Mitsubishi Electric MELSEC iQ-F FX5 User manual

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

1
SAFETY PRECAUTIONS
(Read these precautions before use.)
Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full
attention to safety in order to handle the product correctly.
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.
It is important to follow all precautions for personal safety.
Store this manual in a safe place so that it can be read whenever necessary. Always forward it to the end user.
[DESIGN PRECAUTIONS]
[DESIGN PRECAUTIONS]
WARNING
●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.
CAUTION
●Simultaneously turn on and off the power supplies of the CPU module and extension modules.
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
[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 User's Manual
(Hardware) of the CPU module 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.
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 PLC. Failure to do so may cause fire, equipment failures or malfunctions.
●For the product 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 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.
●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 device cables, input/output cables and battery connecting
cable securely to their designated connectors. Loose connections may cause malfunctions.
●Turn off the power to the PLC 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

3
[WIRING PRECAUTIONS]
[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.
●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 or less). Make
sure 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 end of strand wire 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.
- Affix the electric wires so that neither the terminal block nor the connected parts are directly
stressed.
CAUTION
●Perform class D grounding (grounding resistance: 100 Ωor less) of the grounding terminal on the
CPU module with a wire 2 mm2or thicker. Do not use common grounding with heavy electrical
systems (refer to the User's Manual (Hardware) of the CPU module used).
●Connect the power supply wiring to the dedicated terminals described in this manual. If an AC power
supply is connected to a DC input/output terminal or DC power supply terminal, the PLC 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 or I/O
connectors. Failure to do so may result in wire damage/breakage or PLC failure.
●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 I/O 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 and I/O cables at least
100 mm away from the main circuit, high-voltage line, load line or power line.

4
[STARTUP AND MAINTENANCE PRECAUTIONS]
[STARTUP AND MAINTENANCE PRECAUTIONS]
[OPERATION PRECAUTIONS]
[DISPOSAL PRECAUTIONS]
[TRANSPORTATION PRECAUTIONS]
WARNING
●Do not touch any terminal while the PLC'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 in operation, forcible output, running or stopping the PLC, read through
this manual carefully, and ensure complete safety. An operation error may damage the machinery or
cause accidents.
CAUTION
●Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions.
For repair, contact your local Mitsubishi Electric representative.
●Turn off the power to the PLC before connecting or disconnecting any extension cable. Failure to do
so may cause equipment failures or malfunctions.
●Turn off the power to the PLC 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
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 PLC in operation. Read the manual
thoroughly and ensure complete safety before executing other controls (for program change,
parameter change, forcible output and operation status change) of the PLC in operation. Otherwise,
the machine may be damaged and accidents may occur by erroneous operations.
CAUTION
●Please contact a certified electronic waste disposal company for the environmentally safe recycling
and disposal of your device.
CAUTION
●The PLC is a precision instrument. During transportation, avoid impacts larger than those specified in
the general specifications of the User's Manual (Hardware) of the CPU module by using dedicated
packaging boxes and shock-absorbing palettes. Failure to do so may cause failures in the PLC. After
transportation, verify operation of the PLC and check for damage of the mounting part, etc.

5
INTRODUCTION
This manual contains text, diagrams and explanations which will guide the reader in the correct installation, safe use and
operation of the positioning module of MELSEC iQ-F series and should be read and understood before attempting to install or
use the module.
Always forward it to the end user.
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.

6
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
CHAPTER 1 DESCRIPTION 15
CHAPTER 2 SPECIFICATIONS 16
2.1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2 Power Supply Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.4 External Device Output Interface Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
I/O signals electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.5 Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
LED display specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
CHAPTER 3 PROCEDURES BEFORE OPERATIONS 22
CHAPTER 4 FUNCTIONS LIST 24
4.1 Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.2 Positioning Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.3 Main Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.4 Sub Function, Common Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.5 Combining Main and Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.6 Combining Various Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
CHAPTER 5 SYSTEM CONFIGURATION 42
CHAPTER 6 WIRING 44
6.1 Power Supply Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
6.2 Connector Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Usable connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Connector wiring methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Connecting the connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Wiring example when using shielded cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
6.3 Connector for Connecting External Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Connector signal array for connecting external devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
List of I/O signal detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Internal I/O interface circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
CHAPTER 7 STARTING AND STOPPING 55
7.1 Starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Normal start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Quick start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Multiple axes simultaneous start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
7.2 Stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

