Mitsubishi Electric MELSEC iQ-FX5 User manual

MELSEC iQ-F FX5 Simple Motion Module
User's Manual (Application)
-FX5-40SSC-S
-FX5-80SSC-S

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]
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.
●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 due to erroneous operations.
●In an output circuit, when a load current exceeding the current rating or an overcurrent caused by a
load short-circuit flows for a long time, it may cause smoke and fire. To prevent this, configure an
external safety circuit, such as a fuse.
●For the operating status of each station after a communication failure of the network, refer to relevant
manuals for the network. Incorrect output or malfunction may result in an accident.
●To maintain the safety of the programmable controller system against unauthorized access from
external devices via the network, take appropriate measures. To maintain the safety against
unauthorized access via the Internet, take measures such as installing a firewall.
WARNING
Indicates that incorrect handling may cause hazardous conditions, resulting in
death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions, resulting in
minor or moderate injury or property damage.

2
[DESIGN PRECAUTIONS]
[INSTALLATION PRECAUTIONS]
CAUTION
●When an inductive load such as a lamp, heater, or solenoid valve is controlled, a large current
(approximately ten times greater than normal) may flow when the output is turned from off to on. Take
proper measures so that the flowing current does not exceed the value corresponding to the
maximum load specification of the resistance load.
●After the CPU module is powered on or is reset, the time taken to enter the RUN status varies
depending on the system configuration, parameter settings, and/or program size.
Design circuits so that the entire system will always operate safely, regardless of this variation in time.
●Simultaneously turn on and off the power supplies of the CPU module and extension modules.
●If a long-time power failure or an abnormal voltage drop occurs, the PLC stops, and output is turned
off. When the power supply is restored, it will automatically restart (when the RUN/STOP/RESET
switch is on RUN side).
WARNING
●Make sure to cut off all phases of the power supply externally before attempting installation or wiring
work. Failure to do so may cause electric shock or damage to the product.
●Use the product within the generic environment specifications described in the generic specifications
of the user's manual (Hardware) of the CPU module to use.
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.

3
[INSTALLATION PRECAUTIONS]
CAUTION
●Do not touch the conductive parts of the product directly. Doing so may cause equipment 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 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.
●Connect the expansion board and expansion adapter securely to their designated connectors. Loose
connections may cause malfunctions.
●Make sure to affix the expansion board with tapping screws. Tightening torque should follow the
specifications in the manual. If the screws are tightened outside of the specified torque range, poor
connections may cause malfunctions.
●Work carefully when using a screwdriver such as installation of the product. Failure to do so may
cause damage to the product or accidents.
●Connect the extension cables, peripheral device cables, input/output cables and battery connecting
cable securely to their designated connectors. Loose connections may cause malfunctions.
●When using an SD memory card, insert it into the SD memory card slot. Check that it is inserted
completely. Poor contact may cause malfunction.
●Turn off the power to the 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

4
[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 manual.
- Tightening torque should follow the specifications in the manual.
- Tighten the screws using a Phillips-head screwdriver No. 2 (shaft diameter 6 mm (0.24") 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 manual.
- Tightening torque should follow the specifications in the manual.
- Twist the ends of stranded wires and make sure that there are no loose wires.
- Do not solder-plate the electric wire ends.
- Do not connect more than the specified number of wires or electric wires of unspecified size.
- Affix the electric wires so that neither the terminal block nor the connected parts are directly
stressed.
CAUTION
●Do not supply power to the [24 +] and [24 V] terminals (24 V DC service power supply) on the CPU
module or extension modules. Doing so may cause damage to the product.
●Perform class D grounding (grounding resistance: 100 or less) of the grounding terminal on the
CPU module and extension modules 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 to use for the details.
●Connect the power supply wiring to the dedicated terminals described in the 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, I/O
connectors, communication connectors, or communication cables. Failure to do so may result in wire
damage/breakage or PLC failure.

