Mitsubishi FX3U-20SSC-H Manual de usuario

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Tel: (02102) 4860 /// Fax: (02102) 486112 /// Email:info@mitsubishi-automation.com /// Web: www.mitsubishi-automation.com

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February 2007 /// Created by: FA-EBG Marketing Communications Dept

Servo /// Motion /// Servo /// Motion /// Servo /// Motion /// Servo /// Motion /// Servo

FX3U-20SSC-H Quick start

Mitsubishi Electric Europe B.V. /// FA-European Business Group /// Gothaer Strasse 8 /// D-40880 Ratingen /// Germany

Tel: (02102) 4860 /// Fax: (02102) 486112 /// Email:info@mitsubishi-automation.com /// Web: www.mitsubishi-automation.com

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February 2007 /// Created by: FA-EBG Marketing Communications Dept

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Table of Contents:

1. Introduction

2. Components required for Setup

2.1.Hardware Requirements

2.1.1. Components

2.1.2. Setup

2.1.3. Wiring

2.2.Software Requirements

2.2.1. Components

3. Explanation of System Configuration

3.1.Memory Configuration

4. Begin to Use FX3U-20SSC-H with FX Configurator-FP

4.1.Initialization Process

4.1.1. Setting the Positioning Parameters

4.1.2. Setting the Servo Parameters

4.2.Using TEST MODE

4.2.1. JOG Operation

4.2.2. Setting the Zero Point

4.2.3. Positioning at 1-step speed

4.3.Creating Table Operations

4.4.Using Monitor Mode

4.4.1. Table Monitor

4.4.2. Operation Monitor

4.5.Resetting an Error

4.6.Absolute Position Detection System

5. Clearing Servo Warning “E6”

6. Example program with GX Developer

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1. Introduction

Based on customer demand, the FX3U-20SSC-H was developed and introduced to

the world as a high performance, cost effective solution for positioning

applications in the Micro PLC range of factory automation. The unit’s features and

capabilities are very similar to the QD75MH2 positioning module, which was

developed for the Q Series automation platform CPUs.

To setup and program the FX3U-20SSC-H for basic positioning operations, FX

Configurator-FP and GX Developer or GX IEC Developer can be used with a

personal computer. This quick start guide provides an overview of the hardware

and software involved and describes how to set up a system and understand the

device communication. FX Configurator-FP is used for initializing hardware

parameters, setting up positioning tables, and for testing and monitoring the

FX3U-20SSC-H. Please refer to the FX Configurator-FP Operation Manual

(JY997D21801A) for further help.

Related Documents

FX Configurator-FP Operation Manual (JY997D21801A)

FX3U-20SSC-H User’s Manual (JY997D21301C)

2. Components required for Setup

2.1 Hardware requirements

2.1.1 Components

FX3U Series Main PLC

FX3U-20SSC-H

MR-J3-_B servo amplifier

HF-MP/HF-KP or HF-SP servo motor

MR-J3BUS_M fiber optic cable

Programming cables (SC-09, USB)

2.1.2 Setup

With an FX3U Base Unit attached to the FX3U-20SSC-H, up to eight FX3U-20SSC-H

modules can be connected via extension cables to the FX3U. The FX3U-20SSC-H

requires DC power and SSCNET III communication for operation. Manual pulse

generator dial(s) are optional. For connection to MR-J3-B type servo amplifiers,

please refer to the MELSERVO-J3 Series MR-J3- B Servo Amplifier Instruction

Manual (SH(NA)-030051). A basic wiring overview is explained in the following

section.

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2.1.3 Wiring

 Wiring requirements for MR-J3-B:

200~230V AC to L1, L2, L3 for power circuit

200~230V AC to L11 and L21 for control circuit

Power cable between motor and amplifier (U,V,W terminal)

Encoder cable between motor and amplifier (CN2)

Fiber optic cable SSCNET 3at CN1A and CN1B

 Wiring requirements for FX3U-20SSC-H:

24 V DC to power connector

Fibre optic cable at SSCNET3 connector

Extension cable to FX3U (module takes 100mA from the 5V DC Bus)

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2.2 Software requirements

2.2.1 Components

 FX Configurator FP Version 1.00 or later (optional, but needed of using this

document)

 GX Developer Version 8.23Z or later

or GX IEC Developer Version 7.00 or later

3. Explanation of System Configuration

3.1 Memory configuration

The F3U-20SSC-H has two types of memory for initial data transfer processes and

continuous communication with servo equipment and programming devices. The

module’s flash memory retains parameter information and table data for initializing servo

equipment at power-ON while the buffer memory (BFM) constantly communicates with

servo equipment and PLC sequence programs. To set up positioning parameters, servo

parameters and table information for the F3U-20SSC-H, it is necessary to send data to

the module from a PLC sequence program or from FX Configurator-FP. Due to the

convenience and reduced complexity of program coding, FX Configurator-FP should be

used whenever possible to program table operations.