7
CONTENTS
7.3 Restarting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
CHAPTER 8 OPR CONTROL 72
8.1 Overview of the OPR Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Two types of OPR controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
8.2 Machine OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Operation overview of the machine OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Machine OPR method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Near-point dog method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Stopper method 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Stopper method 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Stopper method 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Count method 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Count method 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Data setting method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
8.3 Fast OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Operation overview of the fast OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
CHAPTER 9 MAJOR POSITIONING CONTROL 93
9.1 Overview of the Major Positioning Controls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Data required for major positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Operation pattern of major positioning control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Specifying the positioning address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Checking the current value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Handling degree (control unit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Interpolation control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
9.2 Positioning Data Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Relation between each control and positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
1-axis linear control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
2-axis linear interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Fixed-feed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
2-axis circular interpolation control with the sub point specified . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
2-axis circular interpolation control with the center point specified . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Speed-position switching control (INC mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Speed-position switching control (ABS mode). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Position-speed switching control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Current value change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
NOP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
JUMP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
LOOP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
LEND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
CHAPTER 10 ADVANCED POSITIONING CONTROL 165
10.1 Overview of Advanced Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Data required for advanced positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Block start data and Condition data configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
10.2 Implementation Procedure for Advanced Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168
10.3 Setting the Block Start Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Relation between various controls and block start data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

8
Block start (normal start) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Condition start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Wait start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Simultaneous start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Repeated start (FOR loop) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Repeated start (FOR condition). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Restrictions when the NEXT start is used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
10.4 Setting the Condition Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Relation between various controls and condition data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Setting examples of the condition data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
10.5 Start Program for the Advanced Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Starting the advanced positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Start program example for the advanced positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
CHAPTER 11 MANUAL CONTROL 185
11.1 Overview of the Manual Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Three manual control methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
11.2 JOG Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Overview of the JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Operation procedure of the JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Parameters required for the JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Creating a start program for the JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Operation example of the JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
11.3 Inching Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Operation overview of the inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Operation procedure of the inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Parameters required for the inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Creating a start program for the inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Operation example of the inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
11.4 Manual Pulse Generator Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Operation overview of the manual pulse generator operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Operation procedure of the manual pulse generator operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Parameters required for the manual pulse generator operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Creating a program to enable or disable the manual pulse generator operation . . . . . . . . . . . . . . . . . . . . . . . 207
CHAPTER 12 CONTROL SUB FUNCTION 209
12.1 Overview of Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Overview of Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
12.2 Sub Functions Specific to Machine OPR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
OPR retry function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
OP shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
12.3 Function to Compensate Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Backlash compensation function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Electronic gear function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Near pass function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Output timing selection of near pass control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
12.4 Function to Limit Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Speed limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Torque limit function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Software stroke limit function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

9
CONTENTS
Hardware stroke limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
12.5 Functions that Change Control Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Speed change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Override function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
Acceleration/deceleration time change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
Torque change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
Target position change function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
12.6 Function Related to Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Pre-reading start function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Start time adjustment function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
12.7 Absolute Position Restoration Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
Configuration and preparation of the absolute position detection system . . . . . . . . . . . . . . . . . . . . . . . . . . . . .262
Overview of the absolute position detection system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
Transmission procedure for absolute position signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
Control precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
Restrictions on movement amounts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
12.8 Function Related to Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Stop command processing for deceleration stop function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Continuous operation interrupt function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
Step function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
12.9 Other Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Skip function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
M code output function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
Teaching function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Command in-position function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Acceleration/deceleration processing function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Deceleration start flag function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
During uncompleted OPR operation setting function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
Interrupt function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
CHAPTER 13 COMMON FUNCTIONS 300
13.1 Overview of Common Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
13.2 Module Data Initialization Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
13.3 Module Data Backup Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
13.4 External I/O Signal Logic Switching Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
13.5 History Monitor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
13.6 Amplifier-less Operation Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
CHAPTER 14 PARAMETER SETTING 311
14.1 Parameter Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
14.2 Module Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Basic setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Application setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
Interrupt setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
Refresh settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
14.3 Module Extension Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Block start data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

