Mitsubishi Electric MELSEC iQ-F Series Instruction Manual

FACTORY AUTOMATION
Mitsubishi Electric Programmable Controller
MELSEC iQ-F Series
Mitsubishi Electric Programmable Controller
MELSEC iQ-F Series
Quick Connection Guide
Predefined Protocol Support
For Positioning Function Block Library
(IAI Corporation)
Quick Connection Guide
Predefined Protocol Support
For Positioning Function Block Library
(IAI Corporation)
Quick Connection Guide
Predefined Protocol Support
For Positioning Function Block Library
(IAI Corporation)

1
INTRODUCTION
Thank you for purchasing the MELSEC iQ-F series.
This manual describes Predefined Protocol Support Tool For Positioning and FBs for Predefined Protocol Support for
Positioning, which enable positioning operation of the IAI ROBO Cylinder easier than before. Positioning operation is
performed by connecting the FX5U CPU module or FX5UC CPU module and the IAI controller.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the
specifications to handle the product correctly.
When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it
will not cause system control problems.
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, please contact Mitsubishi Electric sales office.
• 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 into the system.

2
Note
• If in doubt at any stage during the installation of the product, always consult a professional electrical engineer who is
qualified and trained to the local and national standards. If in doubt about the operation or use, please contact your local
Mitsubishi Electric representative.
• Mitsubishi Electric will not accept responsibility for actual use of the product based on these illustrative examples. Please
use it after confirming the function and safety of the equipment and system.
• The content, specifications etc. of this manual may be changed, for improvement, without notice.
• 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 your local Mitsubishi Electric representative. When doing so, please provide the manual
number given at the end of this manual.
Introduction for the concept and features of e-Manual Viewer is available on the following website.
www.mitsubishielectric.com/fa/ref/ref.html?k=plceng&smerit=emaviewer_win
The installation file for Windows

can be downloaded from the following website.
www.mitsubishielectric.com/fa/ref/ref.html?k=plceng&software=emaviewer_en
e-Manual Viewer
Quick and satisfying browsing
e-Manual Viewer allows users to browse optimized FA-related documents
such as Mitsubishi Electric FA product manuals.
e-Manual Viewer can be downloaded for free from
the Mitsubishi Electric FA website.
All necessary documents can be easily downloaded with one
click. The latest documents are available at any time.
Program examples contained in a document can be directly copied to
an engineering tool, eliminating the need of inputting the programs.
Easy on-demand download of latest documents
Refine search and fuzzy search are available for
all downloaded documents.
Quick cross document search for
necessary information
Copying program examples to
an engineering tool
The documents can be customized by adding useful information
as a note freely.
Sharing information among multiple users
Intuitive search using illustrations is available for
hardware specifications of the product.
Latest documents and notes can be shared with multiple users
using the document sharing function.

3
CONTENTS
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
GENERIC TERMS AND ABBREVIATIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
KEY FEATURES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
CHAPTER 1 APPLICABLE MODELS 7
CHAPTER 2 PREPARATION 9
2.1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Required Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Wiring an IAI controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Wiring the programmable controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.4 Operation Flow Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
CHAPTER 3 IAI CONTROLLER SETTINGS 15
3.1 Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 Setting Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.3 Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
CHAPTER 4 PROGRAMMABLE CONTROLLER SETTINGS 17
4.1 Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2 Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3 Communication Test for the Programmable Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.4 Writing Data to the Programmable Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.5 Positioning Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
CHAPTER 5 PROGRAM EXAMPLE 33
5.1 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
5.2 FB Library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Downloading the FB library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Importing the FB library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
How to use the FB library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.3 Program Details. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
CHAPTER 6 TROUBLESHOOTING 53
6.1 Checking Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
6.2 Checking the Programmable Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
6.3 Checking the IAI Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
APPENDIX 56
Appendix 1 List of FBs for Predefined Protocol Support for Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Appendix 2 How to Use the Program Copy Function of e-Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Appendix 3 GOT2000 Series Connection Sample Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62

