Mitsubishi Electric MELSEC iQ-F FX5 User manual

MELSEC iQ-F FX5
Motion Module/
Simple Motion Module
User's Manual (Advanced Synchronous Control)
-FX5-40SSC-G
-FX5-80SSC-G
-FX5-40SSC-S
-FX5-80SSC-S

1
SAFETY PRECAUTIONS
(Read the precautions before using this product.)
Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle
the product correctly.
If the equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.
This manual classifies the safety precautions into two categories: [ WARNING] and [ CAUTION].
Depending on the circumstances, procedures indicated by [ CAUTION] may also cause severe injury.
Observe the precautions of both levels because they are important for personal and system safety.
Ensure that the end users read this manual and then keep the manual in a safe place for future reference.
WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in
death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in
minor or moderate injury or property damage.

2
[DESIGN PRECAUTIONS]
WARNING
●Make sure to set up the following safety circuits outside the programmable controller to ensure safe
system operation even during external power supply problems or programmable controller failure.
Otherwise, malfunctions may cause serious accidents.
- Emergency stop circuits, protection circuits, and protective interlock circuits (for conflicting
operations such as forward/reverse rotations or for preventing damage to the equipment such as
upper/lower limit positioning) must be configured external to the programmable controller.
- Note that when the CPU module detects an error, such as a watchdog timer error, during self-
diagnosis, all outputs are turned off. Also, when an error occurs in an input/output control block,
where it cannot be detected by the CPU module, output control may be disabled. External circuits
and mechanisms should be designed to ensure safe machinery operation in such a case.
- Note that the output current of the 24 V DC service power supply varies depending on the model
and the absence/presence of extension modules. If an overload occurs, the voltage automatically
drops, inputs in the programmable controller are disabled, and all outputs are turned off. External
circuits and mechanisms should be designed to ensure safe machinery operation in such a case.
- Note that when an error occurs in a relay, triac or transistor of an output circuit, the output might
stay on or off. For output signals that may lead to serious accidents, external circuits and
mechanisms should be designed to ensure safe machinery operation in such a case.
●Construct an interlock circuit in the program so that the whole system always operates on the safe
side before executing the control (for data change) of the programmable controller in operation. Read
the manual thoroughly and ensure complete safety before executing other controls (program change,
parameter change, forced output, and operation status change) to the programmable controller in
operation. Improper operation may damage machines or cause accidents.
●In an output circuit, when a load current exceeding the current rating or an overcurrent caused by a
load short-circuit flows for a long time, it may cause smoke and fire. To prevent this, configure an
external safety circuit, such as a fuse.
●For the operating status of each station after a communication failure of the network, refer to relevant
manuals for the network. Incorrect output or malfunction may result in an accident.
●Especially, in the case of a control from an external device to a remote programmable controller,
immediate action cannot be taken for a problem on the programmable controller due to a
communication failure. Determine the handling method as a system when communication failure
occurs along with configuration of interlock circuit on a program, by considering the external
equipment and CPU module.
●Do not write any data to the "system area" and "write-protect area" of the buffer memory in the
module. Executing data writing to the "system area" or "write protect area" may cause malfunction of
the programmable controller alarm. For the "system area" or "write-protect area", refer to "List of
Buffer Memory Addresses" in MELSEC iQ-F FX5 Motion Module/Simple Motion Module User’s
Manual (Application) and "Buffer Memory" in MELSEC iQ-F FX5 Motion Module User's Manual (CC-
Link IE TSN).
●If a communication cable is disconnected, the network may be unstable, resulting in a communication
failure of multiple stations. Construct an interlock circuit in the program so that the system always
operates on the safe side even if communications fail. Incorrect output or malfunction may result in an
accident.