5
[STARTUP AND MAINTENANCE PRECAUTIONS]
CAUTION
●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, control line and communication cables together with or lay them
close to the main circuit, high-voltage line, load line or power line. As a guideline, lay the power
line, control line and communication cables at least 100 mm (3.94") away from the main circuit,
high-voltage line, load line or power line.
- Ground the shield of the shield wire or shielded cable at one point on the PLC. However, do not
use common grounding with heavy electrical systems.
- Ground the shield of the analog input/output cable at one point on the signal receiving side.
However, do not use common grounding with heavy electrical systems.
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
the manual carefully, and ensure complete safety. An operation error may damage the machinery or
cause accidents.
●Do not change the program in the PLC from two or more peripheral equipment devices at the same
time. (i.e. from an engineering tool and a GOT) Doing so may cause destruction or malfunction of the
PLC program.
●Use the battery for memory backup in conformance to the user's manual (Hardware) of the CPU
module to use.
- Use the battery for the specified purpose only.
- Connect the battery correctly.
- Do not charge, disassemble, heat, put in fire, short-circuit, connect reversely, weld, swallow or
burn the battery, or apply excessive forces (vibration, impact, drop, etc.) to the battery.
- Do not store or use the battery at high temperatures or expose to direct sunlight.
- Do not expose to water, bring near fire or touch liquid leakage or other contents directly.
Incorrect handling of the battery may cause excessive generation, bursting, ignition, liquid leakage or
deformation, and lead to injury, fire or failures and malfunction of facilities and other equipment.

6
[STARTUP AND MAINTENANCE PRECAUTIONS]
[OPERATION PRECAUTIONS]
[DISPOSAL PRECAUTIONS]
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.
●After the first use of the SD memory card, do not insert/remove the memory card more than 500 times.
500 times or more may cause malfunction.
●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.
●When disposing of batteries, separate them from other waste according to local regulations. For
details on the Battery Directive in EU countries, refer to the user's manual (Hardware) of the CPU
module to use.

7
[TRANSPORTATION PRECAUTIONS]
CAUTION
●When transporting the PLC with the optional battery, turn on the PLC before shipment, confirm that
the battery mode is set using a parameter and the BAT LED is OFF, and check the battery life. If the
PLC is transported with the BAT LED ON or the battery exhausted, the battery-backed data may be
unstable during transportation.
●The PLC is a precision instrument. During transportation, avoid impacts larger than those specified in
the general specifications by using dedicated packaging boxes and shock-absorbing palettes. Failure
to do so may cause failures in the PLC. After transportation, verify operation of the PLC and check for
damage of the mounting part, etc. For details on the general specifications, refer to the user's manual
(Hardware) of the CPU module to use.
●When transporting lithium batteries, follow required transportation regulations. For details on the
regulated products, refer to the user's manual (Hardware) of the CPU module to use.
●When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine used
for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering
our products. Please take necessary precautions to ensure that remaining materials from fumigant do
not enter our products, or treat packaging with methods other than fumigation (heat method).
Additionally, disinfect and protect wood from insects before packing products.

8
CONDITIONS OF USE FOR THE PRODUCT
(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;
i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident;
and
ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the
case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries.
MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL
RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY
INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE
OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR
WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL
BULLETINS AND GUIDELINES FOR the PRODUCT.
("Prohibited Application")
Prohibited Applications include, but not limited to, the use of the PRODUCT in;
• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the
public could be affected if any problem or fault occurs in the PRODUCT.
• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality
assurance system is required by the Purchaser or End User.
• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator,
Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and
Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other
applications where there is a significant risk of injury to the public or property.
Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or
more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific
applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or
other safety features which exceed the general specifications of the PRODUCTs are required. For details, please
contact the Mitsubishi representative in your region.

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

10
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
RELATED MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
CHAPTER 1 START AND STOP 17
1.1 Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Multiple axes simultaneous start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.2 Stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.3 Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
CHAPTER 2 HOME POSITION RETURN CONTROL 30
2.1 Outline of Home Position Return Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Two types of home position return control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.2 Machine Home Position Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Outline of the machine home position return operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Machine home position return method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Proximity dog method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Count method1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Count method2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Data set method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Scale origin signal detection method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Driver home position return method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.3 Fast Home Position Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Outline of the fast home position return operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.4 Selection of the Home Position Return Setting Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Outline of the home position return setting condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
CHAPTER 3 MAJOR POSITIONING CONTROL 48
3.1 Outline of Major Positioning Controls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Data required for major positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Operation patterns of major positioning controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Designating the positioning address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Confirming the current value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Control unit "degree" handling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.2 Setting the Positioning Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Relation between each control and positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
1-axis linear control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
2-axis linear interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
3-axis linear interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4-axis linear interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Fixed-feed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
2-axis circular interpolation control with sub point designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
2-axis circular interpolation control with center point designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Speed-position switching control (INC mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

