation is being performed.
Executes No. 1 of the positioning table of Y000 (pulse output destination).
Completes the JOG(+) operation.
Tab. 4-9: Description of the progam example in fig. 4-11 (1)

The forward and reverse rotation limit switches must be wired so that they are turned ON by
default (Normally closed contacts).
When these limit switches turn OFF (due to the workpiece going out-of-bounds), M8343 or
M8344 will turn ON and cause the pulse operation to stop.
X023 M8348 M106

RST M12
JOG Positioning Completes
(-) being the JOG (-)
performed operation.
RST M13
(Y00)
M105
M105
JOG(-) operation
JOG (-) operation

is being performed. X030 FNC 152 Y000 K2
Stop DTBL
command Pulse Table
output number
destination
number
X023
M106
JOG(-)
M8329
Abnormal
end
X024 M8348 M10 M108 M109

RST M12
Position- Position- "Zero Normal Abnormal
ing in ing return end of end of
positioning
forward
rotation
operation
being
compl-
etion"
positioning
in forward in forward RST M13
direction performed flag rotation rotation

(Y00) direction direction
M107
M107
X030
Positioning operation
FNC 152 Y000 K3
being performed in forward Stop
DTBL
rotation direction command Pulse Table
output number
destination
number
M8029
SET M12
"Execution
completion"
flag M108
M8329
M109
Abnormal end
X025 M8348 M10 M111 M112

RST M12
Position- Position- "Zero Normal Abnormal
ing in ing return end of end of
forward operation comple- positioning positioning
RST M13
rotation being tion" in forward in forward

direction performed flag rotation rotation
(Y00) direction direction
M110
M110
X030 FNC 152
Y000 K4
Positioning operation being DTBL
performed in reverse Stop
rotation direction command
M8029
SET M13
"Execution
completion"
flag
M111
M8329
M112
Abnormal end
END
4130e0da.eps

Number Description
JOG(-) operation is being performed.

Completes the JOG(-) operation.
"Forward rotation positioning completion" flag
"Reverse rotation positioning completion" flag
Positioning operation being performed in forward rotation direction
"Forward rotation positioning normal end" flag
"Forward rotation positioning abnormal end" flag
Positioning operation being performed in reverse rotation direction
"Reverse rotation positioning normal end" flag
"Reverse rotation positioning abnormal end" flag
Inverter Drive Control Learning to Use the FX Familiy for Positioning Control
4.2 Inverter Drive Control

A frequency inverter, or inverter for short, is installed between the mains supply and the motor.
An inverter converts a fixed voltage and frequency into a variable voltage with a variable
frequency.Thus the speed of a asynchronous electric motor can be adjusted continuously.
In factory automation, inverters (sometimes known as variable frequency drives) are used to
efficiently control large current loads through voltage regulation to drive large fans, pumps or AC
motors. Drive control with inverters can lead to great reductions in energy consumption for a
factory.
With a Mitsubishi general-purpose inverter connected to an FX2N(C), FX3G or FX3U(C) PLC, a

motor can be controlled to move at a specific speed. Through monitoring feedback or by using
limit switches, a basic positioning functionality is achieved. However, as described in section
1.3, the disadvantage to using an inverter to move a workpiece to a specific location is a loss in
the stop precision. Therefore, inverters should not be thought of as positioning controllers.
Important references for understanding inverter drive control for this section include:
FX Series Users Manual - Data Communication Edition (JY997D16901)
Inverter Instruction Manuals
them close at hand for reference.

Programmable logic controllers and inverters communicate with each other through passing
parameter data and control operation data back and forth. Inverters, when used for variable
frequency drive, require a frequency command and a start command to operate.
Mitsubishis FREQROL Series inverters communicate with FX2N(C), FX3G and FX3U(C) PLCs via
the Mitsubishi inverter computer link protocol to asynchronously control operations.

Learning to Use the FX Familiy for Positioning Control Inverter Drive Control
4.2.2 Using the FX2N(C), FX3U(C) and FREQROL Inverter

In order to enable RS485 serial communication to a MELCO inverter(s), a special BD board or
adapter (ADP) is connected to the main unit FX2N(C), FX3G or FX3U(C). The following table
describes connection options for using one channel of communication.
Total
FX Series Communication equipment (option) extension
distance
50 m
FX2N FX2N-485-BD
(Terminal board)
422020da.eps
FX 2N-ROM-E1 or
500 m
(Function extension
memory casette FX2N-CNV-BD FX2NC-485ADP FX2N-CNV-BD FX0N-485ADP
(Terminal block) (Terminal block)
422010da.eps 422030da.eps
X0
X1
Y0
Y1
1
MITSUBISHI
X2 Y2
X3 Y3
X4 Y4
X5 Y5
X6 Y6
X7 Y7
or
FX2NC
500 m
FX2NC-485ADP FX0N-485ADP
(Terminal block) (Terminal block)
FX 2NC-ROM-CE1
(Function extension
memory board
422040da.eps 422050da.eps
Tab. 4-9: Applicable communication interface boards and adapters for data exchange with
frequency inverters
Total
distance
50 m
FX3G-485-BD
(Terminal block)
FX3G-485-BD_front.eps
FX3G
(14 or 24 I/O)
500 m
FX3G-CNV-ADP FX3U-485ADP(-MB)
(Terminal block)
FX3G_24_front.eps RS485_FX3G.eps
CH 1 50 m
FX3G-485-BD
(Terminal block)
CH 1 500 m
FX3G-CNV-ADP FX3U-485ADP(-MB)
(Terminal block)
RS485_FX3G.eps
FX3G
(40 or 60 I/O)
CH 2 50 m
FX3G-485-BD
(Terminal block)
CH 1 CH 2
500 m
FX3G-CNV-ADP FX3U-232ADP(-MB) FX3U-485ADP(-MB)

or (Terminal block)
FX3U-485ADP(-MB)
FX3G_24_front.eps RS485_FX3G_ch2.eps
frequency inverters

Total
distance
CH 1
RD A
RD
RD B
SD A
SD SD B
SG
50 m
FX3U-485-BD
(Terminal block)
422070dab.eps
CH 1
500 m
FX3U-CNV-BD FX3U-485ADP(-MB)
(Terminal block)
422080dab.eps
RUN
CH 1 CH 2
STOP
FX3U
500 m
FX3U--BD FX3U-485ADP(-MB)
(Terminal block)
RS485_FX3U_ch2_1.eps.
CH 1 CH 2
500 m
FX3U-CNV-BD FX3U-ADP FX3U-485ADP(-MB)

(Terminal block)
422060da.eps RS485_FX3U_ch2_2.eps
CH 1
500 m
FX3U-485ADP(-MB)
(Terminal block)
4220a0dab.eps
CH 1 CH 2
FX3UC
500 m
FX3U-ADP FX3U-485ADP(-MB)
(Terminal block)
422090da.eps RS485_FX3UC_D_DS_ch2
frequency inverters

FX3U-232-BD, FX3U-422-BD, FX3U-485-BD or FX3U-USB-BD

FX3U-232ADP(-MB) or FX3U-485ADP(-MB)
To use the special inverter communication instructions from the PLC, inverter and PLC
communication parameters must be set. The FX2N(C), FX3G and FX3U(C) PLCs include the
following special instructions to communicate with one or more inverters.
FX2N(C) FX3G, FX3U(C) Function/Description

K10 IVCK Monitors operations of an inverter.
K11 IVDR Controls operations of an inverter.
EXTR
K12 IVRD Reads a parameter from an inverter.
K13 IVWR Writes a parameter to an inverter.
Writes a block of parameters to an inverter.
IVBWR
Tab. 4-10: Instructions to communicate with inverters
This instruction is only available for FX3U(C) PLCs.
The programmable controller special relays and inverter instruction codes listed in the table
below are used in Section 4.2.3. For information on memory addresses that contain error codes
and inverter communication operation statuses, refer to the FX Series Users Manual - Data
Communication Edition (JY997D16901).
Function name Device Length Description Applicable PLC

RUN monitor M8000 1-bit ON when PLC is in RUN.
Initial pulse M8002 1-bit ON for the first scan only.
Programmed immediately after an inverter com- FX2N(C), FX3G,
Instruction execution munication instruction. Turns ON when the pre- FX3U(C)
M8029 1-bit
complete flag ceding instruction finishes its operation and
stays ON until the instruction stops being driven.
Tab. 4-11: Programmable controller special relays
Instruction No. of Data Applicable

Function name Description
Code Digits Inverter
Resets the inverter and does not request a
Inverter reset H0FD 4-digits response. Inverter reset takes about 2.2 sec-
onds to complete.
Sets the communication operation for the
Operation mode H0FB 4-digits
inverter.
Running frequency Changes the drive frequency by writing directly

H0ED 4-digits
write to the inverter RAM.
Sets forward rotation (STF) or reverse rotation

Run command H0FA 2-digits
(STR).
Inverter status
H07A 2-digits Monitors operation bits of the inverter.
monitor
Output frequency
H06F 4-digits Monitors the frequency of the inverter.
[speed]
Tab. 4-12: Inverter instruction codes

Applicable for all Mitsubishi FREQROL inverters.

