Mitsubishi MELSEC-F FX-1GM Instrucciones de montaje

CONTENTS

GENERALINFORMATIONONPOSITIONINGCONTROL

........................

1.1 Why isPositioningControlNecessary?

.......................................

1.2WhatThisPositioningUnitCanDo

..........................................

1.3 GeneralInformationonDriveUnits

..........................................

1.3.1Whenusingasteppermotor

.........................................

1-3.2 Whenusingaservomotor

...........................................

1.4 PositioningLanguage

....................................................

1.4.1Absolute

and

relativepositions

......................................

1.4.2Machinehomepositionreturn

.......................................

What istheProgramLike?

................................................

1S.1Distribution

functions

............................................

1.5.2Puttingtheoryaside

...............................................

1.6GeneralDescriptionoftheSystemStructure

..................................

-6.1Mainunitandperipheralunits

.......................................

SIGNALHANDLINGANDPARAMETER SElTlNG

.............................

2.1SignalsHandled

........................................................

2.1.1Signalsconcernedwith

I/O

terminals

..................................

2.2 WhenUsingtheProgrammableControllerwithaPGU

..........................

2.2.1Signalsrelated

theprogrammablecontroller

..........................

.................................................

2.3.1Settingunits

.....................................................

2.3.2Speedandaccelerationtimes

.......................................

2.3.3 Compensationformechanicalfailings

.................................

2.3.4Positioningtimelimit

..............................................

2.3.5Machinehomepositionreturn

.......................................

2.3.6Setting

theoperatingmode

.......................................

2.3.7 Aux

relays

......................................................

2.3Initial ParameterSettings

CONTROLINSTRUCTIONS

...............................................

3.1Basiclnstructions

.......................................................

3.1.1 Blockdesignationinstructions

.......................................

3.1-3 Addressdesignationinstructions

.....................................

3.1.4 Registercontrolinstruction

..................................

;

......

3.1.5Dedicatedinstruction

for

waiting

.....................................

3.1.6Driveexecutioninstruction

..........................................

3.2 Examples

OperationControls

...........................................

3.2.1 Multi-stagespeedoperation

.........................................

3.2.2Driveinterrupt

...................................................

3.3Well-knownInstructions

..................................................

3.1.2Speedinstruction

.................................................

3.3.1Sequenceinstructions

.............................................

3.3.2M-codesettinginstruction

..........................................

3.4ControllingProgram

Flow

.................................................

3.4.1Jumpinstructions

.................................................

3.4.2Sub-routineinstructions

............................................

3.4.3Repeatinstructions

...............................................

HOWTO OPERATE THETEACHING PANEL

.................................

4764

,.,

4.1

4.2

4.3

4.4

4.5

4.6

4.7

4.8

4.9

4.1

4.1 1

4.1 2

4.1 3

PreparatoryOperations

..................................................

BatchDeletingofPrograms

...............................................

WritingaProgram

......................................................

Reading, Checking, and Searching for

Program

..............................

AboutFunctions

........................................................

ModifyingaProgram

....................................................

CheckingaProgram

.....................................................

RewritingParameters

....................................................

Parameters Can Also be Checked

..........................................

Transferring Programs and Parameters

......................................

Startingoperation

......................................................

OtherUsefulFunctions

...................................................

UsingaCassetteRecorder

...............................................

PROGRAMCREATIONAPPLICATIONEXAMPLES

............................

5.1KitFamiliarization

.......................................................

5.1.1Generaldescription

the

F2-30GM-SIM

kit

............................

5.1.2Internalwiring of thekit

............................................

5.2 LearningApplicationProgramming

(1)

.......................................

5.3 LearningApplicationProgramming(2)

.......................................

5.4LearningApplicationProgramming(3)

.......................................

INSTALLATION

.........................................................

84-97

6.1Installing inthePanel

....................................................

6.1.1Generalinstallationandwiringitems

..................................

6.2ConnectingTerminals

...................................................