10
CHAPTER 15 MONITORING/TEST 327
15.1 Positioning Monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
15.2 Positioning Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
CHAPTER 16 SPECIFICATIONS OF I/O SIGNALS WITH CPU MODULE 338
16.1 List of I/O Signals with CPU Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
16.2 Details of Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
16.3 Details of Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
CHAPTER 17 DATA USED FOR POSITIONING CONTROL 341
17.1 Types of Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Parameters and data required for the control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Setting items for positioning parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Setting items for OPR parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
Setting items for positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
Block start data setting items. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
Setting items for condition data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
17.2 List of Buffer Memory Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
17.3 Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
Basic parameter 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
Basic parameter 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Detailed parameter 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
Detailed parameter 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
OPR basic parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
OPR detailed parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
17.4 Positioning Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
17.5 Block Start Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
17.6 Condition Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
17.7 Monitor Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
System monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
Axis monitor data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
17.8 Control Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
System control data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Axis control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
17.9 Interrupt Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472
17.10 Basic Parameter 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474
17.11 Parameter Reflection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
CHAPTER 18 PROGRAMMING 479
18.1 Precautions on Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
18.2 Creating Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480
Overall configuration of programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480
18.3 Example Positioning Program Using Labels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
List of Labels Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
Program example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484
CHAPTER 19 TROUBLESHOOTING 500
19.1 Troubleshooting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
Checks with LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
Check of module status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501

11
CONTENTS
19.2 Troubleshooting by Symptom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502
19.3 Error and Warning Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504
Error type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504
Error code classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505
Error storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505
Warning type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
Warning classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
Warning storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
Clearing errors or warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
19.4 List of Warning Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
19.5 List of Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
APPENDICES 534
Appendix 1 Dimensions Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
Appendix 2 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Certification of UL, cUL standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Compliance with EC directive (CE Marking) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Requirement for compliance with EMC directive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Caution for compliance with EC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
Appendix 3 Module Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537
Appendix 4 Dedicated Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539
Appendix 5 How to Find Buffer Memory Addresses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
Appendix 6 External Connection Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
Mitsubishi Electric servo amplifier connection example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
Appendix 7 Configuration Device List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546
Appendix 8 Precautions for Using a Stepping Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547
INDEX 548
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .552
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .553
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .554