4.2.3 Program example

The following programming example is a hybrid program for FX2N(C), FX 3G and FX 3U(C)
controllers to be used with an E500 Series inverter. For the communication between PLC and
inverter, CH 1 is used.
The travel path and operation pattern are shown below.
In the program below, the section "Controlling the inverter to move in the forward or reverse
rotation direction" drives the inverter in the forward or reverse direction. When the forward
rotation limit (X001) or reverse rotation limit (X000) is reached, the operation stops. For details
on connecting the hardware for testing, refer to the appropriate product manual.

limit (X000) limit (X001)
General purpose
motor

(H0FA bit2 is ON) (H0FA bit1 is ON)
Acceleration Deceleration
time (Pr.7) time (Pr.8)
Speed
1s 1s
(Hz) Accel/Decel reference
(Pr.20) frequency (Default: 60Hz)
Running frequency
(H0ED 40 Hz)
Time
(s)
423010da.eps
Fig. 4-12: Configuration and positioning pattern for the E500 Series inverter
Before programming, there are several parameter settings that must be set to the inverter and
PLC.
Setting communication parameters for the E500 Series inverter

While all operations are stopped (i.e. - the RUN indicator on the E500 is OFF), use the MODE
key MODE , UP/DOWN keys and the SET key SET to change and/or confirm the
following parameters:
Parameter
Parameter item Set value Setting contents
No.
External operation mode is selected when power
Pr.79 Operation mode selection 0
is turned ON.
Pr.117 Communication station number 00 to 31 Up to eight inverters can be connected.
Pr.118 Communication speed 96 9600 bps (default)
Data length: 7-bit
Pr.119 Stop bit / Data length 10
Stop bit: 1-bit
Parity check presence/absence
Pr.120 2 Even parity present
selection
Pr.122 Communication check time interval 9999 Communication check suspension
Pr.123 Waiting time setting 9999 Set with communication data
Pr.124 CRLF presence/absence selection 1 With CR, without LF
Tab. 4-13: Communication parameters
Setting communication parameters for the FX2N(C)/FX3G/FX3U(C) PLC

For example, parameters are set in GX Developer as shown below.
Double-click Parameter and then PLC parameter from the project tree on the left side of
the screen.
If the project tree is not displayed on the screen, click View on the menu bar, and then click
Project Data List.
423060da.eps
Fig. 4-13: Project window
Click on the PLC system(2) tab in the "FX parameter" window and set the parameters as
shown below:

"

423070da.eps
Fig. 4-14: FX parameter window
Set CH1 as the channel to be used.

Put a checkmark in the Operate communication setting checkbox to activate the communication
settings.

Set [Protocol] to "Non-procedural", [Data length] to "7bit", [Parity] to "Even", and [Stop bit] to "1bit".
Set [Transmission speed] to "9600" to match the speed setting in the inverter.
Ignore these items.
Click the [End] button.

Create the ladder program as shown below.

Once the ladder program is complete, click on Online from the top menu bar in GX Developer
and select Write to PLC. The "Write to PLC" window will appear.
Click the Param+Prog button and then click the Execute button. The parameters and the
created program will be transferred to the PLC. To enable the transferred parameters, stop
the PLC and then restart it.
423080da.e
Fig. 4-15: Write to PLC window
Inputs Outputs
X000 Reverse rotation limit Y000 Inverter running (RUN)
X001 Forward rotation limit Y001 Forward rotation
X002 Forward rotation command input Y002 Reverse rotation
X003 Reverse rotation command input Y003 Up to frequency (SU)
Y004 Overload is applied (OL)
Y006 Frequency detection (FU)
Y007 Alarm occurrence
M8002
SET M10
Initial Pulse
Use this for FX3G or FX3U(C) PLCs
M10
FNC271
K0 H0FD H9696 K1
Driving of IVDR
write Inverter Inverter Write CH 1
instruction station instruction value
number code
FNC271
K0 H0FB H2 K1
IVDR
Inverter Inverter Write CH 1
station instruction value
number code
Use this for FX2N(C) PLCs
FNC180
K11 K0 H0FD H9696
EXTR
Function Inverter Inverter Write
number station instruction value
(Control) number code
FNC180
K11 K0 H0FB H2
EXTR
423090da.eps
Function Number Description

Writing parame- The write instruction is driven
ters to the
inverter while The inverter is reset [H9696 "H0FD"]
the PLC is in
RUN mode.
Computer link operation is specified [H2 "H0FB"]

FNC 12
K1 D200
MOVP
Pr.1
FNC 12
K12000 D201
MOVP
120 Hz
FNC 12
K2 D202
MOVP
Pr.2
FNC 12
K500 D203
MOVP
5 Hz
FNC 12
K7 D204
MOVP
Pr.7
FNC 12
K10 D205
MOVP
1s
FNC 12
K8 D206
MOVP
Pr.8
FNC 12
K10 D207
MOVP
1s
FNC 274
IVBWR
K0 K4 D200 K1
Inverter Write 4 D200 to CH 1
station parameters D207
number
FNC 180
K13 K0 K1 K12000
EXTR
Function Inverter Pr.1 120 Hz
Number station
(Write) number
FNC 180
K13 K0 K2 K500
EXTR
Function Inverter Pr.2 5 Hz
Number station
(Write) number
FNC 180
K13 K0 K7 K10
EXTR
Function Inverter Pr.7 1s
Number station
(Write) number
FNC 180
K13 K0 K8 K10
EXTR
Function Inverter Pr.8 1s
Number station
(Write) number
M8029
RST M10
"Execution
completion" flag
4230a0da.eps

The maximum frequency (Pr. 1) is specified
The maximum frequency (Pr. 1) is set to "120 Hz"

The minimum frequency (Pr. 2) is specified
The minimum frequency (Pr. 2) is set to "5 Hz"
The acceleration time (Pr. 7) is specified
Writing The acceleration time (Pr. 7) is set to "1 sec"
parameters to
the inverter The deceleration time (Pr. 8) is specified
while the PLC The deceleration time (Pr. 8) is set to "1 sec"
is in RUN
mode. The parameters are written at one time

[Contents of D200D207 Pr. 1, Pr. 2, Pr. 7 and Pr. 8]
The maximum frequency (Pr. 1) is set to "120 Hz" [K12000 Pr. 1]
The minimum frequency (Pr. 2) is set to "5 Hz" [K500 Pr. 2]
The acceleration time (Pr. 7) is set to "1 sec" [K10 Pr. 7]
The deceleration time (Pr. 8) is set to "1 sec" [K10 Pr. 8]
Reset driving of write instruction

M8002
SET M11
Initial Pulse
M11 FNC 12
K4000 D10
Driving of MOVP
write 40 Hz Operation
instruction speed
FNC271
K0 H0ED D10 K1
IVDR
Inverter Inverter Operation CH 1
station instruction Speed
number code
FNC180
K11 K0 H0ED D10
EXTR
Function Inverter Inverter Operation
number station instruction Speed
M8029
RST M11
"Execution
completion" flag
X000
SET M15
Reverse
rotation
limit
X001
Forward
rotation
limit
X002 X000 X001

RST M15
Forward Reverse Forward
rotation rotation rotation
command limit limit
input
X003
Reverse rotation
command input
M15 X002 X003

M21
Operation Forward Reverse
stop rotation rotation
command command
input input
X003 X002
M22
Reverse Forward
rotation rotation
command command
input input
M8002 FNC 12
K2M20 D81
MOV
Initial Pulse Operation
command is
withdrawn
FNC228
K2M20 D81 SET M12
LD<>
Operation The write
command is instruction
withdrawn is driven
4230b0da.eps

