Mitsubishi electric Melsec iq-f fx5-20pg series User manual

This manual confers no industrial property rights or any rights of any other kind,

nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be

held responsible for any problems involving industrial property rights which may

occur as a result of using the contents noted in this manual.

Warranty

Exclusion of loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:

(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

(2)

Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.

(3)

Special damages and secondary damages whether foreseeable or not, compensation for

accidents, and compensation for damages to products other than Mitsubishi products.

(4) Replacement by the user, maintenance of on-site equipment, start-up test run

and other tasks.

For safe use

This product has been manufactured as a general-purpose part for general

industries, and has not been designed or manufactured to be incorporated in

a device or system used in purposes related to human life.

Before using the product for special purposes such as nuclear power, electric

power, aerospace, medicine or passenger movement vehicles, consult with

Mitsubishi Electric.

This product has been manufactured under strict quality control. However

when installing the product where major accidents or losses could occur if the

product fails, install appropriate backup or failsafe functions in the system.



HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

Side

JAPANESE

ENGLISH

JY997D74101B

Side

Safety Precautions

(Read these precautions before use.)

This manual classifies the safety precautions into two categories:

and .

Depending on the circumstances, procedures indicated by may also

cause severe injury.

It is important to follow all precautions for personal safety.

Associated Manual

How to obtain manuals

For the necessary product manuals or documents, consult with your local

Mitsubishi Electric representative.

Applicable standards

FX5-20PG-complies with the EC Directive (EMC Directive) and UL standards

(UL, cUL). Further information can be found in the following manual.

→ MELSEC iQ-F FX5 User's Manual

(Positioning Control - Intelligent function module)

Regarding the standards that relate to the CPU module, please refer to either the

product catalog or consult with your local Mitsubishi Electric representative.

Attention

This product is designed for use in industrial applications.

Indicates that incorrect handling may cause hazardous

conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous

conditions, resulting in minor or moderate injury or

property damage.

Manual name Manual No. Description

MELSEC iQ-F FX5

User's Manual

(Positioning Control

- Intelligent function

module)

SH-081805ENG Explains positioning module.

MELSEC iQ-F FX5U

User's Manual

(Hardware)

JY997D55301

Explains FX5U CPU module

specification details for I/O, wiring,

installation, and maintenance.

MELSEC iQ-F FX5UC

User's Manual

(Hardware)

JY997D61401

Explains FX5UC CPU module

specification details for I/O, wiring,

installation, and maintenance.

1. Outline

FX5-20PG-2-axis pulse train positioning module (hereinafter referred to as FX5-

20PG-) is an intelligent function module for high speed, high precision positioning

with servo motors or stepping motors via drive units.

1.1 Incorporated Items

Check that the following product and items are included in the package:

1.2 External Dimensions, Part Names

*1 FX5-20PG-D only

1.3 Indications of LEDs

: OFF, : ON, : Flashing (Flashing interval ON: 200 ms/OFF: 200 ms)

Product FX5-20PG-2 axis pulse train positioning module

Included Items

FX2NC-100MPCB power cable: (1 m, three wire)

Dust proof protection sheet (1 sheet)

Hardware manual [Japanese /English] (This manual)

Hardware manual [Chinese]

[1] Connector for external devices

[2] Extension cable

[3] Differential driver common terminal*1

[4] Direct mounting hole: 2 holes of φ4.5 (mounting screw: M4 screw)

[5] Axis display LED (AX1, AX2)

[6] Operation status display LEDs

[7] Extension connector (for next module)

[8] Name plate

[9] DIN rail mounting groove (DIN rail: DIN 46277, 35 mm wide)

[10] DIN rail mounting hook

[11] Pullout tab

[12] Power connector

FX5-20PG-status LED display Indication

Power OFF

AX1 

AX2 

POWER

RUN 

ERROR 

Power OFF

Normal operation

(RUN LED is ON,

ERROR LED is OFF)