12
RELEVANT MANUALS
Manual name <manual numbers> Description
MELSEC iQ-F FX5 User's Manual (Startup)
<JY997D58201>
Performance specifications, procedures before operation, and
troubleshooting of the CPU module.
MELSEC iQ-F FX5U User's Manual (Hardware)
<JY997D55301>
Describes the details of hardware of the FX5U CPU module, including input/
output specifications, wiring, installation, and maintenance.
MELSEC iQ-F FX5UC User's Manual (Hardware)
<JY997D61401>
Describes the details of hardware of the FX5UC CPU module, including
input/output specifications, wiring, installation, and maintenance.
MELSEC iQ-F FX5 User's Manual (Application)
<JY997D55401>
Describes basic knowledge required for program design, functions of the
CPU module, devices/labels, and parameters.
MELSEC iQ-F FX5 Programming Manual (Program Design)
<JY997D55701>
Describes specifications of ladders, ST, FBD/LD, and other programs and
labels.
MELSEC iQ-F FX5 Programming Manual (Instructions, Standard Functions/
Function Blocks)
<JY997D55801>
Describes specifications of instructions and functions that can be used in
programs.
MELSEC iQ-F FX5 User's Manual (Serial Communication)
<JY997D55901>
Describes N:N network, Parallel link, MELSEC Communication protocol,
inverter communication, non-protocol communication, and predefined
protocol support.
MELSEC iQ-F FX5 User's Manual (MELSEC Communication Protocol)
<JY997D60801>
Explains methods for the device that is communicating with the CPU
module by MC protocol to read and write the data of the CPU module.
MELSEC iQ-F FX5 User's Manual (MODBUS Communication)
<JY997D56101>
Describes MODBUS serial communication.
MELSEC iQ-F FX5 User's Manual (Ethernet Communication)
<JY997D56201>
Describes the functions of the built-in Ethernet port communication function.
MELSEC iQ-F FX5 User's Manual (SLMP)
<JY997D56001>
Explains methods for the device that is communicating with the CPU
module by SLMP to read and write the data of the CPU module.
MELSEC iQ-F FX5 User's Manual (CC-Link IE)
<JY997D64201>
Describes CC-Link IE field network module.
MELSEC iQ-F FX5 User's Manual (CC-Link)
<SH-081793ENG>
Describes CC-Link system master/intelligent device module.
MELSEC iQ-F FX5 User's Manual (ASLINK)
<SH-081796ENG>
Describes AnyWireASLINK system master module.
MELSEC iQ-F FX5 User's Manual (Positioning Control - CPU module built-in,
High-speed pulse input/output module)
<JY997D56301>
Describes the positioning function of the CPU module built-in and the high-
speed pulse input/output module.
MELSEC iQ-F FX5 User's Manual (Positioning Control - Intelligent function
module) (This manual)
<SH-081805ENG>
Describes the positioning module.
MELSEC iQ-F FX5 Simple Motion Module User's Manual (Startup)
<IB0300251>
Specifications, procedures before operation, system configuration, wiring,
and operation examples of the Simple Motion module.
MELSEC iQ-F FX5 Simple Motion Module User's Manual (Application)
<IB0300253>
Functions, input/output signals, buffer memories, parameter settings,
programming, and troubleshooting of the Simple Motion module.
MELSEC iQ-F FX5 Simple Motion Module User's Manual (Advanced
Synchronous Control)
<IB0300255>
Functions and programming for the synchronous control of the Simple
Motion module.
MELSEC iQ-F FX5 User's Manual (Analog Control - CPU module builtin,
Expansion adapter)
<JY997D60501>
Describes the analog function of the CPU module built-in and the analog
adapter.
MELSEC iQ-F FX5 User's Manual (Analog Control - Intelligent function module)
<SH-081802ENG>
Describes the multiple input module (voltage, current, thermocouple, and
resistance temperature detector).
MELSEC iQ-F FX5 User's Manual (Temperature Control)
<SH-081799ENG>
Describes the temperature control module.
GX Works3 Operating Manual
<SH-081215ENG>
System configuration, parameter settings, and online operations of GX
Works3.
Transition from MELSEC FX3U, FX3UC Series to MELSEC iQ-F Series
Handbook
<JY997D66201>
Describes the transition from MELSEC FX3U/FX3UC series to MELSEC iQ-
F series.