11
CONTENTS
Speed-position switching control (ABS mode). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Position-speed switching control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Current value changing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
NOP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
JUMP instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
LOOP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
LEND. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
CHAPTER 4 HIGH-LEVEL POSITIONING CONTROL 130
4.1 Outline of High-level Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Data required for high-level positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
"Block start data" and "condition data" configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
4.2 High-level Positioning Control Execution Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
4.3 Setting the Block Start Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Relation between various controls and block start data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Block start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Condition start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Wait start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Simultaneous start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Repeated start (FOR loop) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Repeated start (FOR condition). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Restrictions when using the NEXT start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
4.4 Setting the Condition Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Relation between various controls and the condition data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Condition data setting examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
4.5 Start Program for High-level Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Starting high-level positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Example of a start program for high-level positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
CHAPTER 5 MANUAL CONTROL 150
5.1 Outline of Manual Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Three manual control methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
5.2 JOG Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Outline of JOG operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
JOG operation execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Setting the required parameters for JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Creating start programs for JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
JOG operation example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
5.3 Inching Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Outline of inching operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Inching operation execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Setting the required parameters for inching operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Creating a program to enable/disable the inching operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Inching operation example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
5.4 Manual Pulse Generator Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Outline of manual pulse generator operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Manual pulse generator operation execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Setting the required parameters for manual pulse generator operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Creating a program to enable/disable the manual pulse generator operation. . . . . . . . . . . . . . . . . . . . . . . . . . 175

12
CHAPTER 6 EXPANSION CONTROL 177
6.1 Speed-torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Outline of speed-torque control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Setting the required parameters for speed-torque control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Setting the required data for speed-torque control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Operation of speed-torque control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
6.2 Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
CHAPTER 7 CONTROL SUB FUNCTIONS 199
7.1 Outline of Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Outline of sub functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
7.2 Sub Functions Specifically for Machine Home Position Return. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Home position return retry function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Home position shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
7.3 Functions for Compensating the Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Backlash compensation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Electronic gear function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Near pass function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
7.4 Functions to Limit the Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Speed limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Torque limit function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Software stroke limit function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
Hardware stroke limit function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Forced stop function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
7.5 Functions to Change the Control Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Speed change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Override function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Acceleration/deceleration time change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Torque change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Target position change function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
7.6 Functions Related to Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
Pre-reading start function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
7.7 Absolute Position System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
7.8 Functions Related to Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Stop command processing for deceleration stop function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Continuous operation interrupt function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Step function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
7.9 Other Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
Skip function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
M code output function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Teaching function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Command in-position function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
Acceleration/deceleration processing function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Deceleration start flag function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
Speed control 10 times multiplier setting for degree axis function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Operation setting for incompletion of home position return function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
7.10 Servo ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Servo ON/OFF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Follow up function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290

13
CONTENTS
CHAPTER 8 COMMON FUNCTIONS 291
8.1 Outline of Common Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
8.2 Parameter Initialization Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
8.3 Execution Data Backup Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
8.4 External Input Signal Select Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
8.5 History Monitor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
8.6 Amplifier-less Operation Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
8.7 Virtual Servo Amplifier Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
8.8 Driver Communication Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
8.9 Mark Detection Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
8.10 Optional Data Monitor Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
8.11 Connect/Disconnect Function of SSCNET Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
8.12 Hot line forced stop function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
CHAPTER 9 SPECIFICATIONS OF I/O SIGNALS WITH CPU MODULES 334
9.1 List of Input/Output Signals with CPU Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
CHAPTER 10 DATA USED FOR POSITIONING CONTROL 336
10.1 Types of Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Parameters and data required for control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Setting items for common parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Setting items for positioning parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Setting items for home position return parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
Setting items for extended parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
Setting items for servo parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
Setting items for positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
Setting items for block start data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
Setting items for condition data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
Types and roles of monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Types and roles of control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
10.2 List of Buffer Memory Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
10.3 Basic Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Common parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Basic parameters1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
Basic parameters2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
Detailed parameters1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Detailed parameters2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Home position return basic parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
Home position return detailed parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408
Extended parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
Servo parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
10.4 Positioning Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
10.5 Block Start Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
10.6 Condition Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
10.7 Monitor Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435
System monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435
Axis monitor data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
10.8 Control Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470
System control data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470
Axis control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475