4
RELEVANT MANUALS
The following relevant manuals can be downloaded from the Mitsubishi Electric FA site.
www.mitsubishielectric.co.jp/fa/ref/ref.html?kisyu=plcf&manual=download_all
[: Available, : Not available]
GENERIC TERMS AND ABBREVIATIONS
Unless otherwise specified, this manual uses the following generic terms and abbreviations.
Manual name
<manual number>
Available form
e-Manual PDF
MELSEC iQ-F FX5S/FX5UJ/FX5U/FX5UC User's Manual (Hardware)
<SH-082452ENG>

MELSEC iQ-F FX5 User's Manual (Application)
<JY997D55401>

MELSEC iQ-F FX5 User's Manual (Serial Communication)
<JY997D55901>

MELSEC iQ-F FX5 User's Manual (MODBUS Communication)
<JY997D56101>

MELSEC iQ-F FX5 Predefined Protocol Support for Positioning Function Block Reference (for IAI)
<SH-082262ENG>

GX Works3 Operating Manual
<SH-081215ENG>

Predefined Protocol Support Tool For Positioning Operating Manual
<SH-082176ENG>

PCON, ACON, SCON, RCP6 (PLC Unit) ERC2, ERC3 Serial Communication [Modbus Version]
Operation Manual
<ME0162-10>

PCON-CB Series Controller Instruction Manual
<ME0342-4B>

Generic term/abbreviation Description
FB An abbreviation for Function Block. The FB is a ladder block that is repeatedly used in a sequence program and
designed to be diverted in the sequence program. This improves the efficiency of the program development and
reduces the programming errors, resulting in the improvement in the program quality.
IAI An abbreviation for IAI CORPORATION

5
KEY FEATURES
*1 FB libraries can be downloaded for free from the Mitsubishi Electric FA website.
www.mitsubishielectric.co.jp/fa/ref/ref.html?kisyu=plcf&samplelibrary=download_all
Easy programming using the FB library for Predefined Protocol Support for Positioning
*1
FB (function block) library is a collection of FBs that are used in GX Works3. Various settings (position table settings, servo
ON/OFF, positioning operation) required to operate the IAI controller or ROBO Cylinder can be configured easily by dragging
and dropping FBs from the FB library to a program editor and inputting devices. This can reduce programming cost and
time.
Easy settings with Predefined Protocol Support Tool For Positioning
Writing positioning data and wiring were required for each controller.
Predefined Protocol Support Tool For Positioning enables a system construction only by wiring the programmable controller
to each controller (it is also possible to wire one programmable controller to multiple controllers). This feature reduces the
cost and time required for wiring each controller.
Additionally, communication protocols can be set automatically just with simple settings related to the system configuration.
This reduces the cost and time for the protocol specifications of each controller.
FB FB FB
Converting
ladder blocks into
components
Converting
ladder blocks into
components
Converting
ladder blocks into
components
Programmable controller
Controllermanufactured
byIAI
ROBOCylinder
manufacturedbyIAI
Controllermanufactured
byIAI
ROBOCylinder
manufacturedbyIAI
24VDC power supply 24VDC power supply
Positiontablesetting ServoON/OFF Positioningoperation
Requires a lot of
wiring work
Requires a lot of
wiring work
Requires a lot of
wiring work
Predefined Protocol
Support Tool For
Positioning
Predefined Protocol
Support Tool For
Positioning
Dedicated
tool
Dedicated
tool
Saves wiring
work
Saves wiring
work
Saves wiring
work

6
Reduced debugging time thanks to no need for a program
The status of positioning control, alarms occurred, and other information can be checked in a window of Predefined Protocol
Support Tool For Positioning without a dedicated HMI (Human Machine Interface) or a program. Therefore, debugging
efficiency is dramatically improved.
Status of
ROBO Cylinder is
easy to check
Status of
ROBO Cylinder is
easy to check
Status of
ROBO Cylinder is
easy to check
Operation check is
possible without
a program
Operation check is
possible without
a program
Operation check is
possible without
a program