13
TERMS
Unless otherwise specified, this manual uses the following terms.
For details on the FX3 devices that can be connected with the FX5, refer to the User’s Manual (Hardware) of the CPU module
to be used.
Terms Description
■Device
FX5 Generic term for FX5U and FX5UC PLCs
FX3 Generic term for FX3S, FX3G, FX3GC, FX3U, and FX3UC PLCs
FX5 CPU module Generic term for FX5U CPU module and FX5UC CPU module
FX5U CPU module Generic term for FX5U-32MR/ES, FX5U-32MT/ES, FX5U-32MT/ESS, FX5U-64MR/ES, FX5U-64MT/ES,
FX5U-64MT/ESS, FX5U-80MR/ES, FX5U-80MT/ES, FX5U-80MT/ESS, FX5U-32MR/DS, FX5U-32MT/DS,
FX5U-32MT/DSS, FX5U-64MR/DS, FX5U-64MT/DS, FX5U-64MT/DSS, FX5U-80MR/DS, FX5U-80MT/DS, and
FX5U-80MT/DSS
FX5UC CPU module Generic term for FX5UC-32MT/D, FX5UC-32MT/DSS, FX5UC-64MT/D, FX5UC-64MT/DSS, FX5UC-96MT/D,
and FX5UC-96MT/DSS
Extension module Generic term for FX5 extension modules and FX3 function modules
• FX5 extension module Generic term for I/O modules, FX5 extension power supply modules, and FX5 intelligent function modules
• FX3 extension module Generic term for FX3 extension power supply module and FX3 intelligent function module
• Extension module (extension cable type) Generic term for Input modules (extension cable type), Output modules (extension cable type), Input/output
modules (extension cable type), Powered input/output module, High-speed pulse input/output module,
Extension power supply module (extension cable type), Connector conversion module (extension cable type),
Intelligent function modules, and Bus conversion module (extension cable type)
• Extension module (extension connector
type)
Generic term for Input modules (extension connector type), Output modules (extension connector type), Input/
output modules (extension connector type), Extension power supply module (extension connector type),
Connector conversion module (extension connector type), and Bus conversion module (extension connector
type)
I/O module Generic term for Input modules, Output modules, Input/output modules, Powered input/output modules, and
High-speed pulse input/output modules
Input module Generic term for Input modules (extension cable type) and Input modules (extension connector type)
• Input module (extension cable type) Generic term for FX5-8EX/ES and FX5-16EX/ES
• Input module (extension connector type) Generic term for FX5-C16EX/D, FX5-C16EX/DS, FX5-C32EX/D, and FX5-C32EX/DS
Output module Generic term for Output modules (extension cable type) and Output modules (extension connector type)
• Output module (extension cable type) Generic term for FX5-8EYR/ES, FX5-8EYT/ES, FX5-8EYT/ESS, FX5-16EYR/ES, FX5-16EYT/ES, and FX5-
16EYT/ESS
• Output module (extension connector type) Generic term for FX5-C16EYT/D, FX5-C16EYT/DSS, FX5-C32EYT/D, and FX5-C32EYT/DSS
Input/output module Generic term for Input/output modules (extension cable type) and Input/output modules (extension connector
type)
• Input/output module (extension cable
type)
Generic term for FX5-16ER/ES, FX5-16ET/ES, and FX5-16ET/ESS
• Input/output module (extension connector
type)
Generic term for FX5-C32ET/D and FX5-C32ET/DSS
Powered input/output module Generic term for FX5-32ER/ES, FX5-32ET/ES, FX5-32ET/ESS, FX5-32ER/DS, FX5-32ET/DS, and FX5-32ET/
DSS
High-speed pulse input/output module Generic term for FX5-16ET/ES-H and FX5-16ET/ESS-H
Extension power supply module Generic term for FX5 extension power supply module and FX3 extension power supply module
• FX5 extension power supply module Generic term for FX5 extension power supply module (extension cable type) and FX5 extension power supply
module (extension connector type)
• FX5 extension power supply module
(extension cable type)
Different name for FX5-1PSU-5V
• FX5 extension power supply module
(extension connector type)
Different name for FX5-C1PS-5V
• FX3 extension power supply module Different name for FX3U-1PSU-5V
Intelligent module The abbreviation for intelligent function modules
Intelligent function module Generic term for FX5 intelligent function modules and FX3 intelligent function modules
• FX5 intelligent function module Generic term for FX5-8AD, FX5-4LC, FX5-20PG-P, FX5-40SSC-S, FX5-80SSC-S, FX5-CCLIEF, FX5-CCL-MS,
and FX5-ASL-M