3
*1 Products conforming to the UL explosion-proof standard are as follows:
Manufactured in October 2017 onwards
 FX5 CPU module
FX5UC-32MT/D, FX5UC-32MT/DSS, FX5UC-64MT/D, FX5UC-64MT/DSS, FX5UC-96MT/D, FX5UC-96MT/DSS
 FX5 extension module
FX5-C16EX/D, FX5-C16EX/DS, FX5-C16EYT/D, FX5-C16EYT/DSS, FX5-C32EX/D, FX5-C32EX/DS, FX5-C32EYT/D, FX5-
C32EYT/DSS, FX5-C32ET/D, FX5-C32ET/DSS, FX5-232ADP, FX5-485ADP, FX5-C1PS-5V, FX5-CNV-BUSC, FX5-4AD-
ADP, FX5-4DA-ADP
[DESIGN PRECAUTIONS]
[SECURITY PRECAUTIONS]
WARNING
[Precautions for using products in a UL/cUL Class , Division 2 environment]
●Products*1 with the CI., DIV.2 mark on the rating plate are suitable for use in Class , Division 2,
Groups A, B, C and D hazardous locations, or nonhazardous locations only.
This mark indicates that the product is certified for use in the Class , Division 2 environment where
flammable gases, vapors, or liquids exist under abnormal conditions. When using the products in the
Class , Division 2 environment, observe the following conditions to reduce the risk of explosion.
- This device is open-type and is to be installed in an enclosed area under suitable environment
which requires a tool or key to open.
- Warning - Explosion Hazard - Substitution of any component may impair suitability for Class ,
Division 2.
- Warning - Explosion Hazard - Do not disconnect equipment while the circuit is live or unless the
area is known to be free of ignitable concentrations.
- Do not open the cover of the CPU module and remove the battery unless the area is known to be
nonhazardous.
CAUTION
●When an inductive load such as a lamp, heater, or solenoid valve is controlled, a large current
(approximately ten times greater than normal) may flow when the output is turned from off to on. Take
proper measures so that the flowing current does not exceed the value corresponding to the
maximum load specification of the resistance load.
●After the CPU module is powered on or is reset, the time taken to enter the RUN status varies
depending on the system configuration, parameter settings, and/or program size.
Design circuits so that the entire system will always operate safely, regardless of this variation in time.
●Simultaneously turn on and off the power supplies of the CPU module and extension modules.
●If a long-time power failure or an abnormal voltage drop occurs, the programmable controller stops,
and output is turned off. When the power supply is restored, it will automatically restart (when the
RUN/STOP/RESET switch is on RUN side).
WARNING
●To maintain the security (confidentiality, integrity, and availability) of the programmable controller and
the system against unauthorized access, denial-of-service (DoS) attacks, computer viruses, and other
cyberattacks from external devices via the network, take appropriate measures such as firewalls,
virtual private networks (VPNs), and antivirus solutions.

4
[INSTALLATION PRECAUTIONS]
[INSTALLATION PRECAUTIONS]
WARNING
●Make sure to cut off all phases of the power supply externally before attempting installation or wiring
work. Failure to do so may cause electric shock or damage to the product.
●Use the product within the generic environment specifications described in the generic specifications
of the user's manual (Hardware) of the CPU module used.
Never use the product in areas with excessive dust, oily smoke, conductive dust, corrosive gas (salt
air, Cl2, H2S, SO2, or NO2), flammable gas, or vibration or impacts, or expose it to high temperature,
condensation, or rain and wind.
If the product is used in such conditions, electric shock, fire, malfunctions, deterioration or damage
may occur.
CAUTION
●Do not touch the conductive parts of the product directly. Doing so may cause device failures or
malfunctions.
●When drilling screw holes or wiring, make sure that cutting and wiring debris do not enter the
ventilation slits of the programmable controller. Failure to do so may cause fire, equipment failures or
malfunctions.
●For products supplied together with a dust proof sheet, the sheet should be affixed to the ventilation
slits before the installation and wiring work to prevent foreign objects such as chips and wiring debris.
However, when the installation work is completed, make sure to remove the sheet to provide
adequate ventilation. Failure to do so may cause fire, equipment failures or malfunctions.
●Install the product on a flat surface. If the mounting surface is rough, undue force will be applied to the
PC board, thereby causing nonconformities.
●Install the product securely using a DIN rail or mounting screws.
●Connect the expansion board and expansion adapter securely to their designated connectors. Loose
connections may cause malfunctions.
●Make sure to affix the expansion board with tapping screws. Tightening torque should follow the
specifications in the user's manual (Hardware) of the CPU module used. If the screws are tightened
outside of the specified torque range, poor connections may cause malfunctions.
●Work carefully when using a screwdriver such as installation of the product. Failure to do so may
cause damage to the product or accidents.
●Connect the extension cables, peripheral cables, input/output cables and battery connecting cable
securely to their designated connectors. Loose connections may cause malfunctions.
●When using an SD memory card, insert it into the SD memory card slot. Check that it is inserted
completely. Poor contact may cause malfunction.
●Turn off the power to the programmable controller before attaching or detaching the following devices.
Failure to do so may cause equipment failures or malfunctions.
- Peripheral devices, expansion board, expansion adapter, and connector conversion adapter
- Extension modules, bus conversion module, and connector conversion module
- Battery
●Hold the connector part of the Ethernet cable and perform installation or removal in a straight
direction. If the cable is pulled out while connected to the module, it may cause damage to the module
or the cable, or may cause a malfunction due to poor connector contact.