7
1 APPLICABLE MODELS
1 APPLICABLE MODELS
The following models can be used for a series of operations described in this manual.
*1 For the RCP6S series, the specifications do not allow the MODBUS RTU to read or write the position table information register
(positioning data). Therefore, positioning data cannot be read or written. When using the RCP6S, use a Teaching Pendant or computer
software manufactured by IAI Corporation.
*2 For the ERC3 series with the controller type set to the MEC mode, connection is not available.
Programmable controller IAI controller
FX5U CPU module FX5UC CPU module
The model shown in the figure is of the PCON-CB/
CGB/CBP/CGBP type.
■PCON series
C/CA/CB/CFA/CFB/CF/CY/CYB/SE
■ACON series
C/CA/CB/CY/CYB/SE
■SCON series
C/CA/CAL/CB (not including servo press
specifications)
■DCON series
CA/CB/CYB
■RCP6S
RCP6S
*1
■ERC2 series
Controller-integrated ROBO Cylinder
■ERC3 series
*2
Controller-integrated ROBO Cylinder

1 APPLICABLE MODELS
8
1
MEMO

9
2 PREPARATION
2.1 System Configuration
2 PREPARATION
2.1 System Configuration
This section describes the system configuration in which two IAI controllers are connected to one programmable controller.
FX5U CPU modulePersonalcomputer
InstallGXWorks3inadvance.
Predefined Protocol
Support Tool For
Positioning
Predefined Protocol
Support Tool For
Positioning
Controller
manufactured
byIAI
ROBOCylinder
manufactured
byIAI
Serialcommunication
(MODBUSRTU)
24VDC
power supply
Controller
manufactured
byIAI
ROBOCylinder
manufactured
byIAI
Ethernet

2 PREPARATION
2.2 Required Products
10
2
2.2 Required Products
This manual describes the system configuration for positioning operation performed by connecting two IAI controllers (PCON-
CB) to a programmable controller (FX5U CPU module).
To use applicable products other than the above, refer to the following manuals.
MELSEC iQ-F FX5S/FX5UJ/FX5U/FX5UC User's Manual (Hardware)
Manuals for the IAI controller and ROBO Cylinder being used
*1 To perform serial communication (MODBUS RTU) using a communication board (FX5-485-BD) or communication adapter (FX5-
485ADP), settings different from the parameter settings described in this manual are required. Refer to the following for details.
MELSEC iQ-F FX5 User's Manual (Serial Communication), Section 7.5 Communication Settings
*2 To obtain the latest version, please contact your local Mitsubishi Electric representative.
One programmable controller
*1
Two IAI controllers Personal computer and software
Use an FX5U CPU module that meets the following
conditions.
• Serial number: 17X**** or later
• Firmware version: 1.200 or later
Set the termination resistor selector switch to
110.
■IAI controller (PCON) model list
• PCON-CB
GX Works3
*2
• Applicable software version: 1.065T or later
Predefined Protocol Support Tool For Positioning
*2
• Applicable software version: 1.002C or later
24VDC power supply Two IAI ROBO Cylinders One Ethernet cable
Used for supplying power to the IAI controllers. ■Motor straight type (coupling type) model list
•RCP2series
•RCP3series
•RCP4series
•RCP5series
•RCP6series
Used for connecting a personal computer and the
programmable controller.
Use an Ethernet cable compliant with the following
standards.
• Category 5 or higher, straight cable (double
shielded / STP)
• IEEE 802.3 (100BASE-TX)
• ANSI/TIA/EIA-568-B (Category 5)
Four e-CON connectors One terminating resistor One branch adapter Two connection cables
Used for connecting the
programmable controller and IAI
controllers.
Used for the e-CON connector.
Page 13 Wiring the IAI
controllers
Used for wiring multiple IAI
controllers.
A cable that connects to the PIO
connector of an IAI controller.
• CB-RCB-CTL002

11
2 PREPARATION
2.3 Wiring
Software
GX Works3 must import the following.
2.3 Wiring
Wiring an IAI controller
This section shows how to wire an IAI controller.
Wiring the power connector
Wire the power connector.
1. Check that the MPI terminal and MPO terminal of the power connector have been short-circuited, and insert the
connector into the IAI controller.
2. Connect the S1 terminal of the power connector and the +24V terminal of the 24VDC power supply.
The emergency stop state occurs when +24V power supplied to the S1 terminal is cut.
To wire the emergency stop switch, add a dry contact (b contact) to the wired part of the S1 terminal. (24VDC,
10mA or less)
3. Connect (short-circuit) the S2 terminal and EMG- terminal of the power connector.
4. Connect the 24V terminal of the power connector and the +24V terminal of the 24VDC power supply.
5. Connect the 0V terminal of the power connector and the 0V terminal of the 24VDC power supply.
Item File name Reference
FB library PositioningSupportIAI_F.mslm Page 17 PROGRAMMABLE CONTROLLER
SETTINGS
+24V
+24V
0V
BK
S1
S2
MPI
MPO
24V
0V
EMG-
Emergency
stop switch