When either of these limit switches turns OFF (due to the workpiece going out-of-bounds),
the inverter operation will be stopped.
Setting the The write instruction is driven

operation speed
of the inverter to The operation speed is set as "40 Hz"
40 Hz while the
The preset frequency is written to the inverter [Contents of D10 "H0ED"]
PLC is in RUN
mode. Reset driving of write instruction
Operation stop "H0FA" is set to "00H"
Controlling the Operation is driven by input X002 or X003
inverter to move
in the forward or Forward rotation command b1 of "H0FA" is set to ON
reverse rotation
direction. Reverse rotation command b2 of "H0FA" is set to ON
Changes in the operation commands (M20 to M27) are detected


M12 FNC271
K0 H0FA K2M20 K1
IVDR
Driving of
write Inverter Inverter Write ch.1
instruction station instruction value
number code
FNC180
EXTR
K11 K0 H0FA K2M20
M8029
RST M12
"Execution
completion" flag
M10 M11 M12

MC N0 M70
Driving of Driving of Driving of

write write write
instruction instruction instruction
N0 M70
M8000 FNC270
K0 H07A K2M100 K1
IVCK
RUN
monitor Inverter Inverter Read CH1
station instruction destina-
number code tion
FNC180
K10 K0 H07A K2M100
EXTR
Function Inverter Inverter Read
number station instruction destina-
(Monitor) number code tion
M100
Y000
Inverter
running Indicator
lamp, etc.
M101
Y001
Forward
rotation Indicator
lamp, etc.
M102
Y002
Reverse
rotation Indicator
lamp, etc.
M103
Y003
Up to
frequency Indicator
lamp, etc.
M104
Y004
Overload
is applied Indicator
lamp, etc.
M106
Y006
Frequency
is detected Indicator
lamp, etc.
M107
Y007
Alarm
occurrence Indicator
lamp, etc.
4230c0da.eps

MC denotes the start of a master control block.
In this example, the master control block "N0" is only executed when data is not being writ-
ten to the inverter.

Controlling the
Operation commands are written [M20-M27 "H0FA"]
inverter to move
in the forward or
reverse rotation Reset driving of write instruction
direction.

While data is not being written to the inverter, data is monitored.
Monitoring
operations of Inverter status is read ["H07A" M100-M107]
the inverter.
Contents of status (according to necessity)
FNC270
K0 H06F D50 K1
IVCK
Inverter Inverter Read CH 1
station instruction destina-
number code tion
FNC180
K10 K0 H06F D50
EXTR
Function Inverter Inverter Read
number station instruction destina-
(Monitor) number code tion

MCR N0
END
4230d0da.eps

MCR denotes the end of a master control block.
In this example, the master control block "N0" is only executed when data is not being writ-
ten to the inverter.
Number Description
Monitoring
operations of Monitor frequency value with D50 ["H06F" D50]
the inverter.

Learning to Use the FX Familiy for Positioning Control FX2N-1PG-E positioning
4.3 FX2N-1PG-E positioning

The FX2N(C) and FX3U(C) PLCs support connection with the FX2N-1PG-E special function block.
Special function blocks are separate pieces of hardware that can be connected to PLCs to
enhance control. Since special function blocks process information separately from the PLC,
the scan time of the PLC is not adversely affected during operations controlled by special
function blocks. This provides an advantage for programming. Additionally, special function
blocks such as the FX2N-1PG-E offer separate, more advanced control through the use of their
own inputs and outputs.
An important reference for understanding positioning with the FX2N-1PG-E is:
FX2N-1PG/FX-1PG Users Manual (JY992D65301)
It is assumed that you will have read the above manual or that you will have it nearby for
reference.

The FX2N-1PG-E is a popular unit for performing general point-to-point positioning operations
on 1 axis up to 100,000 pulses/second (100 kHz). A stepper motor or servo motor can be used
with the FX2N-1PG-E to perform positioning operations.
Some of the main advantages to using the FX2N-1PG-E for positioning as opposed to the FX1S,
FX1N or FX3U(C) include:
The flexible use of the zero point signal PG0
Two speed positioning operations with or without interrupt
The option to choose the FP/RP pulse output method.
FX2N-1PG-E positioning Learning to Use the FX Familiy for Positioning Control
4.3.2 Important buffer memory locations

The FX2N-1PG-E contains 32 buffer memory (BFM) addresses, which are 16-bit (1 word) areas
of memory that contain information relevant to the control of positioning operations. The FX2N(C)
or FX3U(C) PLC that is connected to the FX2N-1PG-E can send and receive data to the buffer
memory addresses to change and/or update information. This exchange of information takes
place through dedicated PLC instructions known as the FROM/TO instructions. (For FX3U(C)
PLCs, the MOV instruction can also be used to transfer data to/from special function blocks.)
The following buffer memory addresses are used in the ladder program example below. For
details on other BFM addresses, refer to the FX-1PG/FX 2 N -1PG Users Manual
(JY992D65301).
BFM # Item Set value Note

#0 Pulse rate 4,000 PLS/rev
#2, #1 Feed rate 1,000 m/rev
Parameters
Bit 1,
System of units Bit 1: 1, Bit 0: 0 Combined system
#3 Bit 0
Bit 5,
Bit 4 Multiplication factor Bit 5: 1, Bit 4: 1 103
#5, #4 Maximum speed 40,000 Hz

#6 Bias speed 0 Hz
#15 Acceleration/Deceleration time 100 ms
#18, #17 Target address 1 100 mm
#20, #19 Operating speed 1 40,000 Hz
#24, #23 Operating speed 2 10,000 Hz
Operation command
Bit 0 Error reset M0 X000
Bit 1 STOP command M1 X001
#25 Bit 2 Forward rotation limit M2 X002
Bit 3 Reverse rotation limit M3 X003
Bit 7 Relative/Absolute positioning M7 (Bit 7 = 0) Absolute positioning
Bit 10 Two speed positioning START command M10 X007
#27, #26 Current address D11, D10 mm
#28 Status information M20M31
#29 Error code D20
Tab. 4-16: Buffer memory addresses of FX2N-1PG-E

Using a multiplication factor of 103 changes the units from m to mm.


In the example that follows, a two speed positioning instruction is used to move a drill 100 mm
toward a block of wood with a high speed pulse frequency of 40 kHz. When the drill reaches the
wood, the speed decreases to 10 kHz. The drill is then driven for 50 mm into the wood before
decelerating to stop.
Drill Wood
1PG
High Low
speed speed
433010da.eps
Fig. 4-17: Configuration
The two speed positioning operation is illustrated in the following graph. Neither the zero point
return nor the JOG instructions are used in the ladder program.
Frequency
(Hz)
40,000 Operation speed 2
Operation speed 1 BFM #24, #23
20,000 BFM #20, #19
0
100 50
Target address 1 Target
BFM #18, #17 address 2
BFM #22, 21
0 50 100 150 200
433020da.eps
Although the following ladder program is not very complicated, it is important to establish good
programming practice by paying attention to the order with which the PLC writes and reads to
the buffer memory of the FX 2N -1PG-E. Before writing the Operation command (START
command) to the modules BFM from the PLC, several settings must be established such as
Target addresses 1 & 2, Operation speeds 1 & 2, and various settings such as the bias speed,
maximum speed, and the acceleration/deceleration time.
The most critical part of the program is the section where the operation commands are enabled
by writing bits M0 to M15 to BFM#25. When the positioning START command turns ON, the
operation begins with the specified settings.
The ladder program example on the following page can be programmed with an FX2N(C) or
FX3U(C) PLC and does not require an actuator (i.e., servo system) for testing. The following
inputs are used in the program:
Inputs
X000 Error reset
X001 STOP command
X002 Forward rotation limit
X003 Reverse rotation limit
X007 2-speed positioning START command
Tab. 4-17: Used inputs

M8002
FNC79
K0 K0 K4000 K1
TO
Initial pulse
Unit No. BFM # Pulse No. of
rate transfer
points
FNC79
K0 K1 K1000 K1
DTO
Unit No. BFM # Feed No. of
rate transfer
points
FNC79
K0 K3 H32 K1
TO
Unit No. BFM # Parameter No. of
setting transfer
points
FNC79
K0 K4 K40000 K1
DTO
Unit No. BFM # Maximum No. of
speed transfer
points
FNC79
K0 K6 K0 K1
TO
Unit No. BFM # Bias No. of
speed transfer
points
FNC79
K0 K15 K100 K1
TO
Unit No. BFM # Accel/ No. of
Decel transfer
time points
M8000
FNC78
K0 K28 K3M20 K1
FROM
RUN
monitor Unit No. BFM # Status No. of
info. transfer
M20-M31 points
M27
FNC78
K0 K29 D20 K1
FROM
Error flag
Unit No. BFM # Error No. of
code transfer
points
X000
M0
Error reset
X001
M1
STOP
X002
M2
Forward
rotation
limit
X003
M3
Reverse
rotation
limit
M8000
M7
RUN
monitor
433030da.eps

default (Normally closed contacts). When these limit switches turn OFF (due the workpiece
going out-of-bounds), M2 or M3 will turn ON and cause the pulse operation to stop.
Number Description
Set the pulse rate (PLS/rev) [K4000 #0]
Set the feed rate (m/rev) [K1000 #2,#1]