5
[WIRING PRECAUTIONS]
WARNING
●Make sure to cut off all phases of the power supply externally before attempting installation or wiring
work. Failure to do so may cause electric shock or damage to the product.
●Make sure to attach the terminal cover, provided as an accessory, before turning on the power or
initiating operation after installation or wiring work. Failure to do so may cause electric shock.
●The temperature rating of the cable should be 80 or more.
It may differ depending on the extension devices. For details, refer to the user's manual of the
extension devices used.
●Make sure to wire the screw terminal block in accordance with the following precautions. Failure to do
so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions, or
damage to the product.
- The disposal size of the cable end should follow the dimensions described in the user's manual
(Hardware) of the CPU module used.
- Tightening torque should follow the specifications in the user's manual (Hardware) of the CPU
module used.
- Tighten the screws using a Phillips-head screwdriver No.2 (shaft diameter 6 mm (0.24") or less).
Ensure that the screwdriver does not touch the partition part of the terminal block.
●Make sure to properly wire to the terminal block (European type) in accordance with the following
precautions. Failure to do so may cause electric shock, equipment failures, a short-circuit, wire
breakage, malfunctions, or damage to the product.
- The disposal size of the cable end should follow the dimensions described in the user's manual
(Hardware) of the CPU module used.
- Tightening torque should follow the specifications in the user's manual (Hardware) of the CPU
module used.
- Twist the ends of stranded wires and ensure that there are no loose wires.
- Do not solder-plate the electric wire ends.
- Do not connect more than the specified number of wires or electric wires of unspecified size.
- Affix the electric wires so that neither the terminal block nor the connected parts are directly
stressed.
●Make sure to properly wire to the spring clamp terminal block in accordance with the following
precautions. Failure to do so may cause electric shock, equipment failures, a short-circuit, wire
breakage, malfunctions, or damage to the product.
- The disposal size of the cable end should follow the dimensions described in the user's manual
(Hardware) of the CPU module used.
- Twist the ends of stranded wires and ensure that there are no loose wires.
- Do not solder-plate the electric wire ends.
- Do not connect more than the specified number of wires or electric wires of unspecified size.
- Affix the electric wires so that neither the terminal block nor the connected parts are directly
stressed.

6
[WIRING PRECAUTIONS]
CAUTION
●Do not supply power externally to the [24 +] and [24 V] terminals (24 V DC service power supply) on
the CPU module or extension modules. Doing so may damage the product. Note that power may be
supplied even when an electronic load which equips with an internal bias power supply is connected.
●Perform class D grounding (grounding resistance: 100  or less) of the grounding terminal on the
CPU module and extension modules with a wire 2  or thicker.
Do not use common grounding with heavy electrical systems. For details, refer to the user's manual
(Hardware) of the CPU module used.
●Connect the power supply wiring to the dedicated terminals described in the user's manual
(Hardware) of the CPU module used. If an AC power supply is connected to a DC input/output
terminal or DC power supply terminal, the programmable controller will burn out.
●Do not wire vacant terminals externally. Doing so may damage the product.
●Install module so that excessive force will not be applied to terminal blocks, power connectors, I/O
connectors, communication connectors, or communication cables. Failure to do so may result in wire
damage/breakage or programmable controller failure.
●Make sure to observe the following precautions to prevent any damage to the machinery or accidents
due to malfunction of the programmable controller caused by abnormal data written to the
programmable controller due to the effects of noise.
- Do not bundle the power line, control line and communication cables together with or lay them
close to the main circuit, high-voltage line, load line or power line. As a guideline, lay the power
line, control line and communication cables at least 100 mm (3.94") away from the main circuit,
high-voltage line, load line or power line.
- Ground the shield of the shield wire or shielded cable at one point on the programmable
controller. However, do not use common grounding with heavy electrical systems.
- Ground the shield of the analog I/O wire in accordance with the manuals of each model. However,
do not use common grounding with heavy electrical systems.