6.2.2Driveunitconnections

.............................................

6.2.1Powercircuitconfigurationandspecifications

...........................

6.2.3Connection

general-purposeinputterminals

..........................

6.2.4Connection

general-purposeoutputterminals

.........................

6.3BeforeStartinganOperation

..............................................

6.3.1Preliminarychecks

................................................

6.3.2ChecksintheMANUALmode

.......................................

6.4StartinganOperation

....................................................

6.4.1Indicators in manualoperations

......................................

6.4.2ChecksintheAUTOmode

.........................................

6.4.3Motorrotatingdirection

............................................

6.4.4 Internaloperations

the PGU

......................................

6.5Maintenance

...........................................................

...

SUMMARY

............................................................

98-138

7.1 OutsideDimensionsandSpecifications

......................................

7.1.1 Outside

dimensions

(mm)

..........................................

7.1.2 Specifications

themainunit

......................................

100

7.2 Signals

..............................................................

101

7.2.1 Inputloutputterminal-relatedsignals

.................................

101

7.2.2 Programmablecontroller-relatedsignals

..............................

102

7.3 Instructions

...........................................................

103

7.4 Parameters

...........................................................

106

7.5 ErrorCodesChecking

..................................................

108

7.5.1 Programchecks

.................................................

108

7.5.2 Parameterchecks

...............................................

109

7.6 TeachingPanelOperations

..............................................

111

7.6.1 PROGand

PARA

modes

..........................................

111

7.6.2 CPU andCMT

modes

............................................

112

7.7 Connection

DriveUnits

................................................

113

7.7.1 For asteppingmotor

.............................................

113

7.7.2Foraservomotor

................................................

115

...

111

-8-

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1.2

WhatThisPositioningUnitCan

Application examples

Feed roll

Real

Brake

Fixed length

feedrate

Cutter

Digitalswitch

Gear

box

Fixed size feed control

High-accuracy, high-speed feeding and cut-

ting of sheetsin terms of sizes set by the

digitalswitch. Thedigitalswitchcan beset

to up to

digits.

Fixed amount multi-stage feed control

Uses home positioning to put the palletat the

same height as the conveyor.

Then, it lowers the pallet by a fixed amount

eachtime anobject is unloadedfromthe

conveyor

onto

the pallet. The amountscan

be changed by using the digital switch.

allet

Rotary table control

Divide the index table or rotarydiscinto

"n"

equal portions by using designated angles.

Executetheshortest-distancepositioning

modeinaccordancewithcommands sent

fromtheprogrammablecontrollerin any

order.

Drill

motor

Feed

motor

Rapid

feed

rate

Positioning feed rate and depth control

Executerapidreturn after completingrapid

feed and slow feed(cutting feed)from the

home position.

Setrapidfeedand slow feedratescan be

changed by using the digital switch.

-4-

Electric trolley

Photo-sensors

Reflector

Deceleration point

TravelingmotorsStoppingpoint

Digital switch Digital switch

Linear inbrpolation

axis

Speed

matching operation

Executesthespeedmatchingoperation for

bothwheels of awidetrolleydriven by

separatetravelmotorstoensuresmooth

movement.

Decelerates at a point before the target posi-

tiontostopthetrolleyjustinfront of the

target position.

Deceleration-startpoints,stoppingposi-

tions,returnpositions,etc.aredetermined

by sensor inputs sentfrom the photo-electric

switch, limit switch, etc.

Fixed volumes liquid-mixing unit

Thisisaliquid-mixingunitwhichuses

delivery pumps whose feed rates per rotation

are fixed.

The volumesof liquid fed from each tankare

set by using the digital switch.

Independent 2-axis

plane

control

Movesthetabletransverselyandlon-

gitudinally to permit drillingof a workpiece.

drills (small, large) are used, eachof which

isselectedandcontrolled by theprogram-

mable controller.

axes can be controlledby

program-

mable controller, but linear interpolation and

arc interpolation are not supported.