2 PREPARATION
2.3 Wiring
12
2
■Installing cables
Treat the sheath of the cable as follows.
• Stripped wire length: 10mm
Insert a cable whose end has been processed fully into the insertion slot.
If the wire cannot be inserted by this method, insert the wire fully while pressing the orange retaining pin using a screwdriver
with a 2.0mm to 2.5mm wide flat blade. When the wire is inserted fully, remove the flathead screwdriver.
Pull the wire or bar solderless terminal lightly to check that the wire is securely clamped.
Wiring the IAI ROBO Cylinder
Wire the IAI ROBO Cylinder.
1. Check the direction of each connector of the motor encoder cable, and push the corresponding connectors into the IAI
controller and the IAI ROBO Cylinder until the connectors click.
When wiring a ROBO Cylinder, check that the combination of the controller and the ROBO Cylinder is
compatible.
ROBO Cylinder types that can be connected are written on the serial number label on the left side of the
controller.

13
2 PREPARATION
2.3 Wiring
Wiring the programmable controller
For the power supply wiring of the programmable controller, refer to the following.
MELSEC iQ-F FX5S/FX5UJ/FX5U/FX5UC User's Manual (Hardware), Section 13.4 Power Supply Wiring
Set the terminating resistor by using the programmable controller. Set 110with the termination resistor
selector switch of the programmable controller.
Wiring the IAI controllers
Wire the IAI controllers.
1. Wire e-CON connectors to the programmable controller. Wire two sets of e-CON connectors on the external device
communication cable side in the same manner.
2. Connect a cable for communicating with an external device to the SIO connector of each IAI controller. (2 sets)
3. Using the branch adapter, connect the programmable controller and two IAI controllers.
PCON
CB-RCB-CTL002
SG
1
2
3
4
SGA
SGB
GND
N.C.
1
2
3
4
PCON
SDB SDA RDB RDA
Terminatingresistor
Branch
adapter

2 PREPARATION
2.4 Operation Flow Diagram
14
2
2.4 Operation Flow Diagram
1. Preparing the required products
(wiring)
2. Setting the IAI controllers
3. Setting the programmable controller 4. Checking the communication
status
5. Program examples and checking the operation
Predefined Protocol Support Tool
For Positioning
GXWorks3
Execution
command
Execution status
Normal end
Failed end
Execution
command
Error code
Executing result
M290
M280
M_INVERTER_CC_IEF_Basic_ExecuteCommandCode_F_00A_1
ExecuteCommandCode
o_bENO:BB:i_bEN
Execution statusExecution command
M291
D0
Station number
Instruction code
Write value
o_bOK:BW:i_wStationNo
Normal end
M292
o_bErr:B
Failed end
o_wErrID:W
Error code
Station number
D280 W:i_wCommandCode
Instruction code
D281 W:i_wWriteValue
Write value
D290
o_wResultData:W
Executing result
D291
END
Operation
mode
write
Normal end
Execution command
Operation
mode
read
D280H0FBMOV
Instruction code
X25
D281K2MOV
Operation mode
M280
X24
When X24 is OFF, the instruction code H0FB is sent at the rising edge of X25 and the operation mode is changed to 2 (PU mode).
ExecuteCommandCode FB of the station number 1: Sending the instruction code to the station number 1
M291
RST
M280SET