14
10.9 Memory Configuration and Data Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
Configuration and roles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
Buffer memory area configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
Data transmission process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
CHAPTER 11 PROGRAMMING 522
11.1 Precautions for Creating Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522
11.2 Creating a Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523
General configuration of program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523
11.3 Positioning Program Examples (For Using Labels). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
List of labels used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
Program examples (for using labels). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
11.4 Positioning Program Examples (For Using Buffer Memory). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
List of devices used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
Program examples (for using buffer memory) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548
CHAPTER 12 TROUBLESHOOTING 574
12.1 Troubleshooting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574
Troubleshooting using the LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574
12.2 Troubleshooting by Symptom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
12.3 Error and Warning Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
Error type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
Error code classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
Error storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
Warning type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579
Warning classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579
Warning storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580
Clearing errors and warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580
12.4 List of Warning Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
Simple Motion module detection warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
Servo amplifier detection warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
12.5 List of Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589
Simple Motion module detection error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589
Servo amplifier detection error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
APPENDICES 615
Appendix 1 How to Find Buffer Memory Addresses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615
Appendix 2 Compatible Devices with SSCNETIII(/H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
Connection with MR-JE-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
Inverter FR-A800 series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620
AlphaStep/5-phase stepping motor driver manufactured by ORIENTAL MOTOR Co., Ltd. . . . . . . . . . . . . . . . 624
Servo driver VCII series/VPH series manufactured by Nikki Denso Co., Ltd. . . . . . . . . . . . . . . . . . . . . . . . . . . 630
IAI electric actuator controller manufactured by IAI Corporation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 634
Appendix 3 Restrictions by the version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639
INDEX 641
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .644
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .645
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .646

15
RELATED MANUALS
This manual does not include detailed information on the followings:
• General specifications
• Available CPU modules and the number of mountable modules
• Installation
For details, refer to the following.
MELSEC iQ-F FX5U User's Manual (Hardware)
MELSEC iQ-F FX5UC User's Manual (Hardware)
e-Manual refers to the Mitsubishi FA electronic book manuals that can be browsed using a dedicated tool.
e-Manual has the following features:
• Required information can be cross-searched in multiple manuals.
• Other manuals can be accessed from the links in the manual.
• The hardware specifications of each part can be found from the product figures.
• Pages that users often browse can be bookmarked.
Manual name [manual number] Description Available form
MELSEC iQ-F FX5 Simple Motion Module User's Manual
(Application)
[IB-0300253] (This manual)
Functions, input/output signals, buffer memories, parameter
settings, programming, and troubleshooting of the Simple
Motion module
Print book
e-Manual
PDF
MELSEC iQ-F FX5 Simple Motion Module User's Manual
(Startup)
[IB-0300251]
Specifications, procedures before operation, system
configuration, wiring, and operation examples of the Simple
Motion module
Print book
e-Manual
PDF
MELSEC iQ-F FX5 Simple Motion Module User's Manual
(Advanced Synchronous Control)
[IB-0300255]
Functions and programming for the synchronous control of the
Simple Motion module
Print book
e-Manual
PDF