However, interlocked operations canbe con-

trolled by using multi-axis synchronizing sig-

nals.

-5-

1.3

GeneralInformationonDriveUnits

1.3.1

When using

steppermotor

Drive unit DRU

FX-1

pulse

output

unit

(PGU)

iycommerci

Forward pulse

(commercially available product)

(zero-point signal)

Drivesignal

lrnnrnnnnr

Adjustment

function

Stepper motor

(commercially available product)

ally available stepper motor can be used to drive a small capacity load,

The stepper motor is a motor which rotates in short, uniform angular movements initiated

input

pulse.

Accordingly, the rotation angle of the motor is directly in proportion

the input pulses, and thus it

is possible to obtain a rotating speed which is proportional

to the pulse frequency.

(RPM)

Rotatingspeed(RPM)

f:Pulsefrequency

(PPS)

(P/R)

Os:

Stepangle(deg.)

Numberof pulsesrequired to turn

revolutionof themotor

(P/R)

360

Unlike the servo motor system (see Section 1.3.2),

thestepping motor adoptsan "openloop"system,

whichmeanssmallersizeandcost for theentire

cT)

system.

If,

because of load inertia, the motor response delay

too

great, it may become out of step with theinput

pulse, leadingto an error in the final step angle.

Because of this,itis necessary to be particularly

careful when selecting themotor and executing such

controls such as slow start, slow stop, etc.

Draw-intorque

..............

...........

.....

Pulse frequency (KPPS)

-6-

Adjusting the drive unit

The adjustments given below are necessary.

Systeminwhichtheforwardpulse is applied

onepulseinputter-

minal, and thebackward pulse to another pulse input terminal.

System inwhich both the forward pulse and backward pulse are applied

to onepulseinputterminal,andforward/backwardswitchingsignals

are applied to another pulse input terminal.

shownbelow,thestepanglecanbechanged, by makingthestep

mode full step or half step.

STOP

........

................

:.:..

.........

.........................

.....................

::j:i

;g+tia:sq;

;;

0.36'

1,000

0.18'

2,000

1::;

..............

0.72'

.......

:....

. ....................

0.72'

500

0.36-

1,000

When the holding torque function is required when stopping the motor,

someunitspermitadjustment of the hold current by usingthe

STOP

potentiometer.

When alargeholdingtorqueis not required,keepthecurrent low

help prevent the motor from overheating.

Where there is surplus capacity in the motor torque, some units permit

decreasingtheoperatingcurrent by usingthe

RUN

potentiometer to

help keep the motor from overheating

vibrating.

However, reducing the current

too

much may increase the mechanical

response delay.

Some units are provided with a selector switch

automatically turn

current

OFF

when the motor overheats.

YES

ShutsthecurrenlOFF automatically when themotor overheats

Current

isrot

shut OFF

-7-

the

Seethemanufacturer's

InstructionManual for

details.

1.3.2

When

using

servo

motor

FX-1GM output unit

(PGU pulse)

Forwardpulse

Encoder

Amplifier

Feedbackpulse

-A

3000,

2000,

1000

PIR

Amplifier

I--

Servomotor

Drive unit DRU

(commercially available product)

A commercially available ACor DC servo motor can be used.

The servo motor driver detects the amount

load movement by using the encoder and operates

the motor

that the deviation between the generated command pulse and thefeedback pulse is

Thus, improved accuracy can be ensured since this is a closed loop system.

The rotating speed

the motor is almost in proportion

the command pulse frequency.

When the pulse signal is received, the positive or negative pulse is counted by the deviation

counter.

this counter value becomes smaller than the in-position parameter value, the "positioning com-

pleted" signal is sent out, but the motor continues operating until the deviation counter reaches

within

pulse.

..,

MYorFingspeed

Command pulse frequency

Short-timeoperationrange

I I

Rotatingspeed(rprn)

Time

Adjustment time

-a-

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