14
• FX3 intelligent function module Generic term for FX3U-4AD, FX3U-4DA, FX3U-4LC, FX3U-1PG, FX3U-2HC, FX3U-16CCL-M, FX3U-64CCL,
and FX3U-128ASL-M
Expansion board Generic term for board for FX5U CPU module
• Communications board Generic term for FX5-232-BD, FX5-485-BD, and FX5-422-BD-GOT
Expansion adapter Generic term for adapter for FX5 CPU module
• Communication adapter Generic term for FX5-232ADP and FX5-485ADP
• Analog adapter Generic term for FX5-4AD-ADP, FX5-4DA-ADP, FX5-4AD-PT-ADP, and FX5-4AD-TC-ADP
Bus conversion module Generic term for Bus conversion module (extension cable type) and Bus conversion module (extension
connector type)
• Bus conversion module (extension cable
type)
Different name for FX5-CNV-BUS
• Bus conversion module (extension
connector type)
Different name for FX5-CNV-BUSC
Connector conversion module Generic term for Connector conversion module (extension cable type) and Connector conversion module
(extension connector type)
• Connector conversion module (extension
cable type)
Different name for FX5-CNV-IF
• Connector conversion module (extension
connector type)
Different name for FX5-CNV-IFC
Extended extension cable Generic term for FX5-30EC and FX5-65EC
Connector conversion adapter Different name for FX5-CNV-BC
Battery Different name for FX3U-32BL
SD memory card Generic term for NZ1MEM-2GBSD, NZ1MEM-4GBSD, NZ1MEM-8GBSD, NZ1MEM-16GBSD, L1MEM-
2GBSD, and L1MEM-4GBSD memory cards
Abbreviation of Secure Digital Memory Card. Device that stores data using flash memory.
Peripheral device Generic term for engineering tools and GOTs
GOT Generic term for Mitsubishi Electric Graphic Operation Terminal GOT1000 and GOT2000 series
■Software package
Engineering tool The product name of the software package for the MELSEC PLCs
GX Works3 The product name of the software package, SWnDND-GXW3, for the MELSEC programmable controllers (The
'n' represents a version.)
■Positioning-related
Positioning module Different name for FX5-20PG-P
Global label A label that is valid for all the program data when multiple program data are created in the project. The global
label has two types: a module specific label (module label), which is generated automatically by GX Works3,
and an optional label, which can be created for any specified device.
Quick start mode A mode where the module operates with the start time of 0.3 ms. Unless otherwise specified, the functions
described in this manual are for when quick start mode is set.
Drive unit (servo amplifier) A unit that amplifies pulses that are output from the positioning module to control a motor. The unit is provided
with a servomotor or stepping motor. It is also called a servo amplifier.
Module label A text string that represents a buffer memory area specific to each module. For the module used, GX Works3
automatically generates this label, which can be used as a global label.
Terms Description

1 DESCRIPTION
15
1
1DESCRIPTION
The positioning module is an intelligent function module for high speed, high precision positioning with servo motors or
stepping motors via drive units.
Positioning control is easy
The positioning module controls the position and speed using the positioning data set using GX Works3. 600 positioning data
max. can be set per axis.
Multiple positioning start methods
The positioning module has normal start in addition to high-speed start and multiple axes simultaneous start.
Positioning controls can be started quickly by analyzing in advance the data executed immediately after the current operation
to prevent the analysis time affecting the start. Multiple axes simultaneous start can start the axis to be started and its partner
axis simultaneously using the same timing. Further, block start that operates sequentially according to multiple positioning
start data groups is also possible.
Abundant positioning control functions
The positioning module includes positioning control functions such as OPR control, positioning control, and manual control,
etc., and can also use sub functions such as limits and additional functions in counterpoints to these controls.
■OPR control
Near point dog, stopper, count, and data set are available as OPR control methods for "Machine OPR".
■Major positioning control
The major positioning control methods are position control, speed control, position-speed switching control, and position-
speed switching control, etc. Position and speed controls, etc., can be set for each axis using the timing chosen by the
operator, and can also implement interpolation control using multiple axes.
■Advanced positioning control
Multiple positioning data can be positioned continuously using a single positioning start. Further, multiple positioning data can
comprise one block, and continuous multiple block positioning is also possible.
■Manual control
Manual operations are classified as JOG operations, inching operations, and manual pulse generator operations.
■Sub function
Sub functions compensate or limit the control, or add functions to the control during positioning. More appropriate and highly
accurate control can be performed by using these sub functions.
Programming is easy
Using positioning module special commands such as absolute OPR commands, positioning start commands, and teaching
commands, etc., enables programs to be simplified. Further, using a function block (FB) enables reduced programming/
debugging man hours and improved program readability.
High maintainability
The positioning module can be maintained easily as described below.
• The history monitor functions, which enable the start history, error history, and warnings history to be monitored during
positioning operations, enables the positioning module operations status to be checked.
• Checking the parameters and monitoring the control status using GX Works3 for monitoring and testing makes debugging
more efficient.