AX1 

AX2 

POWER

RUN 

ERROR 

Axes stopped

Axes on standby

AX1 

AX2 

POWER

RUN 

ERROR 

Axes in operation

Operation failure

AX1 

AX2 

POWER

RUN 

ERROR 

Minor error

AX1 

AX2 

POWER

RUN 

ERROR 

Moderate error

[1]

[11]

[2]

[4] [8]

[10]

[9]

[6]

80 (Mounting hole pitch)

MASS (Weight): Approx. 0.2 kg

Outer painting color: Munsell 0.6B7.6/0.2

Unit: mm

2-4.5 Mounting holes

[5]

[12]

[7]

[3]

1.4 Signal Layouts

The signal layout of the FX5-20PG-connector for external devices is as follows:

1.4.1 40-pin connectors

*1 The signal layouts of FX5-20PG-D are as follows.

For further information on signal, refer to the following manual.

→

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

1.4.2 Differential driver common terminal (FX5-20PG-D only)

2. Installation

Operation failure

AX1 

AX2 

POWER

RUN 

ERROR 

Error (Initial not completed)

Axis 2 (AX2)

Axis 1 (AX1)

Pin No.

Signal

Pin No.

Signal

B20

PULSER B-

A20

PULSER B+

B19

PULSER A-

A19

PULSER A+

B18

PULSE COM

*1 A18

PULSE COM

B17

PULSE R

*1 A17

PULSE R

B16

PULSE COM

*1 A16

PULSE COM

B15

PULSE F

*1 A15

PULSE F

B14

CLRCOM

A14

CLRCOM

B13

CLEAR

A13

CLEAR

B12

RDYCOM

A12

RDYCOM

B11

READY

A11

READY

B10

PG0COM

A10

PG0COM

PG05

PG024

COM

CHG

STOP

DOG

RLS

FLS

Axis 2 (AX2)

Axis 1 (AX1)

Pin No.

Signal

Pin No.

Signal

B18 PULSE R- A18 PULSE R-

B17 PULSE R+ A17 PULSE R+

B16 PULSE F- A16 PULSE F-

B15 PULSE F+ A15 PULSE F+

Signal

PLS COM (Differential driver common)

INSTALLATION

PRECAUTIONS

•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

User's Manual (Hardware) for the CPU module to be used.

Never use the product in areas with excessive dust, oily smoke, conductive dusts,

corrosive gas (salt air, Cl2, H2S, SO2or NO2), flammable gas, 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.

INSTALLATION

PRECAUTIONS

•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 PLC.

Failure to do so may cause fire, equipment failures or malfunctions.

FX5-20PG-status LED display Indication

A20

A19

A18

A17

A16

A15

A14

A13

A12

A11

A10

B20

B19

B18

B17

B16

B15

B14

B13

B12

B11

B10

Differential driver

common terminal

For further information on mounting, refer to the following manual.

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

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

3. Wiring

3.1 Applicable Connector

Use the following 40 pin connectors.

*1 Use wire with a sheath outside diameter of 1.3 mm or less when the 40 pins

are used. Select appropriate cables according to the current value used.

3.2 Differential Driver Common Terminal

3.2.1 Suitable wiring

INSTALLATION

PRECAUTIONS

•The dust proof sheet should be affixed to the ventilation slits before

installation and wiring work to block foreign objects such as cutting 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 extension cables securely to their designated connectors.

Loose connections may cause malfunctions.

WIRING PRECAUTIONS

•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.

•The temperature rating of the cable should be 80or more.

•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 shortcircuit,

wire breakage, malfunctions, or damage to the product.

- The disposal size of the cable end should follow the dimensions described

in the manual.

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

wires.

- Do not solder-plate the electric wire ends.

- Do not connect more than the specified number of wires or electric wires

of unspecified size.

WIRING PRECAUTIONS

•Securely connect the connector to the module. Poor contact may cause

malfunction.

•Make sure to observe the following precautions in order to prevent any

damage to the machinery or accidents due to malfunction of the PLC caused

by abnormal data written to the PLC due to the effects of noise:

- Do not bundle the power line and 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 away from the main circuit, high-voltage line, load line or

power line.