Below is a diagram of how the 20SSC-H memory communicates with servo amplifiers,

PLCs and other equipment.

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20SSC-H System Communication

No. Description

(1) Read/Write/Monitor/Test the sequence programs with GX (IEC) Developer.

(2) Read out the following data from the FX3U-20SSC-H BFM to FX Configurator-FP.

· Positioning parameters

· Servo parameters

· Table information

· Monitor data (Operation status, motion status, input signal status, etc.)

(3) Write the following data from FX Configurator-FP to the FX3U-20SSC-H BFM.

· Positioning parameters

· Servo parameters

· Table information

· Control data (The present value change, speed change and operation test command,

etc.)

(4) Read/Write the following data in BFM with sequence program.

· Positioning parameters

· Servo parameters

· Table information

· Monitor data (Operation status, motion status, input signal status, etc.)

· Control data (The present value change, speed change and operation test command,

etc.)

(5) Store the following BFM data to the Flash ROM by the store command from a sequence

program, FX Configurator-FP.

· Positioning parameters

· Servo parameters

· Table information

(6) Positioning/servo parameters and table information transfer from the Flash ROM to the

BFM at power ON. Simultaneously, servo parameters transfer to the servo amplifiers.

(7) Servo parameters in the BFM transfer to the servo amplifiers at power ON.

(8) FX3U-20SSC-H retrieves the servo parameters changed by the servo amplifiers and

updates the servo parameters in its BFM.

In this document, sections of the FX3U-20SSC-H BFM are referred to as:

Positioning parameters

Servo parameters

Table information

Monitor data

Control data

The positioning parameters, servo parameters and table information can be read and

written with several devices including FX Configurator-FP, GX (IEC) Developer and

human machine interfaces. The monitor data can only be read from the BFM (except for

the current address, which has write access), while the control data can be read and

written to the BFM. Control data is written to the BFM very frequently, while positioning

parameters, table information and servo parameters are usually set up less frequently.

For a list of how the areas of the buffer memory can be accessed in terms of read/write,

please refer to the following table.

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Read/Write Properties for the 20SSC-H Buffer Memory

BFM # Content R/W

0 – 99 X-axis Monitor Data R

100 – 199 Y-axis Monitor Data R

200 – 499 Undefined R

500 – 599 X-axis Control Data R/W

600 – 699 Y-axis Control Data R/W

700 – 999 Undefined R

1000 – 3999 X-axis Table Information R/W

4000 – 6999 Y-axis Table Information R/W

7000 – 12999 XY-axis Table Information R/W

13000 – 13999 Undefined R

14000 – 14199 X-axis Positioning Parameters R/W

14200 – 14399 Y-axis Positioning Parameters R/W

14400 – 14999 Undefined R

15000 – 15199 X-axis Servo Parameters R/W

15200 – 15399 Y-axis Servo Parameters R/W

15400 – 15999 Undefined R

16000 – 16255 System Use Only R

*1: R/W is possible for the Current address (user) in BFM #1,#0 and BFM #101,#100

4. Begin to Use FX3U-20SSC-H with FX Configurator-FP

4.1 Initialization Process

When setting up the F3U-20SSC-H for the first time or when beginning a new project, it is

recommended to clear the servo parameters and positioning parameters and then write

the desired settings (as needed by the user application) to the controller. The purpose of

this section is to define basic settings for the initial testing of the module using the FX

Configurator-FP software.

1) Confirm that the hardware is set up correctly (as described in Section 2.1:

Hardware Requirements) and the PLC is in STOP mode. Turn the power ON.

(Both of the servos should display ‘Ab’ when the power is turned ON for the very

first time.)

2) Open FX Configurator-FP from the Start menu [Start →MELSOFT Application →

FX Configurator-FP] or from the Tools menu of GX Developer [Tools →FX special

function utility →FX Configurator-FP] and create a New file by clicking on in

the Toolbar.

3) Expand the tree of folders in the ‘File data list’ panel on the left-hand side by

double clicking on ‘Unset file,’ ‘Edit’ and ‘Monitor.’