Set the units to m 103 mm; combined system [H32 #3]
Set the maximum speed (Hz) [K40000 #5,#4]
Set the bias speed (Hz) [K0 #6]
Set the acceleration/deceleration time (ms) [K100 #15]
Read status information [K3M20 #28]
Read error code [D20 #29]
Reset error
STOP operation
Use absolute positioning

X007
FNC 79
K0 K17 K100 K1
DTO
START
Unit No. BFM # Target No. of
address 1 transfer
points
FNC 79
K0 K19 K40000 K1
DTO
Unit No. BFM # Operation No. of
speed 1 transfer
points
FNC 79
K0 K21 K150 K1
DTO
address 2 transfer
points
FNC 79
K0 K23 K10000 K1
DTO
speed 2 transfer
points
M10
M8000
FNC 79
K0 K25 K4M0 K1
TO
RUN
monitor Unit No. BFM # Operation No. of
commands transfer
M0-M15 points
FNC 78
K0 K26 D10 K1
DFROM
Unit No. BFM # Current No. of
address transfer
points
END
433040da.eps
Number Description
Set the Target address 1 [K100 #18,#17]
Set the Operation speed 1 [K40000 #20,#19]

Set the Target address 2 [K150 #22,#21]
Set the Operation speed 2 [K10000 #24,#23]
Set the START command for Two-speed positioning
Write operation commands to the FX2N-1PG [K4M0 #25]
Monitor the current address (mm) [D11, D10 #27,#26]
FX2N-10PG positioning Learning to Use the FX Familiy for Positioning Control
4.4 FX2N-10PG positioning

The FX2N(C) and FX3U(C) PLCs support connection with the FX2N-10PG special function block.
As described in section 4.3, special function blocks are separate pieces of hardware that can be
connected to a PLC to enhance control. Due to the separate processing sequence that takes
place in special function blocks through the use of buffer memory data, special function blocks
provide a distinct advantage to PLC programming through individualized control that expands
and improves PLC operations. Additionally, special function blocks such as the FX2N-10PG
include extra input points and output points.
An important reference for understanding positioning with the FX2N-10PG is:
It is assumed that you will have read the above manual or that you will have it nearby for
reference.

The FX 2N -10PG is used to perform point-to-point positioning operations on 1 axis up to
1,000,000 pulses/second (1 MHz). With the FX2N-10PG differential line driver type outputs that
provide improved stability and better noise immunity, a stepper motor or servo motor can be
controlled to perform a variety of positioning operations including multi-speed positioning and
interrupt stop positioning. The controller also supports the connection of a manual pulse
generator dial to control individual pulses from a position dial. Another advantage to using the
FX2N-10PG is the ability to use a defined set of positioning operations in table format with up to
200 predefined table operations.

Learning to Use the FX Familiy for Positioning Control FX2N-10PG positioning

The FX2N-10PG contains 1,300 buffer memory (BFM) addresses, which are 16-bit (1 word)
areas of memory that contain information relevant to the control of positioning operations. Most
of these addresses are reserved for data to be used in table operations. The FX2N(C) or FX3U(C)
PLC that is connected to the FX2N-10PG can send and receive data to the buffer memory
addresses to change and/or update information. This exchange of information takes place
through dedicated PLC instructions known as the FROM/TO instructions. (For FX3U(C) PLCs,
the MOV instruction can also be used to transfer data to/from special function blocks.)
details on other BFM addresses, refer to the FX2N-10PG Users Manual (JY992D93401).
BFM # Item Set value Note

#1, #0 Maximum speed 50,000 Hz
#2 Bias speed 0 Hz
#11 Acceleration time 100 ms
#12 Deceleration time 100 ms
#16, #15 Operation speed 1 50,000 Hz
#25, #24 Current address D11, D10 mm
Operation command
Bit 1 STOP M1 X001
#26 Bit 2 Forward rotation limit M2 X002
Bit 8 Relative/Absolute positioning M8 (Bit 8 =1 ) Relative positioning
Bit 9 START command M9 X007
Operation pattern
#27
b0 1-speed positioning operation
#28 Status information M20 M31
#33, #32 Pulse rate 4,000 PLS/rev
#35, #34 Feed rate 1,000 m/rev
Parameters
Bit 1,
System of units Bit 1: 1, Bit 0: 0 Combined system
#36 Bit 0
Bit 5,
Bit 4 Multiplication factor Bit 5: 1, Bit 4: 1 103
#37 Error code D20
Tab. 4-19: Buffer memory addresses of FX2N-10PG

Using a multiplication factor of 103 changes the units from m to mm.

In the program example that follows, a series of three individual 1-speed positioning operations
are controlled from the FX2N-10PG with an output signal from the PLC that turns ON between
each operation. An event timing chart is included on the next page to help understand the logic
flow of the program.
This example uses a conveyor system to carry boxes from one location to another. Each
intermittent positioning operation positions a box in front of a scanner to scan it for 2 seconds.
During each 2-second scan, Y000 from the PLC turns ON to illuminate an indicator light. The
number of boxes to be scanned can be varied by changing the value of the counter, C100, in the
program.
Barcode
scanner
Conveyor belt
M
10PG
443010da.eps
Fig. 4-20: Configuration
The positioning pattern is shown in the following figure. Neither the zero point return nor the JOG
instructions are used in the ladder program example.
Frequency Operation speed 1

(Hz) BFM #16, #15
50,000
25,000
Target address 1
BFM #14, #13
0 50 100 150 200

Distance (mm) Y000 turns ON for 2 sec.
443020da.eps
In order for the program to function correctly for the specified number of repetition cycles, the
START command input (X007) must not be turned ON again during the positioning operation.
If the START command is turned ON again, the counter C100 is reset, which clears the number
of repetitions.

The following program can be used with an FX2N(C) or FX3U(C) PLC and does not require an
actuator (i.e., servo system) for testing. The input and output points include:
Inputs Outputs
X000 Error reset Indicator lamp
Y000
X001 STOP command (ON for 2 sec. intervals)
X002 Forward rotation limit

X003 Reverse rotation limit
X007 START command
The following figure is an event timing chart for part of the operation in the program below.
X007
(START)
M9
(START
command)
1
C100 0
T0

M26
(Positioning Positioning
Complete Flag) complete
Y000
2 sec. One
operation
cycle
443030da.eps
Fig. 4-22: Timing chart

The positioning complete flag will only be ON at the very beginning of the program when it
is not the first time to operate the equipment and the power has not been recycled.
M8002
FNC 79
K0 K32 K4000 K1
Initial pulse
DTO
Unit No. BFM # Pulse No. of
rate transfer
points
FNC 79
K0 K34 K1000 K1
DTO
Unit No. BFM # Feed No. of
rate transfer
points
FNC 79
K0 K36 H32 K1
TO
Unit No. BFM # Parameter No. of
setting transfer
points
FNC 79
DTO
K0 K0 K50000 K1
Unit No. BFM # Maximum No. of
speed transfer
points
FNC 79
K0 K2 K0 K1
TO
Unit No. BFM # Bias No. of
speed transfer
points
FNC 79
K0 K11 K100 K1
TO
Unit No. BFM # Accel No. of
time transfer
points
FNC 79
K0 K12 K100 K1
TO
Unit No. BFM # Decel No. of
time transfer
points
M8000
FNC 78
K0 K28 K3M20 K1
FROM
RUN
monitor Unit No. BFM # Status No. of
info. transfer
M20-M31 points
M25
FNC 78
K0 K37 D20 K1
FROM
Error flag
Unit No. BFM # Error No. of
code transfer
points
X000
M0
Error reset
X001
M1
STOP
X002
M2
Forward
rotation
limit
X003
M3
Reverse
rotation
limit
443040da.eps

When these limit switches turn OFF (due to the workpiece going out-of-bounds), M2 or M3
will turn ON and cause the pulse operation to stop.