15
3 IAI CONTROLLER SETTINGS
3.1 Part Names
3 IAI CONTROLLER SETTINGS
3.1 Part Names
This section shows the part names of an IAI controller (PCON-CB).
No. Name Description
[1] Controller status LED Shows the operating status of the controller.
SV on (green): Servo ON
SV flashing (green): Automatic Servo OFF
ALM on (red): Alarm (operation release level or higher), motor driving power supply OFF, emergency stop
Both SV and ALM on (orange): Initialization at power-on in progress
Off: Control power supply OFF, Servo OFF
[2] PIO connector/Field network
connector
Connector for I/O signal connections for control in the PIO specifications.
Connector for each field network in the field network specifications.
[3] Current/alarm monitoring LED Normally indicates the command current ratio. When an alarm occurs, the alarm code will be indicated.
For details on the command current ratio (ratio against the rated value) according to each LED combination,
refer to the following.
Manual for the IAI controller being used
[4] Axis number setting switch Switch for setting an axis number when operating multiple axes through serial communication or when
performing gateway operations.
When an SIO converter is used, multiple axes can be controlled without removing/reinserting the
communication cable connector from/into the teaching tool. Settings for a maximum of 16 axes can be made
using hexadecimal numbers from 0 to F.
To change the axis number, rotate the arrow by using a flathead screwdriver.
The setting of the axis number setting switch is loaded when the controller is powered on. Switching the
setting at other times is invalid.
[5] Operation mode setting switch Switch for interlocking.
• AUTO: Automatic operation by the PIO signal becomes possible. Only monitoring operation is possible
from the teaching tool.
• MANU: Operation from the teaching tool is possible.
[6] SIO connector Connector for connecting a communication cable for a teaching tool, gateway unit, etc.
Used for connecting to a programmable controller.
[7] Motor encoder connector Connector for connecting a motor encoder cable for a ROBO Cylinder.
[8] Brake release switch
*1
Switch for forcibly releasing the brakes of a ROBO Cylinder with brakes.
• BK RLS: Forcibly release brakes.
• NOM: Normal operation (brakes enabled)
[1]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[2]

3 IAI CONTROLLER SETTINGS
3.2 Setting Switches
16
3
*1 For normal operation, make sure to set the brake release switch to the NOM side. (Set the switch to the BK RLS side only when
necessary, such as adjustment at start-up.)
If the switch remains set to the BK RLS side, even when the Servo OFF state arises, the brakes do not activate.
In vertical installations, a workpiece may drop, causing injury or damage to the workpiece.
For details on IAI controllers other than the PCON-CB, refer to the following.
Manual for the IAI controller being used
3.2 Setting Switches
The following table shows the switches of IAI controllers that are required to be set.
3.3 Parameter Settings
Set the parameters for IAI controllers with Predefined Protocol Support Tool For Positioning.
Refer to the following for details.
Page 21 Parameter settings of Predefined Protocol Support Tool For Positioning
[9] Power connector Connector for supplying each type of power (controller control power, Robo Cylinder power, brake control
power) and inputting emergency stop status signals.
Name Setting details
Axis number setting switch Set this switch to any axis number.
Operation mode setting switch Set this switch to the AUTO side.
Brake release switch Set this switch to the NOM side.
No. Name Description

17
4 PROGRAMMABLE CONTROLLER SETTINGS
4.1 Part Names
4 PROGRAMMABLE CONTROLLER SETTINGS
4.1 Part Names
For the part names of the programmable controller, refer to the following.
MELSEC iQ-F FX5S/FX5UJ/FX5U/FX5UC User's Manual (Hardware), Chapter 3 PART NAMES

4 PROGRAMMABLE CONTROLLER SETTINGS
4.2 Parameter Settings
18
4
4.2 Parameter Settings
This section describes how to set parameters required for the programmable controller using GX Works3 and Predefined
Protocol Support Tool For Positioning.
GX Works3 parameter settings
This section describes how to set parameters required for the programmable controller using GX Works3. Connect the
personal computer and the programmable controller with an Ethernet cable.
1. In the "Navigation" window of GX Works3, select [Parameter] [FX5UCPU] [Module Parameter] [485 Serial Port].
If the "Navigation" window is not displayed, select [View] on the toolbar [Docking Window] [Navigation] to
open the window.
FX5U CPU module
Ethernet

19
4 PROGRAMMABLE CONTROLLER SETTINGS
4.2 Parameter Settings
2. In "Communication Protocol Type", select "Predefined Protocol Support Function".
3. When the confirmation window appears, click the [Yes] button.