7
[STARTUP AND MAINTENANCE PRECAUTIONS]
[STARTUP AND MAINTENANCE PRECAUTIONS]
WARNING
●Do not touch any terminal while the programmable controller's power is on. Doing so may cause
electric shock or malfunctions.
●Before cleaning or retightening terminals, cut off all phases of the power supply externally. Failure to
do so in the power ON status may cause electric shock.
●Before modifying the program, performing forced output, or running or stopping the programmable
controller while the system is running, read through this manual carefully, and ensure complete safety.
An operation error may damage the machinery or cause accidents.
●Do not change the program in the programmable controller from two or more peripherals at the same
time. (such as from an engineering tool and a GOT) Doing so may cause destruction or malfunction of
the programmable controller program.
●Use the battery for memory backup in conformance to the user's manual (Hardware) of the CPU
module used.
- Use the battery for the specified purpose only.
- Connect the battery correctly.
- Do not charge, disassemble, heat, put in fire, short-circuit, connect reversely, solder, swallow, or
burn the battery, or apply excessive forces (vibration, impact, drop, etc.) to the battery.
- Do not store or use the battery at high temperatures or expose to direct sunlight.
- Do not expose to water, bring near fire or touch liquid leakage or other contents directly.
- When replacing the battery, make sure to use our specified product (FX3U-32BL).
- When a battery error occurs ("BAT" LED is on in red), follow the description in the user's manual
(Hardware) of the CPU module used.
Incorrect handling of the battery may cause heat excessive generation, bursting, ignition, liquid
leakage or deformation, and lead to injury, fire or failures and malfunction of facilities and other
equipment.
CAUTION
●Do not disassemble or modify the programmable controller. Doing so may cause fire, equipment
failures, or malfunctions.
For repair, contact your local Mitsubishi Electric representative.
●After the first use of the SD memory card, do not insert/remove the memory card more than 500 times.
Doing so 500 times or more may cause malfunction.
●Turn off the power to the programmable controller before connecting or disconnecting any extension
cable. Failure to do so may cause equipment failures or malfunctions.
●Turn off the power to the programmable controller before attaching or detaching the following devices.
Failure to do so may cause equipment failures or malfunctions.
- Peripheral devices, expansion board, expansion adapter, and connector conversion adapter
- Extension modules, bus conversion module, and connector conversion module
- Battery
●Do not use the chemicals for cleaning.
●If there is the possibility of touching the programmable controller inside a control panel in
maintenance, make sure to discharge to avoid the influence of static electricity.
●Since there are risks such as burn injuries, please do not touch the surface of the equipment with bare
hands when it is operating in an environment which exceeds ambient temperature of 50.

8
[OPERATION PRECAUTIONS]
[DISPOSAL PRECAUTIONS]
[TRANSPORTATION PRECAUTIONS]
CAUTION
●Construct an interlock circuit in the program so that the whole system always operates on the safe
side before executing the control (for data change) of the programmable controller in operation. Read
the manual thoroughly and ensure complete safety before executing other controls (program change,
parameter change, forced output, and operation status change) to the programmable controller in
operation. Improper operation may damage machines or cause accidents.
CAUTION
●When disposing of this product, treat it as industrial waste.
●When disposing of batteries, separate them from other waste according to local regulations. (For
details on the Battery Directive in EU countries, refer to the user's manual (Hardware) of the CPU
module used.)
CAUTION
●When transporting the programmable controller with the optional battery, turn on the programmable
controller before shipment, confirm that the battery mode is set using a parameter and the BAT LED is
off, and check the battery life. If the programmable controller is transported with the BAT LED ON or
the battery exhausted, the battery-backed data may be unstable during transportation.
●The programmable controller is a precision instrument. During transportation, avoid impacts larger
than those specified in the general specifications by using dedicated packaging boxes and shock-
absorbing palettes. Failure to do so may cause failures in the programmable controller. After
transportation, verify operation of the programmable controller and check for damage of the mounting
part, etc. For details on the general specifications, refer to the user's manual (Hardware) of the CPU
module used.
●When transporting lithium batteries, follow required transportation regulations. (For details on the
regulated products, refer to the user's manual (Hardware) of the CPU module used.)
●The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant
used for disinfection and pest control of wood packaging materials, may cause failure of the product.
Prevent the entry of fumigant residues into the product or consider other methods (such as heat
treatment) instead of fumigation. The disinfection and pest control measures must be applied to
unprocessed raw wood.