Number Description
Set the pulse rate (PLS/rev) [K4000 #1, #0]
Set the feed rate ( m/rev) [K1000 #35, #34]

Set the units to m 103 mm; combined system [H32 #36]
Set the maximum speed (Hz) [K50000 #1, #0]
Set the bias speed (Hz) [K0 #2]
Read status information [#28 K3M20]
Read error code [#37 D20]
Reset error
STOP operation
M8000
M8
RUN
monitor
X007
M9
START
T0
2-sec.
timer
M8002
FNC 79
K0 K27 H1 K1
TO
Initial pulse
Unit No. BFM # 1-speed No. of
positioning transfer
points
FNC 79
K0 K13 K50 K1
DTO
address 1 transfer
points
FNC 79
K0 K15 K50000 K1
DTO
speed 1 transfer
points
T0 X001 M25 K2
C100
2-sec. STOP Error
timer flag
M26 C100
Y000
Positioning Counter
complete
flag
K20
T0
X007
RST C100
START
M8000
FNC 79
K0 K26 K4M0 K1
RUN TO
monitor Unit No. BFM # Operation No. of
commands transfer
M0-M15 points
FNC 78
K0 K24 D10 K1
DFROM
Unit No. BFM # Current No. of
address transfer
points
END
443050da.eps

Number Description
Use relative positioning
START positioning

Set 1-speed positioning [H1 #27]
Set the Target address 1 [K50 #14, #13]
Set the Operation speed 1 [K50000 #16, #15]
Counter to repeat operation 2 times
Y000 indicator light
2 second timer
Reset C100
Write operation commands to the FX2N-10PG [#26 K4M0]
Monitor the current address (mm) [# 24, #25 D11, D10]
FX2N-10GM and FX2N-20GM positioning Learning to Use the FX Familiy for Positioning Control
4.5 FX2N-10GM and FX2N-20GM positioning

The FX2N-10GM and FX2N-20GM controllers (also referred to as the 10GM and 20GM) are
unique in that they can operate as individual stand-alone units with their own programming
language, power supplies and separate sets of inputs and outputs. This means that the 10GM
and 20GM can be used with or without a PLC to control logic instructions and standard
positioning operations.
Important references for understanding positioning with the FX2N-10GM and FX2N-20GM are:
FX2N-10GM/FX2N-20GM Hardware/Programming Manual (JY992D77801)
FX-PCS-VPS/WIN-E Software Manual (JY992D86801)
them nearby for reference.

Along with the capability to be used for independent control, the FX2N-10GM (1 axis of control)
and FX2N-20GM (2 axes of control) can be used as special function blocks in conjunction with
an FX 2N(C) or FX 3U(C) PLC to transfer data back and forth via dedicated buffer memory
addresses. These addresses overlap with and replace the special M and special D registers in
the 10GM and 20GM. One particular advantage to using a PLC with the FX2N-10GM is the ability
to use the table method where up to 100 positioning operations can be defined and saved for
consecutive execution.
The FX2N-10GM and FX2N-20GM output pulse trains to control a stepper/servo motor with a
maximum output frequency of 200,000 pulses/second (200 kHz). This offers the same speed as
the FX3U high speed positioning adapters, except that the GM controllers use open collector
type outputs instead of differential line driver type.
Combined with standard positioning operations such as 1-speed and 2-speed positioning, the
10GM and 20GM include an electrical zero return function to return the motor(s) to a specific
user-defined address without the use of a hardware DOG switch. This feature is unique since
it is not available with any of the other FX Series controllers.
The main differences between the FX2N-10GM and FX2N-20GM are listed in the following table.
FX2N-10GM FX2N-20GM
Inputs/Outputs 4 inputs, 6 outputs 8 inputs, 8 outputs

Yes
Expandable I/O No
(48 additional I/O)
Built-in RAM
Memory type EEPROM (RAM has battery backup)
(EEPROM cassette optional)
Memory size 3.8K steps 7.8K steps
Table method Yes No
CON1: I/O
CON1: Control + I/O CON2: Control
Connectors
CON2: Axis1 CON3: Axis1
CON4: Axis2
Tab. 4-22: FX2N-10GM compared with FX2N-20GM

Learning to Use the FX Familiy for Positioning Control FX2N-10GM and FX2N-20GM positioning
4.5.2 Using dedicated software to set positioning for the FX2N-20GM

In the example that follows, an FX2N-20GM is used with the FX-PCS-VPS/WIN-E software to
perform positioning on two axes. The FX-PCS-VPS/WIN-E software (also referred to as VPS)
is beneficial for defining positioning parameters and setting positioning operations. Operations
can be visually organized in a flow chart format and a monitoring window can be configured with
user-defined objects.
To test operations with an FX2N-20GM, an actuator (i.e., servo system) and PLC are not
required. For information on the cables necessary to connect an FX2N-20GM to a personal
computer for programming, refer to the FX2N-10GM/FX2N-20GM Hardware/Programming
Manual (JY992D77801).
Operation objective
The objective of this example is to use the FX2N-20GM to trace a path using 1-speed, linear
interpolation, and circular interpolation operations.
Fig. 4-24: Path of travel

270
D E
Start point
A
G F
C
H
END point
0 270
452010da.eps
Point Coordinate Description

A (X, Y) This point can be anywhere.
B (0, 0) Move to zero point, wait for 2 seconds
C (80, 100) Output Y0 turns ON, wait for 2 seconds
D (110, 200)
E (200, 200)
F (200, 100)
G (150, 100) Output Y0 turns OFF, wait for 2 seconds
H (150, 70) End point
Tab. 4-23: Operation details
The output Y0 is used to imitate a pen, or other end effector.

Each point-to-point operation is described as follows:
(A to B) Return to Electrical Zero
(B to C) High speed positioning
(C to D) Linear interpolation
(D to E) High speed positioning
(E to F) Clockwise circular interpolation
(F to G) High speed positioning
(G to H) High speed positioning
Getting started with FX-PCS-VPS/WIN-E

Open a new file with VPS and choose [FX(2N)/E-20GM with simultaneous 2 axis]. This setting
allows for linear and circular interpolation operations to be placed on a flow chart for positioning.
Take a minute to familiarize yourself with the layout and menu items of the software. The panel
on the left side of the screen is required for selecting the Flow, Code, and Func components to
place into the Flow Chart window. To place an item into the Flow Chart window, click on the item
once and then click anywhere within the Flow Chart window. Once an item has been placed in
the Flow Chart window, it can be dragged to any position. Items are connected by using the wire
tool to drag a wire between each item.
Creating a Flow Chart

The flow chart on the next page demonstrates basic positioning using the FX2N-20GM. Since
this program is designed to be used without a mechanical plotter, an electrical zero point is used
for reference.
Re-create the diagram on the next page by using the Code and Func buttons on the left panel
of the VPS software to select and place each function block.

Many programs can be stored in a GM controller at one time.

This example uses program number 0.
A to B The "DRV Ret" command is used to move from the start point to
the electrical zero point.
Wait Here, the program waits for 2 seconds, using a 10ms timer.
2 seconds
B to C This command indicates a high speed positioning command to

position C.
Turn Y0 ON Here, Y0 is turned ON to mimic the use of an end effector tool.
Wait This timer allows for a tool to be activated, or for an operation to

2 seconds be executed.
C to D This command is the start of a continuous steady path using

linear interpolation to position D.
D to E Only the X-axis is used in this 1-speed positioning instruction to

move to position E.
E to F For a smooth arc to position F, circular interpolation is used.

This example shows the start and end positions as well as the
radius (r) and speed (f).
F to G Only the X-axis is used in this 1-speed positioning instruction to

move to position G.
Turn Y0 OFF Here, Y0 is turned OFF to mimic the end of use for an end effector.
Wait A timer is used to ensure the end effector operation has finished
2 seconds completely.
G to H This command rapidly moves the Y-axis for a short distance so

that it can reach position H.
This denotes the end of the program, where the controller waits
for the next start command.
452020da.eps
Fig. 4-25: Flow chart of path of travel on page 4-52
Creating a Monitor Window

Along with the flow chart, create a monitoring window similar to the one shown below.
All of the items on the monitoring window can be found using the Insert menu at the top of the
screen.
452030da.eps
Fig. 4-26: Monitoring window
Item Description
Current Position This displays (monitors) the current address during positioning.
Plotting Double click on the plot area to change the scale.
Device Status Select Y0, 1 point.
Create a rectangle around Y000 by selecting the rectangle button from the drawing
Rectangle toolbar at the top of the screen. While the rectangle is selected, the background color
can be changed by pressing the [B] Brush Color button.
X-axis Y-axis
Start Start
Manual Operation Stop Stop
+ Jog + Jog
- Jog - Jog
FX-GM Status This is a lamp that automatically monitors positioning operations.
Tab. 4-24: Used items from the Insert menu
Setting parameters
In addition to the preparation of a positioning program, diversified parameters should be set in
the FX2N-20GM. In this example, only a few parameters need to be set. (When working with
various equipment such as a mechanical plotter that uses an X-Y plotting table, the parameters
should be set in accordance with the mechanism being used. These settings depend on the
specific plotter type and should be located in the documentation provided with the plotter.)