Type Model

Suitable wiring

Size Type Material

Temperature

rating

Soldering type

connector

(straight type)

A6CON1*1

0.088 to

0.3 mm2

(AWG28

to 22)

Strand

wire

Copper

wire

80or

Crimping type

connector

(straight type)

A6CON2

0.088 to

0.24 mm2

(AWG28

to 24)

Soldering type

connector

(dual purpose

(straight/oblique)

type)

A6CON4*1

0.088 to

0.3 mm2

(AWG28

to 22)

No. of wire per terminal One wire

Wire

size

Single wire, Strand wire

(Material: Copper wire) AWG24 to 16 (0.2 to 1.5 mm2)

Ferrules with insulation sleeve AWG23 to 19 (0.25 to 0.75 mm2)

Ferrules without insulation sleeve

AWG23 to 16 (0.25 to 1.5mm2)

Temperature rating 80or more

3.2.2 Wire end treatment

Strip the cable about 10 mm from the tip to connect a wire ferrule at the stripped

area. Failure to do so may result in electric shock or short circuit between adjacent

terminals because the conductive part. If the wire strip length is too short, it may

result in the poor contact to the spring clamp terminal part.

When using a wire ferrule with an insulating sleeve, choose a wire with proper

cable sheath referring to the above outside dimensions, otherwise the wire cannot

be inserted easily

Check the shape of the wire insertion opening with the following chart, and use

the smaller wire ferrule than the described size. Also, insert the wire with care so

that the wire ferrule is in proper orientation. Failure to do so may cause the bite of

the terminal and the damage of the terminal block.

The following table shows wire ferrules and tools for wire ferrules compatible.

The following table shows wire ferrules and its associated tools compatible with

the terminal block. The shape of the wire ferrule differs depending on the crimp

tool to be used, use the reference product. If the product other than referenced

products is used, the wire ferrule cannot be removed. Sufficiently confirm that the

wire ferrule can be removed before use.

3.2.3 Connecting a cable

•When ferrules with insulation sleeve are used

Insert a wire with the ferrule with insulation sleeve into the wire insertion

opening and push the wire.

•When stranded wires and solid wires are used

Push the open/close button of the terminal block with a flathead screwdriver.

While pushing the open/close button, insert the wire into the insertion opening

until the wire reaches the back, and then release the open/close button.

Then, pull the wire lightly and check that it is clamped securely.

3.2.4 Disconnection of the cable

Push the open/close button of the wire to be disconnected with a flathead

screwdriver. Pull out the wire with the open/close button pushed.

3.3 Power Connector

For further information on the power supply wiring and power cable, refer to the

following manual.

→ MELSEC iQ-F FX5 User's Manual

(Positioning Control - Intelligent function module)

3.4 Grounding

Ground the PLC as stated below.

•Perform class D grounding. (Grounding resistance: 100 Ωor less)

•Ground the PLC independently if possible.

If the PLC cannot be grounded independently, perform the "Shared grounding"

shown below. For details, refer to the following manual.

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

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

Manufacturer Sleeve Ferrules model Suitable

wiring size Crimp tool

PHOENIX

CONTACT

GmbH & Co. KG

Ferrules

with

insulation

sleeve

AI 0.25-8 YE 0.25 mm2

CRIMPFOX 6

AI 0.34-8 TQ

0.3, 0.34 mm

AI 0.5-8 WH 0.5 mm2

AI 0.75-8 GY 0.75 mm2

Ferrules

without

insulation

sleeve

A 0,25-7 0.25 mm2

A 0,34-7

0.3, 0.34 mm

A 0,5-8 0.5 mm2

A 0,75-8 0.75 mm2

AI 1.0-8 1.0 mm2

AI 1.5-7

1.25, 1.5 mm

Manufacturer Model

PHOENIX CONTACT GmbH & Co. KG SZS 0.4×2.5 VDE

8 mm

Contact area

(Crimp area)

14 mm

2 to 2.8 mm

Insulation sleeve

- Ferrule with insulation sleeve

10 mm

- Strand wire/single wire

1.5 mm

2.4 mm

Terminal

block

Sectional shape of a wire ferrule

When using a tool of the reference

product, the sectional shape becomes

a trapezoid close to a rectangle.