9
INTRODUCTION
Thank you for purchasing the Mitsubishi Electric MELSEC iQ-F series programmable controllers.
This manual describes the functions and programming of the relevant products listed below. Before using this product, please
read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the
MELSEC iQ-F series programmable controller to handle the product correctly.
When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it
will not cause system control problems.
Please make sure that the end users read this manual.
Relevant products
FX5-40SSC-S, FX5-80SSC-S, FX5-40SSC-G, FX5-80SSC-G
Symbols used in this manual are shown below.
A serial No. is inserted in the "**" mark.
• [Pr.**]: Symbols indicating positioning parameter or home position return parameter items
• [Da.**]: Symbols indicating positioning data or block start data items
• [Md.**]: Symbols indicating monitor data items
• [Cd.**]: Symbols indicating control data items
• [FX5-SSC-S]: Symbols indicating compatibility with only FX5-SSC-S
• [FX5-SSC-G]: Symbols indicating compatibility with only FX5-SSC-G
Regarding use of this product
• This product has been manufactured as a general-purpose part for general industries, and has not been designed or
manufactured to be incorporated in a device or system used in purposes related to human life.
• Before using the product for special purposes such as nuclear power, electric power, aerospace, medicine or passenger
movement vehicles, consult Mitsubishi Electric.
• This product has been manufactured under strict quality control. However when installing the product where major
accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.
Note
• If in doubt at any stage during the installation of the product, always consult a professional electrical engineer who is
qualified and trained in the local and national standards. If in doubt about the operation or use, please consult the nearest
Mitsubishi Electric representative.
• Since the examples indicated by this manual, technical bulletin, catalog, etc. are used as a reference, please use it after
confirming the function and safety of the equipment and system. Mitsubishi Electric will accept no responsibility for actual
use of the product based on these illustrative examples.
• This manual content, specification etc. may be changed, without a notice, for improvement.
• The information in this manual has been carefully checked and is believed to be accurate; however, if you notice a doubtful
point, an error, etc., please contact the nearest Mitsubishi Electric representative. When doing so, please provide the
manual number given at the end of this manual.

10
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
GENERIC TERMS AND ABBREVIATIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
CHAPTER 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 14
1.1 Outline of Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.3 Operation Method of Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Synchronous control execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Starting/ending for synchronous control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Stop operation of output axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
CHAPTER 2 INPUT AXIS MODULE 28
2.1 Servo Input Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Overview of servo input axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Servo input axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Servo input axis monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.2 Command Generation Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Overview of command generation axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Command generation axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
Command generation axis control data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Command generation axis monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Command generation axis positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Write/read method for command generation axis parameter and positioning data . . . . . . . . . . . . . . . . . . . . . . . 52
2.3 Synchronous Encoder Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Overview of synchronous encoder axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Setting method for synchronous encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Synchronous encoder axis parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Synchronous encoder axis control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Synchronous encoder axis monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
CHAPTER 3 CAM FUNCTION 81
3.1 Control Details for Cam Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
3.2 Create Cam Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Memory configuration of cam data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Cam data operation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Cam auto-generation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
CHAPTER 4 ADVANCED SYNCHRONOUS CONTROL 97
4.1 Main Shaft Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Overview of main shaft module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Main shaft parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Main shaft clutch parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Main shaft clutch control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
4.2 Auxiliary Shaft Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Overview of auxiliary shaft module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

11
CONTENTS
Auxiliary shaft parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Auxiliary shaft clutch parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Auxiliary shaft clutch control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
4.3 Clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Overview of clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Control method for clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Smoothing method for clutch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Use example of clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
4.4 Speed Change Gear Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Overview of speed change gear module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Speed change gear parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
4.5 Output Axis Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Overview of output axis module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Output axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
4.6 Synchronous Control Change Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Overview of synchronous control change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Synchronous control change control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
4.7 Synchronous Control Monitor Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
4.8 Phase Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
4.9 Output Axis Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
CHAPTER 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 145
5.1 Synchronous Control Initial Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
5.2 Synchronous Control Initial Position Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
5.3 Cam Axis Position Restoration Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Cam axis position value per cycle restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Cam reference position restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Cam axis command position value restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
5.4 Synchronous Control Analysis Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
5.5 Cam Position Calculation Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Cam position calculation control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Cam position calculation monitor data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
5.6 Method to Restart Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
APPENDICES 172
Appendix 1 List of Buffer Memory Addresses (for Synchronous Control). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Appendix 2 Sample Program of Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Program example [FX5-SSC-S] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Program example [FX5-SSC-G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
INDEX 190
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193
INFORMATION AND SERVICES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