Below are the four positioning parameter windows from VPS. The settings on these windows
should be copied for BOTH the X- and Y- axes before performing positioning.
Open the "Parameter Units" window by selecting Parameters Positioning Units from
the main menu bar at the top of the screen.
Specify the same settings

for the Y-axis
452040da.eps
Fig. 4-27: Parameter Units window
Open the Parameter Speed window by selecting Parameters Positioning Speed

from the menu bar at the top of the screen.

for the Y-axis
452050da.eps
Fig. 4-28: Parameter Speed window
The Max speed is set very low in order for the VPS software to trace the path during
operation through the Monitoring window. In turn, both the JOG speed and interpolation
value must be reduced. (In practice, it is impossible to have the JOG speed set to a value
higher than the Max speed setting.)
Open the Parameter Machine Zero window by selecting Parameters Positioning

Machine Zero from the menu bar at the top of the screen.

for the Y-axis
452060da.eps
Fig. 4-29: Parameter Machine Zero window
Since mechanical hardware will not be connected to the FX2N-20GM for this example, it is not
necessary to configure the limit switch and DOG switch settings in the parameters. It is,
however, necessary to reduce the Creep speed and the Zero return speed.
For the last parameter screen, open the Parameter Settings window by selecting
Parameters Positioning Settings from the menu bar at the top of the screen.
NO CHANGES
452070da.eps
Fig. 4-30: Parameter Settings window
None of the parameters in the Parameter Settings window need to be changed. When using
a mechanical plotter, however, these settings become more important.

4.5.3 Testing and monitoring operations

After setting the parameters and defining the positioning travel paths described in the previous
section, testing can be performed as follows.
Check the communication between the FX2N-20GM and the personal computer by selecting
FX-GM Com Port and then the Test button. Make sure the GM unit is in MANU mode by
checking the hardware switch on the unit.
Download the project by selecting FX-GM Write to FX-GM from the menu bar at the top of
the screen and select the Write after saving file button. The program will be downloaded to the
20GM.
In VPS, start the Monitor mode by clicking the Monitor icon on the tool bar as shown below.
Fig. 4-31: VPS icon bar

Monitor icon
453010da.eps
The monitor mode window will appear with three windows:

Monitoring window X-axis and Y-axis Monitor Mode Sub-Task Monitor Mode
This is the window that has already At first, this window will be empty, This window is not needed since
been created where the unit will be but as soon as the program is there are not any sub-routines
controlled and monitored from. started, the flow chart will appear. being used. This window can be
Each positioning operation will be minimized to create more space on
highlighted in RED as it is per- the screen.
formed.
After minimizing the Sub-Task Monitor Mode window, resize the Monitoring Window
and X-axis and Y-axis Monitor Mode windows.
453020da.eps
Fig. 4-32: X-axis and Y-axis Monitor mode windows
Before starting the operation, it is necessary to set the start point. This can be done by using
the X JOG+ and Y JOG- buttons or by double clicking on the current position [X: 0 Y: 0]
display.
Double click the current position display in the Monitoring window to set the start point.
After editing the current address to X: 50 and Y: 125, click

on the Write to FX-GM button for each axis.
As the address information is changed, red lines will

appear on the plotter. This shows the current position.
To clear these red lines before positioning, double click
on the plotting area, and then click on the Clear button.
453030da.eps
Fig. 4-33: Monitoring Window
The next step is to switch the FX2N-20GM to AUTO mode by moving the switch on the unit
to AUTO.
Finally, on the Monitoring Window screen, click on either the X START or Y START buttons.
The positioning operation will be performed and the plot result should look identical to the
one shown in the following picture.
453040da.eps
Fig. 4-34: Resulting path of travel and flow chart
To run the program again, set a new start position (or let it start from where it is), clean the
plot area, and press the X START or Y START button again.
If the plot does not look like the one above, check the flow chart program against the program
listed in section 4.5.2 (Creating a Flow Chart).

Learning to Use the FX Familiy for Positioning Control FX3U-20SSC-H positioning
4.6 FX3U-20SSC-H positioning

The FX3U(C) PLC supports connection with the FX3U-20SSC-H special function block, which is
an advanced module to perform positioning operations on two axes using Mitsubishis fiber optic
communication servo network known as SSCNET III (Servo System Controller Network).
Important references for understanding positioning with the FX3U-20SSC-H include:
FX3U-20SSC-H Users Manual (JY997D21301)
FX Configurator-FP Operation Manual (JY997D21801)
It is assumed that you will have read the above manuals or that you will have them nearby for
reference.

Using an FX3U PLC with the FX3U-20SSC-H (20SSC-H) module and two Mitsubishi MR-J3-B
servo amplifier systems, high speed positioning with pulse output frequencies up to 50,000,000
pulses/second (50 MHz) is possible on two axes. However, since motors compatible with the
MR-J3-B servo amplifier system have a maximum rated speed of 6,000 RPM, the maximum
controllable speed from the 20SSC-H becomes:
rev PLS 1 PLS

6,000 262,144 = 26,214,400
min rev 60 sec
The FX3U-20SSC-H provides several advantages compared to other controllers in the FX

family:
FX3U-20SSC-H
Advantage
Feature
Bidirectional With SSCNET III, the PLC can communicate with the servo amplifier to monitor torque,
communication servo status flags, servo parameters and absolute position data.
Easy to use wiring.
Wiring High immunity to noise from external devices.
Long distance wiring (50m).
Easy setup of parameters and table data (up to 300 table operations per axis).
Software
Convenient use of monitoring and testing functions.
Tab. 4-25: Features and advantages of FX3U-20SSC-H
With the use of a built-in Flash ROM, the FX3U-20SSC-H can store data permanently via
non-volatile storage. Since the flash memory transfers all of its data to the buffer memory of the
20SSC-H each time the power is turned ON, the flash memory provides extra benefit for
applications requiring a default set of data to be automatically loaded. This eliminates the need
to use a PLC program for setting parameters and table data, which can greatly simplify the
length and complexity of a ladder program.
The FX3U-20SSC-H includes an input connector to connect manual pulse generator dials and
various switches such as the START, DOG, and interrupt switches. These inputs assist in
controlling positioning operations and are necessary to operate instructions such as the
interrupt 1-speed constant quantity feed instruction and the DOG type mechanical zero return
command.
FX3U-20SSC-H positioning Learning to Use the FX Familiy for Positioning Control
4.6.2 Using dedicated software to set positioning for the FX3U-20SSC-H

In the example that follows, an FX3U-20SSC-H is used with FX Configurator-FP to perform
positioning on two axes with an XY-axis table operation. FX Configurator-FP is convenient for
defining servo parameters, positioning parameters and table information. It is also
recommended to be used whenever possible since the use of a sequence program for setting
parameters and table data requires many steps and devices, resulting in a complex program
and increased PLC scan time.
Different from other FX positioning controllers, the FX3U-20SSC-H requires connection to a
servo system to perform positioning. For details on connecting an MR-J3-B servo system, refer
to the appropriate servo manual.
Setting parameters
Prior to setting positioning parameters and servo parameters, check to verify the connection
between the PLC and the personal computer is valid. Since ladder logic in the PLC is not used
in this example, set the RUN/STOP switch on the PLC to STOP.
Open a new file in FX Configurator-FP by clicking on the Make new file button.
Expand the tree of folders in the File data list panel on the left-hand side of the screen by
double clicking on Unset file / FX3U-20SSC-H, Edit, and then Monitor.
Go to Online Connection setup Comm. Test
Verify that the devices are communicating properly.
Double click on Positioning parameters in the File data list panel on the left-hand side of
the screen to modify the positioning parameters.
Set items in the Item column for both the X- and Y- axes as shown:
462020da/462030da/462040da.eps
Next, double click on Servo parameters in the File data list panel on the left-hand side of
the screen to modify the servo parameters.
Set items from the Kind column for both the X- and Y- axes as shown:
462050da/462060da.eps