16 2 SPECIFICATIONS
2.1 General Specifications
2SPECIFICATIONS
This chapter describes the positioning module specifications.
2.1 General Specifications
General specifications other than those described below are the same as for the connected CPU module.
See the following manuals for the general specifications.
MELSEC iQ-F FX5U User's Manual (Hardware)
MELSEC iQ-F FX5UC User's Manual (Hardware)
2.2 Power Supply Specifications
Describes the power source specifications.
2.3 Performance Specifications
Describes the performance specifications.
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
Items Specifications
External power supply Power source 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
Items Specifications
Number of control axes 2 axes
Pulse output form Transistor
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
Module Data Backup Function Save the positioning data and block start data using (battery-free) flash ROM

2 SPECIFICATIONS
2.3 Performance Specifications 17
2
*1 Speed-position switching control (ABS mode) can be used with "degree" control units only.
*2 The positioning data analysis time depends on the operations status of its axis. This manual describes the start time and operations
timing with all axis operations stopped.
*3 The "quick start function" start time is the time from when the start trigger (positioning start signal or external start command signal) is
received until pulse outputs start after positioning data analysis has finished.
*4 Settable only when using the "quick start function".
*5 Connecting a FX5UC CPU module requires either a FX5-CNV-IFC or FX5-C1PS-5V.
Positioning Positioning system PTP control: Incremental system/absolute system
Speed-position switching control: Incremental system/absolute system
Position-speed switching control: Incremental system
Path control: Incremental system/absolute system
Positioning range ■When using the absolute system
• -214748364.8 to 214748364.7 μm
• -21474.83648 to 21474.83647 inch
• 0 to 359.99999 degree
• -2147483648 to 2147483647 pulse
■When using the incremental system
• -214748364.8 to 214748364.7 μm
• -21474.83648 to 21474.83647 inch
• -21474.83648 to 21474.83647 degree
• -2147483648 to 2147483647 pulse
■When using speed-position switching control (INC mode) and position-speed switching control
• 0 to 214748364.7 μm
• 0 to 21474.83647 inch
• 0 to 21474.83647 degree
• 0 to 2147483647 pulse
■When using speed-position switching mode (ABS control)*1
• 0 to 359.99999 degree
Speed commands 0.01 to 20000000.00 mm/min
0.001 to 2000000.000 inch/min
0.001 to 3000000.000 degree/min
1 to 5000000 pulse/s
Acceleration/deceleration processing Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Acceleration/deceleration time 1 to 8388608 ms: both acceleration and deceleration times have 4 settable patterns
Sudden stop deceleration time 1 to 8388608 ms
Start time*2 1-axis linear control 0.5 ms
1-axis speed control 0.5 ms
2-axis linear interpolation control
(Composite speed)
0.65 ms
2-axis linear interpolation control
(reference axis speed)
0.65 ms
2-axis circular interpolation control 0.83 ms
2-axis speed control 0.83 ms
Quick start
function*2*3
Start with a positioning start signal 30 μs
Start with an external command signal 20 μs
Start time adjustment function*4 0.00 to 10000.00 ms (in increments of 0.01 ms)
External connection method 40-pin connector
Applicable power
cable size
When using A6CON1 or A6CON4 Wire from 0.088 to 0.3 (AWG28 to 22)
When using A6CON2 Wire from 0.088 to 0.24 (AWG28 to 24)
External wiring connector A6CON1, A6CON2, A6CON4 (sold separately)
Maximum output pulse 200000 pulse/s
Maximum manual pulse generator input frequency 100000 pulse/s
Manual pulse generator 1 pulse input magnification 1 to 10000
Maximum connection distance between servos 2 m
Number of write accesses to flash ROM 100000 times maximum
Number of occupied I/O points 8 points
Applicable CPU module • FX5U CPU module (Ver.1.050 or later)
• FX5UC CPU module*5 (Ver.1.050 or later)
Applicable engineering tool GX Works3 (Ver. 1.035M or later)
Items Specifications