12
RELEVANT MANUALS
This manual does not include detailed information on the following:
• General specifications
• Available CPU modules and the number of mountable modules
• Installation
For details, refer to the following.
MELSEC iQ-F FX5S/FX5UJ/FX5U/FX5UC User’s Manual (Hardware)
e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated
tool.
e-Manual has the following features:
• Required information can be cross-searched in multiple manuals.
• Other manuals can be accessed from the links in the manual.
• The hardware specifications of each part can be found from the product figures.
• Pages that users often browse can be bookmarked.
• Sample programs can be copied to an engineering tool.
Manual name [manual number] Description Available form
MELSEC iQ-F FX5 Motion Module/Simple Motion Module
User's Manual (Advanced Synchronous Control)
[IB-0300255ENG] (This manual)
Functions and programming for the synchronous control of the
Motion module/Simple Motion module
Print book
e-Manual
PDF
MELSEC iQ-F FX5 Motion Module/Simple Motion Module
User's Manual (Startup)
[IB-0300251ENG]
Specifications, procedures before operation, system
configuration, wiring, and operation examples of the Motion
module/Simple Motion module
Print book
e-Manual
PDF
MELSEC iQ-F FX5 Motion Module/Simple Motion Module
User's Manual (Application)
[IB-0300253ENG]
Functions, input/output signals, buffer memories, parameter
settings, programming, and troubleshooting of the Motion
module/Simple Motion module
Print book
e-Manual
PDF
MELSEC iQ-F FX5 Motion Module User's Manual (CC-Link IE
TSN)
[IB-0300568ENG]
Functions, parameter settings, troubleshooting, and buffer
memories of the CC-Link IE TSN network
Print book
e-Manual
PDF
MELSEC iQ-F FX5 Motion Module/Simple Motion Module
Function Block Reference
[BCN-B62005-719]
Specifications, functions, and input/output labels of function
blocks for the Motion module/Simple Motion module
e-Manual
PDF

13
TERMS
Unless otherwise specified, this manual uses the following terms.
*1 SSCNET: Servo System Controller NETwork
GENERIC TERMS AND ABBREVIATIONS
Unless otherwise specified, this manual uses the following generic terms and abbreviations.
Term Description
4-axis module Another term for FX5-40SSC-S and FX5-40SSC-G
8-axis module Another term for FX5-80SSC-S and FX5-80SSC-G
Axis A target for motion control
Buffer memory A memory in an intelligent function module, where data (such as setting values and monitoring values) are
stored. When using the CPU module, the memory is indicated for storing data (such as setting values and
monitored values) of the Ethernet function and data used for data communication of the multiple CPU function.
Command generation axis An axis that performs only command generation. "Command generation axis" is not included in the number of
controlled axes of the controller.
Device A device (X, Y, M, D, or others) in a CPU module
Global label A label that is enabled for all program data when creating multiple program data in the project. There are two
types of global labels: module label that is automatically generated by GX Works3 and label that can be created
for the any of the specified devices.
GX Works3 The product name of the software package for the MELSEC programmable controllers
([FX5-SSC-S] version 1.007H or later, and [FX5-SSC-G] version 1.072A or later)
Intelligent function module A MELSEC iQ-F series module that has functions other than input or output, such as Simple Motion module/
Motion module
Label A label that represents a device in a given character string
Module label A label that represents one of memory areas (I/O signals and buffer memory areas) specific to each module in a
given character string. GX Works3 automatically generates this label, which can be used as a global label.
MR Configurator2 The product name of the setup software for the servo amplifier
([FX5-SSC-S] version 1.34L or later, and [FX5-SSC-G] version 1.120A or later)
MR-J3(W)-B MR-J3-_B_(-RJ)/MR-J3W-_B Servo amplifier series
MR-J4(W)-B MR-J4-_B_(-RJ)/MR-J4W_-_B Servo amplifier series
MR-J5(W)-G MR-J5-_G_(-RJ)/MR-J5W_-_G/MR-J5D_-_G_ Servo amplifier series
MR-JE-B(F) MR-JE-_B(F) Servo amplifier series
Servo amplifier axis A servo amplifier or virtual servo amplifier controlled by a controller. "Servo amplifier axis" is included in the
number of controlled axes of the controller.
SSCNET*1 High speed synchronous communication network between Simple Motion module and servo amplifier
SSCNET/H*1
Generic term/abbreviation Description
CPU module An abbreviation for the MELSEC iQ-F series CPU module
Engineering tool A generic term for GX Works3 and MR Configurator2
FX5-SSC-G A generic term for the FX5-40SSC-G and FX5-80SSC-G Motion module
FX5-SSC-S A generic term for the FX5-40SSC-S and FX5-80SSC-S Simple Motion module
Motion module An abbreviation for the MELSEC iQ-F series Motion module
Simple Motion module An abbreviation for the MELSEC iQ-F series Simple Motion module