4) Go to [Online →Connection setup →Comm. Test.]

Verify that the devices are communicating properly.

5) Go to [Online →Initialize module.]

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Select all servo parameters, positioning parameters and table information and

place a check mark in ‘Flash ROM write.’ Click the OK button and proceed with

selecting ‘Yes’ and then ‘OK.’

6) Set the positioning parameters

Double click on ‘Positioning parameters’ in the ‘File data list’ panel on the left-

hand side to modify the positioning parameters.

Change the following items from the ‘Item’ column:

Positioning parameters

· Maximum speed →

for X- and Y-axes.

Positioning parameters

· OPR mode →

for X- and Y-axes.

(This setting is used specifically for a system

without a DOG or mechanical zero-point.)

Positioning parameters

· OPR interlock setting →

for X- and Y-axes.

(This is used to ensure that the START command

functions regardless of the zero return complete

flag’s Status (BFM#28/128, b3).)

“26214400 Hz”

“1: Data set”

“0: Invalid”

Select all

information to

initialize the

20SSC-

H for the

first time.

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7) Set the servo parameters (20SSC-H v.1.04 and later)

7.1) When FX Configurator-FP is used and the forced stop is NOT being used:

If a forced stop switch is not used with the MR-J3-B servos, the servo forced stop

setting must be disabled before the servo series is set with the Configurator-FP as

follows:

Double click on ‘Servo parameters’ in the ‘File data list’ panel on the left-hand

side to modify the servo parameters. Be sure to change settings for BOTH the X

& Y axes.

Set the following item from the ‘Kind’ column:

Servo parameters

· Basic setting parameters →Function selection A-1 →Servo forced stop

selection →for X- and Y-axes.

Write the servo parameters to the 20SSC-H BFM and Flash ROM by

pressing the ‘Write to module’ button or by using [Online →Write to

module (Ctrl+T).] Select only the servo parameters and put a check

mark in the ‘Flash ROM write’ box as shown below. Click the OK button

and proceed with selecting ‘Yes’ and then ‘OK.’

Reboot the power to the SSCNET system.

Servo parameters

· Servo amplifier series →Servo amplifier series →

for X- and Y axes.

“1: Invalid (Do not use the forced stop signal.)”

“1: MR-J3-B”

Only the Servo

parameters are

selected to be written.

Check ‘Flash ROM

write

’ so that these

settings are active

every

time the power is

turned ON.

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8) Write the servo and positioning parameters

Write the servo parameters and positioning parameters to the FX3U-20SSC-H

by pressing the ‘Write to module’ button or by using [Online →Write to module

(Ctrl+T).] Select only the servo and positioning parameters and put a check mark

in the ‘Flash ROM write’ box as shown below. Click the OK button and proceed

with selecting ‘Yes’ and then ‘OK.’

4.2 Using TEST MODE

Verify that the PLC is in STOP mode before proceeding with this section.

To enter TEST MODE, press the Test On/Off button in the Test toolbar or go to

[Online →Test →Test On/Off.] Select ‘Yes,’ and then ‘OK.’

Open up the X- and Y- axis Operation test windows by clicking on the two buttons:

and .

4.2.1 JOG Operation, X-axis

In the ‘X-axis Operation test’ window, click on the JOG/MPG tab. Click and hold down the

FWD JOG button. Try changing the JOG speed and JOG instruction evaluation time.

(For more information on the JOG instruction evaluation time, refer to Chapter 8.2.1 in

the FX3U-20SSC-H User’s Manual (JY997D21301A).)

4.2.2 Setting the Zero Point

Click on the X-axis and Y-axis OPR tabs and then click the REQ. OPR button and select

‘Yes’ and ‘OK.’

Since the mechanical zero return mode has been set to the data-set type from Section

4.1: Initialization Process, the value in BFM# 14028, 14029 (initially zero) is directly

written to the current address. (In stopper type and DOG type mechanical zero return

modes, this method will cause the motor to turn in the direction of the zero point and will

not write zero until the motor comes to a complete stop after detecting an external DOG

signal or stopper device. If the REQ. OPR button causes the motor to rotate

continuously, verify that the Data-set OPR mode has been set in the Positioning

Parameters as described in Section 4.1: Initialization Process.)

Select the Positioning and

Servo parameters to be

written.

Check ‘Flash ROM write’ so

that these settings are active

every time the power is

turned ON.

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