Creating XY-axis table operation data

Double click on XY-axis Table information in the File data list panel on the left-hand side of
the screen to open the XY table. Maximize the window to enter the following data:
Address Speed Arc center

Time Jump m
No. Command Code x:[PLS] fx:[Hz] i:[PLS]
[10ms] No. code
y:[PLS] fy:[Hz] j:[PLS]
Incremental address
0 -1
specification
X-axis positioning at 1-step 20,000,000 10,000,000

1 -1
speed

2 Y-axis positioning at 1-step speed -1
20,000,000 10,000,000
XY-axis positioning at 1-step 5,000,000 2,000,000

3 -1
speed -5,000,000 2,000,000
0 15,000,000 5,000,000
4 Circular interpolation (CNT,CW) -1
0 5,000,000

5 Dwell 30 -1


6 -1
speed -10,000,000 10,000,000
XY-axis positioning at 2-step -10,000,000 10,000,000

7
speed 10,000,000 10,000,000

8 Dwell 30 -1


9 -1
speed -10,000,000 10,000,000

10
speed 10,000,000 10,000,000

11 Dwell 30 -1

0 7,000,000 5,000,000
12 Circular interpolation (CNT,CCW) -1
0 5,000,000

13 Dwell 30 -1


14 -1
speed 5,000,000 7,500,000

15
speed -10,000,000 15,000,000

16 Dwell 30 -1

20,000,000 26,214,400
17 Linear interpolation -1
-20,000,000

18 Dwell 150 -1

19 Jump 0

20 End
Tab. 4-26: XY-axis table operation data
Writing data to the FX3U-20SSC-H

Write the servo parameters, positioning parameters and table information to the FX3U-20SSC-H
BFM and Flash ROM by pressing the Write to module button and placing check marks in
the following boxes. Change the range of table data to be written to 025.
462080da.eps
Fig. 4-35: Write to module window
Next, reset the module by pressing the System reset button. This is necessary to refresh
the servo parameters.

4.6.3 Testing and monitoring operations

With the parameters and table information saved to the FX3U-20SSC-H module from section
4.6.3 and the PLC in STOP mode, testing is performed by using TEST MODE in FX
Configurator-FP.
Enter TEST MODE by pressing the Test On/Off button.
After entering TEST MODE, click on the Operation Test X-axis button to display the
X-axis Operation test window.
Next, select the XY-axis table operation from the X-axis/Pattern combination box and click
on the Start button to begin positioning. Note that because the table operation includes a
"Jump" command, the operation will continuously loop from row 0 to row 20.
463030da.eps
Fig. 4-36: X-axis operation test window
To stop positioning, click on the All axis stop or Stop button.

After stopping the table operation, a variety of other positioning operations can be tested
from the X-axis/Pattern combination box such as 1-speed positioning, 2-speed positioning,
and linear interpolation.
For additional control in TEST MODE, the other tabs at the top of the X-axis Operation test
window can be used according to the following information:
Position start Feed present value Speed CHG OPR JOG/MPG
CHG
Positioning opera- The value of the cur- Two operations for By clicking on the JOG operation and
tions can be exe- rent address can be changing the speed [REQ. OPR] button, manual pulsar oper-
cuted from this win- changed using this of the motor are zero return is exe- ation testing can be
dow. Target address window. available from this cuted. performed from this
and operation speed window. window.
data is defined here.

The FX3U-20SSC-H buffer memory includes five separate data areas for: Monitor data, Control
data, Table data, Positioning parameter data, and Servo parameter data. With "read only" or
"read/write" access, buffer memory addresses use bit and word information to control
positioning operations. Similar to the FX2N-10PG, a large percentage of the BFM is dedicated
to the control of table positioning operations.
Monitor data Control data Table information Positioning parameters Servo parameters
Used to monitor the Used to control Used to store prede- Used to store parameters Used to store parame-
current position, positioning opera- fined table data. such as the max. speed ters relevant to the
statuses, etc. tions. and accel/decel times. servo(s).
details on other BFM addresses, refer to the FX3U-20SSC-H Users Manual (JY997D21301).
BFM Area BFM # Item Set value Note

#1, #0 X-axis current address D1, D0 PLS
#101, #100 Y-axis current address D101, D100 PLS
Monitor data
#28 X-axis status information D10
#128 Y-axis status information D110
#501, #500 X-axis Target address 1 10,000,000 PLS
#503, #502 X-axis Operation speed 1 2,000,000 Hz (PLS/sec)
X-axis Operation command 1 M0M15
Bit 1 STOP M1 X006
Bit 2 Forward rotation limit M2 X000
#518 Bit 4 Forward rotation JOG(+) M4 X001
Bit 5 Reverse rotation JOG(-) M5 X002
Bit 6 Zero-return M6 X003
Relative
Control data Bit 8 Relative/Absolute positioning M8 (Bit 8 = 1)
positioning
Bit 9 START command M9 X004, X005
Y-axis Operation command 1 M100M115
#618 Bit 0 Error reset M100 X007
Bit 6 Zero-return M106 X003
X-axis Operation command 2 M20M35
#519
Bit 4 Positioning parameter enable command M24 X001, X002
X-axis Operation pattern selection
#520 Bit 0 1-speed positioning H1 X004
Bit 10 Table operation (simultaneous) H400 X005
#521 Table operation start number 0 Table row #0
Positioning #14013,
X-axis JOG speed 1,000,000 Hz (PLS/sec)
parameter data #14012
Tab. 4-27: Buffer memory addresses of FX3U-20SSC-H


The following program uses buffer memory communication to perform JOG positioning, 1-speed
positioning, and table operation control. The XY-table created in the previous section can be
used in this example. For this example, FX Configurator-FP should be used to specify the servos,
change the maximum speed, and to set the zero return mode as described in section 4.6.2.
The ladder program is to be used with an FX3U(C) PLC and MR-J3-B servo system. Without
these components, the program cannot be tested. Input points from the PLC include:
Inputs
X000 X-axis Forward rotation limit X005 START command (XY-axis table operation)
X001 X-axis Forward rotation JOG(+) X006 STOP command
X002 X-axis Reverse rotation JOG(-) X007 Error reset
X003 X- and Y-axis Zero return X010 X-axis Reverse rotation limit
X004 START command (X-axis 1-speed operation)
Tab. 4-28: Used inputs
M8000
FNC 12 U0\
D0
DMOV G0
RUN
monitor BFM # X-axis
current
address
FNC 12 U0\
D100
DMOV G100
BFM # Y-axis
current
address
FNC 12 U0\ D10
MOV G28
BFM # X-axis
status
information
FNC 12 U0\
D110
MOV G128
BFM # Y-axis
status
information
X000
M2
Forward
rotation limit
X010
M3
Reverse
rotation limit
X001
FNC 12 K100000 U0\
DMOVP G14012
X-axis
JOG(+) X-axis BFM #
JOG speed
X002
PLS M24
X-axis
JOG(-) Positioning
parameter
enable
command
465010da.eps

When these limit switches turn OFF (due to the workpiece going out-of-bounds), M2 or M3
will turn ON and cause the pulse operation to stop.
Number Description
Monitor X-axis current address [#1, #0 D1, D0]
Monitor Y-axis current address [#101, #100 D101, D100]

Monitor X-axis status info. [#28 D10]
Monitor Y-axis status info. [#128 D110]
X-axis Forward rotation limit
X-axis Reverse rotation limit
Set the X-axis JOG speed (Hz) [K100000 #14013, #14012]
Enable the X-axis JOG speed

M8000
FNC 12 K4M20 U0\
MOV G519
RUN
monitor X-operation BFM #
command 2
M20-M35
X001 X002
M4
X-axis X-axis
JOG(+) JOG(-)
X002 X001
M5
X-axis X-axis
JOG(-) JOG(+)
X003
PLS M6
Zero return
PLS M106
X004 X005
FNC 12 U0\
H1
MOVP G520
X-axis XY-axis
1-speed Table X-axis BFM #
operation operation 1-speed
positioning
FNC 12 U0\
K10000000
DMOVP G500
X-axis Target BFM #
address 1
FNC 12 K2000000 U0\