14 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL
1OUTLINE OF ADVANCED SYNCHRONOUS
CONTROL
The outline, specifications and the operation method of synchronous control using the Simple Motion module/Motion module
are explained in this chapter.
This chapter helps to understand what can be done using the positioning system and which procedure to use for a specific
purpose.
There are restrictions in the function that can be used by the software of the Simple Motion module/Motion module and the
version of the engineering tool. For details, refer to "Restrictions by the version" in the following manual.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL
1.1 Outline of Synchronous Control 15
1
1.1 Outline of Synchronous Control
"Synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change
gear or cam, etc.
"Synchronous control" synchronizes movement with the input axis (servo input axis, command generation axis or
synchronous encoder axis), by setting "the parameters for advanced synchronous control" and starting synchronous control
on each output axis.
*1 It is possible to drive the servo input axis except for the positioning control (home position return, manual control, speed-torque control,
synchronous control).
For details on the positioning control, the home position return, the manual control and the speed-torque control, refer to the following
manual.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)
*2 Speed change gear can be arranged on one of "Main shaft side", "Auxiliary shaft side" or "After composite auxiliary shaft gear".
*3 For the drive method of the command generation axis, refer to the following.
Page 35 Command Generation Axis
Positioning data
Positioning control
Positioning start Synchronous control start Synchronous control start
Synchronous encoder axis
Servo input axis
*1
Synchronous parameter
Synchronous control start
It is possible to control without amplifier
by setting the virtual servo amplifier.
Cam data
Output axis
Speed
change
gear *2
Speed
change
gear *2
Speed
change
gear
Auxiliary
shaft axis Cam
Synchronous
encoder
Manual pulse generator/
Synchronous encoder input
Simple Motion module/
Motion module
Synchronous
encoder axis
parameter
Servo input axis
parameter
Auxiliary
shaft
clutch
Servo
amplifier
Servo
motor
Servo
amplifier
Servo
motor
Servo
motor
Servo
motor
Servo
amplifier
Servo
amplifier
Auxiliary
shaft
gear
Main shaft
(sub input axis)
Main shaft
(main input axis)
Composite
main shaft gear
Main shaft gear
Main shaft
clutch
Composite
auxiliary shaft
gear
*2
Command generation axis
Command generation
axis parameter
*3

16 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL
1.1 Outline of Synchronous Control
List of synchronous control module
The module is used in synchronous control as follows.
• Input axis module can be set to one of servo input axis, command generation axis or synchronous encoder
axis.
• Speed change gear can be arranged on one of main shaft side, auxiliary shaft side or after composite
auxiliary shaft gear.
• Set the movement amount of input axis module as large as possible to prevent the speed fluctuation of
output axis module in the synchronous control. If the movement amount of input axis module is small, the
speed fluctuation of output axis module may occur depending on the setting for advanced synchronous
parameter.
• The following items can be monitored in the "Synchronous Control Image" window using the Simple Motion
Module Setting Function/Motion Module Setting Function; each synchronous control monitor data and the
rotation direction of main shaft main input axis, main shaft sub input axis, auxiliary shaft axis, and output
axis (cam axis command position value)
Synchronous parameter
Input axis module
Cam data
Synchronous encoder
axis parameter
Synchronous encoder axis
Servo input axis
parameter
Servo input axis
Command generation
axis parameter
Command generation axis
Synchronous encoder
axis parameter
Synchronous encoder axis
Servo input axis
parameter
Servo input axis
Input axis module
Command generation
axis parameter
Command generation axis
Main shaft module
Output axis
module
Speed change
gear module
Auxiliary
shaft module
Main shaft
(main input axis)
Auxiliary
shaft
clutch
Auxiliary
shaft
gear
Main shaft
(sub input axis)
Main shaft
gear
Main shaft
clutch
Composite
auxiliary
shaft gear
Composite main
shaft gear
Output axis
Cam
Speed change
gear module
Auxiliary
shaft module
Speed change
gear module
Speed
change
gear
Auxiliary
shaft axis
Speed
change
gear
Speed
change
gear
Input axis module
Synchronous encoder
axis parameter
Synchronous encoder axis
Command generation
axis parameter
Command generation axis
Servo input axis
parameter
Servo input axis