Shape of the wire

insertion opening

(Green)

( Black )

( Red )

•Bring the grounding point close to the PLC as much as possible so that the ground

cable can be shortened.

4. Specification

4.1 Applicable CPU Module

*1 FX5-CNV-IFC or FX5-C1PS-5V is necessary to connect FX5-20PG-P to the

FX5UC CPU module.

4.2 Applicable Software Package

4.3 General Specifications

The items other than the following are equivalent to those of the CPU module.

For the general specification, refer to the following manual.

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

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

DESIGN PRECAUTIONS

•Make sure to set up the following safety circuits outside the PLC to ensure safe

system operation even during external power supply problems or PLC failure.

Otherwise, malfunctions may cause serious accidents.

- Most importantly, set up the following: an emergency stop circuit, a protection

circuit, an interlock circuit for opposite movements (such as normal vs. reverse

rotation), and an interlock circuit (to prevent damage to the equipment at the

upper and lower positioning limits).

- 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 that

cannot be detected by the CPU module occurs in an input/output control block,

output control may be disabled. External circuits and mechanisms should be

designed to ensure safe 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 PLC are

disabled, and all outputs are turned off. External circuits and mechanisms

should be designed to ensure safe machinery operation in such a case.

- Note that when an error occurs in a relay, transistor or triac of an output circuit,

the output might stay on or off. For output signals that may lead to serious

accidents, external circuits and mechanisms should be designed to ensure

safe machinery operation in such a case.

•

At Forward/Reverse rotation limits, make sure to wire the contacts with NC,

negative-logic. Wiring contacts with NO, positive-logic may cause serious accidents.

•

In an output circuit, when a load current exceeding the current rating or an

overcurrent caused by a load short-circuit flows for a long time, it may cause smoke

and fire. To prevent this, configure an external safety circuit, such as a fuse.

DESIGN PRECAUTIONS

•Simultaneously turn on and off the power supplies of the CPU module and

extension modules.

STARTUP AND MAINTENANCE

PRECAUTIONS

•Do not disassemble or modify the PLC.

Doing so may cause fire, equipment failures, or malfunctions.

For repair, contact your local Mitsubishi Electric representative.

•Do not drop the product or exert strong impact to it. Doing so may cause damage.

DISPOSAL PRECAUTIONS

•Please contact a certified electronic waste disposal company for the

environmentally safe recycling and disposal of your device.

TRANSPORTATION

PRECAUTIONS

•The product 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 product. After transportation, verify

operation of the product and check for damage of the mounting part, etc.

Model name Applicability

FX5U CPU module Ver. 1.050 or later

FX5UC CPU module*1 Ver. 1.050 or later

Software Applicability

FX5-20PG-P FX5-20PG-D

GX Works3 Ver. 1.035M or later Ver. 1.050C or later

Items Specifications

Dielectric withstand

voltage 500 V AC for 1 minute Between all terminals and

ground terminal

Insulation resistance

10 MΩor higher by 500 V DC

insulation resistance tester

PLC Other

equipment

PLC Other

equipment

PLC Other

equipment

Shared grounding

(Good condition)

Common grounding

(Not allowed)

Independent grounding

(Best condition)

4.4 Power Supply Specifications

4.5 Performance Specifications

4.6 Input Specifications

4.6.1 Drive unit READY signal (READY), Stop signal (STOP), Upper limit

signal (FLS), Lower limit signal (RLS)

4.6.2 Zero signal (PG05/PG024)

4.6.3 Manual pulse generator A phase (PULSER A)/ Manual pulse

generator B phase (PULSER B)

4.6.4 Near-point dog signal (DOG)

Items Specifications

FX5-20PG-P FX5-20PG-D

External

power

supply

Power supply voltage 24 V DC +20%, -15%

Allowable instantaneous

power failure time

Operation continues when the instantaneous

power failure is shorter than 5 ms.