18 2 SPECIFICATIONS
2.4 External Device Output Interface Specifications
2.4 External Device Output Interface Specifications
I/O signals electrical specifications
Input specifications
*1 Value of response frequency.
Output specifications
Signal name Rated input
voltage/
current
Use voltage
range
ON voltage/
current
OFF voltage/
current
Input
resistance
Response
time
Drive unit READY signal (READY)
Stop signal (STOP)
Upper limit signal (FLS)
Lower limit signal (RLS)
24 V DC/5 mA 19.2 to
26.4 V DC
17.5 V DC or more/
3.5 mA or more
7 V DC or less/
1.7 mA or less
Approx. 4.7 kΩ4 ms or less
Zero signal (PG05/PG024) 5 V DC/5 mA 4.5 to 6.1 V DC 2 V DC or more/
2 mA or more
0.5 V DC or
less/0.5 mA or
less
Approx. 620Ω1 ms or less
24 V DC/5 mA 12 to 26.4 V DC 10 V DC or more/
3mAormore
3 V DC or less/
0.2 mA or less
Approx. 4.7 kΩ1 ms or less
(1) 3 μs or less
(2) 1 ms or more
AM26LS32 or equivalent differential receiver (ON/OFF level: ON: 1.8 V or more, OFF: 0.6 V or less)
■With manual pulse generator connected
Manual pulse generator phase A
(PULSER A)
Manual pulse generator phase B
(PULSER B)
5 V DC/14 mA 4.5 to 6.1 V DC 2.5 V DC or more/
2 mA or more
1 V DC or less/
0.2 mA or less
Approx. 1.1 kΩ100 kHz*1
■Pulse width (50% duty ratio)
(1) 10 μs or more
(2) 5 μs or more
■When the phase is ahead of the phase difference (i.e., Phase A (φA) is ahead of Phase B (φB), the positioning
address (current value) increases)
(1) 2.5 μs or more
Near-point dog signal (DOG) 24 V DC/5 mA 19.2 to 26.4
VDC
17.5 V DC or more/
3.5 mA or more
7 V DC or less/
1.7 mA or less
Approx. 4.3 kΩ1 ms or less
External command signal (CHG) 24 V DC/5 mA 19.2 to 26.4
VDC
19 V DC or more/
2.7 mA or more
7 V DC or less/
0.8 mA or less
Approx. 7.7 kΩ20 μs
Signal name Rated load
voltage
Rated load
voltage range
Max. load
current/
Inrush
current
Max. voltage
drop when
the device is
turned ON
Leakage
current when
the device is
turned OFF
Response
time
Deviation counter clear signal (CLEAR) 5 to 24 V DC 4.75 to 30 V DC 0.1 A/1 point/
0.4 A 10 ms or
less
1.5 V DC or less 0.1 mA or less 2 ms or less
(resistance load)
Pulse output (PULSE F)
Pulse output (PULSE R)
5 to 24 V DC 4.75 to 30 V DC 50 mA/1 point/
200 mA 10 ms
or less
1.0 V DC or less 0.1 mA or less 
OFF
ON
(2)
(1)(1)
(2)(2)
(1)
A
B
(1)