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL
1.1 Outline of Synchronous Control 17
1
■Input axis
• Input axis module
■Output axis
• Main shaft module
• Auxiliary shaft module
Name Parts Function description Maximum number of usable Reference
Number per module Number
per axis
4-axis module 8-axis module
Servo input
axis
• Used to drive the input axis with the position of
the servo motor controlled by the Simple Motion
module/Motion module.
48Page 28 Servo
Input Axis
Command
generation axis
• Used to drive the input axis by generating only
the positioning command based on the
positioning data of the command generation axis.
48Page 35
Command
Generation Axis
Synchronous
encoder axis
• Used to drive the input axis with input pulse from
the synchronous encoder.
4Page 56
Synchronous
Encoder Axis
Name Parts Function description Maximum number of usable Reference
Number per module Number
per axis
4-axis module 8-axis module
Main shaft
main input axis
• The input axis on the main side of the main shaft
module.
• The reference position on the main shaft.
4 8 1 Page 97 Main
Shaft Module
Main shaft sub
input axis
• The input axis on the sub side of the main shaft
module.
• It is used to input the compensation amount for
the position of the main shaft main input axis.
4 8 1 Page 97 Main
Shaft Module
Composite
main shaft gear
• The composite movement amount of the main
shaft main input axis and the main shaft sub input
axis are transmitted to the main shaft gear.
4 8 1 Page 97 Main
Shaft Module
Main shaft gear • The converting movement amount after
composite main shaft gear is transmitted by the
setting gear ratio.
4 8 1 Page 97 Main
Shaft Module
Main shaft
clutch
• The movement amount of the main shaft is
transmitted by the clutch ON/OFF.
4 8 1 Page 97 Main
Shaft Module
Page 114 Clutch
Name Parts Function description Maximum number of usable Reference
Number per module Number
per axis
4-axis module 8-axis module
Auxiliary shaft
axis
• The input axis of the auxiliary shaft module. 4 8 1 Page 106
Auxiliary Shaft
Module
Auxiliary shaft
gear
• The converting movement amount of the auxiliary
shaft is transmitted by the setting gear ratio.
4 8 1 Page 106
Auxiliary Shaft
Module
Auxiliary shaft
clutch
• The movement amount of the auxiliary shaft is
transmitted by the clutch ON/OFF.
4 8 1 Page 106
Auxiliary Shaft
Module
Page 114 Clutch
Composite
auxiliary shaft
gear
• The composite movement amount of the main
shaft and the auxiliary shaft are transmitted.
4 8 1 Page 106
Auxiliary Shaft
Module

18 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL
1.1 Outline of Synchronous Control
• Speed change gear module
• Output axis module
■Cam data
Name Parts Function description Maximum number of usable Reference
Number per module Number
per axis
4-axis module 8-axis module
Speed change
gear
• It is used to change the speed by setting speed
change ratio during the operation.
4 8 1 Page 125 Speed
Change Gear
Module
Name Parts Function description Maximum number of usable Reference
Number per module Number
per axis
4-axis module 8-axis module
Output axis • The cam conversion is processed based on the
input movement amount and the setting cam
data, so that the command position value is
output as the command to the servo amplifier.
4 8 1 Page 127 Output
Axis Module
Name Function description Maximum number of usable Reference
Number per module
Cam data • It controls the operation pattern of the output axis (two-way
operation and feed operation), which is corresponding to the
input movement amount of the output axis module.
Up to 256 Page 81 CAM FUNCTION