Current consumption 120 mA 165 mA

Items Specifications

FX5-20PG-P FX5-20PG-D

Number of control axes 2 axes

Pulse output form Transistor Differential driver

Interpolation function 2-axis linear interpolation, 2-axis circular interpolation

Control method

PTP (Point To Point) control, path control (line and arc

can be set), speed control, speed-position switching

control, position-speed switching control

Control unit mm, inch, degree, pulse

Positioning data 600 data/axis

Maximum connection

distance between servos 2 m 10 m

Number of write

accesses to flash ROM 100000 times maximum

Number of occupied

I/O points 8 points

Items Specifications

Signal voltage 24 V DC

Input current 5 mA

ON current 3.5 mA or more

OFF current 1.7 mA or less

Signal format

No-voltage contact input

Sink: NPN open collector transistor

Source: PNP open collector transistor

Response time 4 ms or less

Insulation of circuit Photo-coupler insulation

Indication of operation

None (Operation check via buffer memory is possible.)

Items Specifications

PG05 PG024

Signal voltage 5 V DC 24 V DC

Input current 5 mA

ON current 2 mA or more 3 mA or more

OFF current 0.5 mA or less 0.2 mA or less

Signal format NPN open collector transistor

Response time 1 ms or less

Insulation of circuit Photo-coupler insulation

Indication of operation

None (Operation check via buffer memory is possible.)

Items Specifications

Signal voltage 5 V DC

Input current 14 mA

ON current 2 mA or more

OFF current 0.2 mA or less

Signal format NPN open collector transistor

Response frequency 100 kHz

Insulation of circuit Photo-coupler insulation

Indication of operation

None (Operation check via buffer memory is possible.)

Items Specifications

Signal voltage 24 V DC

Input current 5 mA

ON current 3.5 mA or more

OFF current 1.7 mA or less

4.6.5 External command signal (CHG)

4.7 Output Specifications

4.7.1 Deviation counter clear signal (CLEAR)

4.7.2 Pulse output (PULSE R/ PULSE F) [FX5-20PG-P]

4.7.3 Pulse output (PULSE R+/PULSE F+) [FX5-20PG-D]

Specification of a differential driver (equivalent to AM26C31).

Items Specifications

Signal format

No-voltage contact input

Sink: NPN open collector transistor

Source: PNP open collector transistor

Response time 1 ms or less

Insulation of circuit Photo-coupler insulation

Indication of operation

None (Operation check via buffer memory is possible.)

Items Specifications

Signal voltage 24 V DC

Input current 5 mA

ON current 2.7 mA or more

OFF current 0.8 mA or less

Signal format

No-voltage contact input

Sink: NPN open collector transistor

Source: PNP open collector transistor

Response time 20 μs

Insulation of circuit Photo-coupler insulation

Indication of operation None

(Operation check via buffer memory is possible.)

Items Specifications

Pulse output form Transistor

Signal output time 1 to 65535 ms

Rated load voltage 5 to 24 V DC

Max. load current 100 mA

Output ON voltage 1.5 V or less

Indication of operation

None (Operation check via buffer memory is possible.)

Items Specifications

Pulse output form Transistor

Output form

PULSE/SIGN mode, CW/CCW mode,

A phase/B phase (multiple of 4),

A phase/B phase (multiple of 1)

Output frequency 1 pps to 200 kpps

Rated load voltage 5 to 24 V DC

Max. load current 50 mA

Output ON voltage 1.0 V or less

Indication of operation

None (Operation check via buffer memory is possible.)

MELSEC iQ-F FX5-20PG-

Hardware Manual

This manual describes the part names, dimensions, installation, and

specifications of the product. Before use, read this manual and manuals of

relevant products fully to acquire proficiency in handling and operating the

product. Make sure to learn all the product information, safety information, and

precautions.

And, store this manual in a safe place so that you can take it out and read it

whenever necessary. Always forward it to the end user.

Registration:

The company name and the product name to be described in this manual are the

registered trademarks or trademarks of each company.

Effective October 2018

Specifications are subject to change without notice.

Manual Number JY997D74101

Revision B

Date October 2018