DMOVP G502
X-axis BFM #
Operation
speed 1
M8
X005 X004
FNC 12 U0\
H400
XY-axis X-axis
MOVP G520
Table 1-speed XY-Table BFM #
operation operation operation
(simultaneous)
FNC 12 U0\
K0
MOVP G521
XY-Table BFM #
row #0
X004
PLS M9
X-axis
1-speed
operation
X005
XY-axis
Table
operation
465020da.eps
Number Description
Write X-axis Operation command 2 [K4M20 #519]
X-axis JOG(+) operation is being performed

X-axis JOG(-) operation is being performed
X-axis zero return
Y-axis zero return
Set X-axis 1-speed positioning [H1 #520]
Set X-axis Target address 1 [K10000000 #501, #500]
Set X-axis Operation speed 1 [K2000000 #503, #502]
Use relative positioning
Set XY-axis simultaneous Table operation [H400 #520]
Set starting row No. for XY-Table operation [K0 #521]
START positioning
X006
M1
X-axis
STOP
X007
PLS M0
Error reset
PLS M100
M8000
FNC 12 U0\
K4M0
MOV G518
RUN
monitor X-operation BFM #
command 1
M0-M15
FNC 12 U0\
K4M100
MOV G618
Y-operation BFM #
command 1
M100-M115
END
465030da.eps
Number Description
STOP operation
Reset X-axis error

Reset Y-axis error
Write X-axis Operation command 1 [K4M0 #518]
Write Y-axis Operation command 1 [K4M100 #618]

Index
Index
A E
AC servo system Encoder
Advantages . . . . . . . . . . . . . . . . . . . . . . . . 2-1 Absolute type . . . . . . . . . . . . . . . . . . . . . . . 3-6
Block diagram . . . . . . . . . . . . . . . . . . . . . . 2-1 Incremental type . . . . . . . . . . . . . . . . . . . . . 3-5
Accelaration time . . . . . . . . . . . . . . . . . . . . . . . 3-5 Relative type . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Actuator type Equation
AC servo system . . . . . . . . . . . . . . . . . . . . 1-5 Command pulse frequency . . . . . . . . . . . . 3-12
Brake motor . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Moving speed . . . . . . . . . . . . . . . . . . . . . . 3-11
Clutch brake . . . . . . . . . . . . . . . . . . . . . . . . 1-3 Number of rotations . . . . . . . . . . . . . . . . . 3-12
DC servo system . . . . . . . . . . . . . . . . . . . . 1-4 Transfer distance per pulse . . . . . . . . . . . 3-12
General purpose inverter . . . . . . . . . . . . . . 1-4 Transfer distance per rotation . . . . . . . . . . 3-12
General purpose motor . . . . . . . . . . . . . . . 1-4
Pneumatic . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 F
Stepping motor . . . . . . . . . . . . . . . . . . . . . . 1-3 Feed quantity . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Feed speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
B Flow chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53
Brake FREQROL Inverter . . . . . . . . . . . . . . . . . . . . . 4-22
Dynamic brake . . . . . . . . . . . . . . . . . . . . . 3-10

Regenerative brake . . . . . . . . . . . . . . . . . . 3-9
G
GX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
C GX Developer . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
GX IEC Developer . . . . . . . . . . . . . . . . . . . . . 4-12
Command pulse control
GX Works2 . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
FP/RP method . . . . . . . . . . . . . . . . . . . . . . 3-4
PLS/DIR method . . . . . . . . . . . . . . . . . . . . 3-4
H
Command pulses . . . . . . . . . . . . . . . . . . . . . . . 3-8
Home position . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Control method
Limit switch . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Pulse command . . . . . . . . . . . . . . . . . . . . . 1-9
J
Pulse count . . . . . . . . . . . . . . . . . . . . . . . . 1-7 JOG Command . . . . . . . . . . . . . . . . . . . . . . . . 4-12
D L
DDRVA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15 Ladder program . . . . . . . . . . . . . . . . . . . . . . . 4-15
DDRVI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15 Limit switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Deceleration time . . . . . . . . . . . . . . . . . . . . . . . 3-5
Deviation counter . . . . . . . . . . . . . . . . . . . . . . . 3-8 M
DOG search function . . . . . . . . . . . . . . . . . . . . 3-7 Memory addresses
DOG type zero return . . . . . . . . . . . . . . . . . . . . 3-6 FX1S, FX1N, FX3G, FX3U(C) PLCs . . . . . . . 4-4
DTBL instruction . . . . . . . . . . . . . . . . . . . . . . . 4-12 FX2N-10PG . . . . . . . . . . . . . . . . . . . . . . . . 4-44
FX2N-1PG-E . . . . . . . . . . . . . . . . . . . . . . . 4-37
FX3U-20SSC-H . . . . . . . . . . . . . . . . . . . . . 4-65
FX Positioning Control Systems I

Index
P S
Position control . . . . . . . . . . . . . . . . . . . . . . . . 1-9 Servo lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
Positioning example Setting of target position
Carrier robot . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Absolute method . . . . . . . . . . . . . . . . . . . . 3-13
Cart travel . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 Incremental method . . . . . . . . . . . . . . . . . 3-13
Constant feed . . . . . . . . . . . . . . . . . . . . . . 2-2 Sink type input . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Drilling in steel sheet . . . . . . . . . . . . . . . . . 2-3 Sink type output . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Index table . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 Special function block
Lifter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4 FX2N-10PG . . . . . . . . . . . . . . . . . . . . . . . . 4-43
Tapping . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 FX2N-1PG-E . . . . . . . . . . . . . . . . . . . . . . . 4-36
Programming example FX3U-20SSC-H . . . . . . . . . . . . . . . . . . . . . 4-60
E500 Series . . . . . . . . . . . . . . . . . . . . . . . 4-26 Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
FX1N PLC . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
FX1S PLC . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5 X
FX2N-10PG . . . . . . . . . . . . . . . . . . . . . . . 4-45 XY-axis table operation . . . . . . . . . . . . . . . . . . 4-62
FX2N-1PG-E . . . . . . . . . . . . . . . . . . . . . . 4-38
FX2N-20GM . . . . . . . . . . . . . . . . . . . . . . . 4-52
FX3G/FX3U(C) PLC . . . . . . . . . . . . . . . . . 4-12
FX3U-20SSC-H . . . . . . . . . . . . . . . . . . . . 4-61
FX Positioning Control Systems II

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MITSUBISHI ELECTRIC

Programmable Logic Controllers

Art. no.: 214562

Version Revisions / Additions / Corrections

MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes

Proper use of the products

Relevant safety regulations

FX Positioning Control Systems I

Safety warnings in this manual

FX Positioning Control Systems III

1 The Basics of Positioning Control

1.1 What is positioning control? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

2 Positioning by AC Servo System

2.1 Advantages for using an AC servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

3 Components of Positioning Control and their Roles

3.1 Positioning controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

FX Positioning Control Systems V

4 Learning to Use the FX Familiy for Positioning Control

4.1 FX PLC positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

1 The Basics of Positioning Control

FX Positioning Control Systems 1-1

1.2 Actuators for positioning

Fig. 1-1: Schematic drawing

1.2.2 Brake motor

Fig. 1-2: Schematic drawing

Motor with brake

1-2 MITSUBISHI ELECTRIC

1.2.3 Clutch brake

Fig. 1-3: Schematic drawing

1.2.4 Stepping motor

Fig. 1-4: Schematic drawing

FX Positioning Control Systems 1-3

1.2.5 DC servo system

Fig. 1-5: Schematic drawing

1.2.6 General purpose inverter and general purpose motor

1-4 MITSUBISHI ELECTRIC

1.2.7 AC servo system

Fig. 1-7: Schematic drawing

FX Positioning Control Systems 1-5

1.3 Positioning method type

1.3.1 Speed control

Inductive motor Moving part

Brake Ball screw

Fig. 1-8: Schematic drawing Limit switch method

1-6 MITSUBISHI ELECTRIC

Pulse count method

Fig. 1-9: Schematic drawing Pulse count method

FX Positioning Control Systems 1-7

Speed Fig. 1-11: Positioning pattern

Low Improved stop

Fig. 1-12: Positioning pattern

1-8 MITSUBISHI ELECTRIC

1.3.2 Position control

Fig. 1-13: Schematic drawing Pulse command method

FX Positioning Control Systems 1-9

2 Positioning by AC Servo System

Fig. 2-1: Block diagram of an AC servo system

The top advantages to using an AC servo system are described below.

FX Positioning Control Systems 2-1