16
TERMS
Unless otherwise specified, this manual uses the following terms.
*1 SSCNET: Servo System Controller NETwork
Term Description
4-axis module Another term for FX5-40SSC-S
8-axis module Another term for FX5-80SSC-S
Axis Another term for a servo amplifier
Buffer memory A memory in an intelligent function module, where data (such as setting values and monitoring values) are stored. When
using the CPU module, the memory is indicated for storing data (such as setting values and monitored values) of the
Ethernet function and data used for data communication of the multiple CPU function.
CPU module The abbreviation for the MELSEC iQ-F series CPU module
Device A device (X, Y, M, D, or others) in a CPU module
Engineering tool A generic term for GX Works3 and MR Configurator2
FX5SSC A generic term for FX5-40SSC-S and FX5-80SSC-S Simple Motion modules
Global label A label that is enabled for all program data when creating multiple program data in the project. There are two types of
global labels: module label that is automatically generated by GX Works3 and label that can be created for the any of the
specified devices.
GX Works3 The product name of the software package for the MELSEC programmable controllers (Version 1.005F or later)
Intelligent function module A MELSEC iQ-F series module that has functions other than input or output, such as Simple Motion module
Label A label that represents a device in a given character string
Module label A label that represents one of memory areas (I/O signals and buffer memory areas) specific to each module in a given
character string. GX Works3 automatically generates this label, which can be used as a global label.
MR Configurator2 The product name of the setup software for the servo amplifier (Version 1.34L or later)
MR-J3(W)-B MR-J3-_B_(-RJ)/MR-J3W-_B Servo amplifier series
MR-J4(W)-B MR-J4-_B_(-RJ)/MR-J4W_-_B Servo amplifier series
MR-JE-B MR-JE-_B Servo amplifier series
Servo amplifier A generic term for a drive unit
Unless specified in particular, indicates the motor driver unit of the sequential command method which is controlled by
the Simple Motion module (belonging to own station).
Simple Motion module The abbreviation for the MELSEC iQ-F series Simple Motion module
SSCNET/H*1 High speed synchronous communication network between Simple Motion module and servo amplifier
SSCNET*1
SSCNET(/H) A generic term for SSCNET/H, SSCNET
Servo network

1 START AND STOP
1.1 Start 17
1
1START AND STOP
This chapter describes start and stop methods of the positioning control for the Simple Motion module.
1.1 Start
The Simple Motion module operates the start trigger in each control, and starts the positioning control. The following table
shows the start signals for each control. This section describes the start using the positioning start signal and the external
command signal.
In the control other than the manual control, the following start methods can be selected.
•Normalstart(Page 135 Block start)
• Multiple axes simultaneous start (Page 22 Multiple axes simultaneous start)
The positioning data, block start data, and condition data are used for the position specified at the control. The data that can
be used varies by the start method.
Servo ON conditions
Setting of servo parameter

[Cd.190] PLC READY signal ON

[Cd.191] All axis servo ON signal ON
Starting conditions
To start the control, the following conditions must be satisfied.
The necessary start conditions must be incorporated in the program so that the control is not started when the conditions are
not satisfied.
• Operation state
n: Axis No. - 1
Control details Start trigger
Major positioning control • Turns ON the "[Cd.184] Positioning start signal".
• Turns ON the external command signal (DI).
High-level positioning control
Home position return control
Manual control JOG operation Turns ON the "[Cd.181] Forward run JOG start" or the "[Cd.182] Reverse run JOG start".
Inching operation
Manual pulse generator operation Operates the manual pulse generator.
Monitor item Operation state Buffer memory address
[Md.26] Axis operation status "0: Standby" or "1: Stopped" 2409+100n

18 1 START AND STOP
1.1 Start
• Signal state
Signal name Signal state Device
I/O signal PLC READY signal ON CPU module preparation completed [Cd.190] PLC READY signal
READY signal ON Preparation completed [Md.140] Module status: b0
All axis servo ON ON All axis servo ON [Cd.191] All axis servo ON signal
Synchronization flag ON The buffer memory can be accessed. [Md.140] Module status: b1
Axis stop signal OFF Axis stop signal is OFF [Cd.180] Axis stop
M code ON signal OFF M code ON signal is OFF [Md.31] Status: b12
Error detection signal OFF There is no error [Md.31] Status: b13
BUSY signal OFF BUSY signal is OFF [Md.141] BUSY signal
Start complete signal OFF Start complete signal is OFF [Md.31] Status: b14
External signal Forced stop input signal ON There is no forced stop input 
Stop signal OFF Stop signal is OFF 
Upper limit (FLS) ON Within limit range 
Lower limit (RLS) ON Within limit range 