Mitsubishi MELSEC-F FX-1GM Assembly instructions

CONTENTS
I . GENERALINFORMATIONONPOSITIONINGCONTROL ........................ 3 - 14
1.1 Why isPositioningControlNecessary? ....................................... 3
1.2WhatThisPositioningUnitCanDo
.......................................... 4
1.3 GeneralInformationonDriveUnits
.......................................... 6
1.3.1Whenusingasteppermotor ......................................... 6
1-3.2 Whenusingaservomotor
........................................... 8
1.4 PositioningLanguage
.................................................... 10
1.4.1Absolute
and relativepositions ...................................... 10
1.4.2Machinehomepositionreturn ....................................... 11
1 S What istheProgramLike? ................................................ 12
1S.1Distribution
of functions ............................................ 12
1.5.2Puttingtheoryaside
............................................... 13
1.6GeneralDescriptionoftheSystemStructure
.................................. 14
1 -6.1Mainunitandperipheralunits ....................................... 14
2 . SIGNALHANDLINGANDPARAMETER SElTlNG ............................. 15 - 28
2.1SignalsHandled ........................................................ 16
2.1.1Signalsconcernedwith
I/O terminals .................................. 16
2.2 WhenUsingtheProgrammableControllerwithaPGU
.......................... 18
2.2.1Signalsrelated
to theprogrammablecontroller .......................... 18
................................................. 22
2.3.1Settingunits
..................................................... 22
2.3.2Speedandaccelerationtimes
....................................... 23
2.3.3 Compensationformechanicalfailings
................................. 24
2.3.4Positioningtimelimit
.............................................. 24
2.3.5Machinehomepositionreturn
....................................... 25
2.3.6Setting
of theoperatingmode ....................................... 26
2.3.7 Aux
. relays ...................................................... 28
,- 2.3Initial ParameterSettings
3 . CONTROLINSTRUCTIONS ............................................... 29 . 46
3.1Basiclnstructions ....................................................... 30
3.1.1 Blockdesignationinstructions
....................................... 30
3.1-3 Addressdesignationinstructions
.....................................
33
3.1.4 Registercontrolinstruction
..................................
; ...... 34
3.1.5Dedicatedinstruction
for waiting .....................................
35
3.1.6Driveexecutioninstruction
..........................................
36
3.2 Examples
of OperationControls ........................................... 38
3.2.1 Multi-stagespeedoperation
......................................... 40
3.2.2Driveinterrupt
................................................... 41
3.3Well-knownInstructions
.................................................. 42
3.1.2Speedinstruction
................................................. 32
3.3.1Sequenceinstructions
............................................. 42
.

3.3.2M-codesettinginstruction .......................................... 43
3.4ControllingProgram
Flow ................................................. 44
3.4.1Jumpinstructions
................................................. 44
3.4.2Sub-routineinstructions
............................................ 45
3.4.3Repeatinstructions
............................................... 46
4 . HOWTO OPERATE THETEACHING PANEL ................................. 4764 ,.,
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
4.1
0
4.1 1
4.1 2
4.1 3
PreparatoryOperations
.................................................. 48
BatchDeletingofPrograms
............................................... 50
WritingaProgram ...................................................... 51
Reading, Checking, and Searching for
a Program .............................. 52
AboutFunctions
........................................................ 49
ModifyingaProgram
.................................................... 53
CheckingaProgram
..................................................... 54
RewritingParameters
.................................................... 55
Parameters Can Also be Checked .......................................... 56
Transferring Programs and Parameters
...................................... 57
Startingoperation
...................................................... 59
OtherUsefulFunctions
................................................... 60
UsingaCassetteRecorder ............................................... 63
5 . PROGRAMCREATIONAPPLICATIONEXAMPLES ............................ 65 - 83
5.1KitFamiliarization ....................................................... 66
5.1.1Generaldescription
of the F2-30GM-SIM kit ............................ 66
5.1.2Internalwiring of thekit ............................................ 67
5.2 LearningApplicationProgramming
(1) ....................................... 68
5.3 LearningApplicationProgramming(2) ....................................... 74
5.4LearningApplicationProgramming(3)
....................................... 80
6 . INSTALLATION ......................................................... 84-97
6.1Installing inthePanel .................................................... 84
6.1.1Generalinstallationandwiringitems
.................................. 84
6.2ConnectingTerminals
................................................... 87
6.2.2Driveunitconnections
............................................. 88
6.2.1Powercircuitconfigurationandspecifications ........................... 87
6.2.3Connection
of general-purposeinputterminals .......................... 89
6.2.4Connection
of general-purposeoutputterminals ......................... 90
6.3BeforeStartinganOperation
.............................................. 91
6.3.1Preliminarychecks
................................................ 91
6.3.2ChecksintheMANUALmode
....................................... 92
6.4StartinganOperation
.................................................... 93
6.4.1Indicators in manualoperations
...................................... 93
6.4.2ChecksintheAUTOmode
......................................... 94
6.4.3Motorrotatingdirection
............................................ 95
6.4.4 Internaloperations
of the PGU ...................................... 96
6.5Maintenance ........................................................... 97
!
I
1
..
1

...
7 . SUMMARY ............................................................ 98-138
7.1 OutsideDimensionsandSpecifications ...................................... 99
7.1.1 Outside dimensions (mm) .......................................... 99
7.1.2 Specifications of themainunit ...................................... 100
7.2 Signals
.............................................................. 101
7.2.1 Inputloutputterminal-relatedsignals
................................. 101
7.2.2 Programmablecontroller-relatedsignals
.............................. 102
7.3 Instructions
........................................................... 103
7.4 Parameters ........................................................... 106
7.5 ErrorCodesChecking
.................................................. 108
7.5.1 Programchecks
................................................. 108
7.5.2 Parameterchecks
............................................... 109
7.6 TeachingPanelOperations
.............................................. 111
7.6.1 PROGand PARA modes .......................................... 111
7.6.2 CPU andCMT modes ............................................ 112
7.7 Connection
to DriveUnits ................................................ 113
7.7.1 For asteppingmotor
............................................. 113
7.7.2Foraservomotor
................................................ 115
...
. 111 .

-8-
i
*suo!leueldxa 40 se!m puelslapun-ol-Asea ue se lnq ‘lenuew e se Aluo IOU ‘s~auu!6aq JO~
I -*-pal!dwoa uaaqseyIenuew s!yl
I
i

1.2 WhatThisPositioningUnitCan Do
Application examples
Feed roll
Real
Brake
-
Fixed length
1 feedrate
fl Cutter
1 Digitalswitch
I
L
A
Gear box
Fixed size feed control
High-accuracy, high-speed feeding and cut-
ting of sheetsin terms of sizes set by the
digitalswitch. Thedigitalswitchcan beset
to up to 6 digits.
Fixed amount multi-stage feed control
Uses home positioning to put the palletat the
same height as the conveyor.
Then, it lowers the pallet by a fixed amount
eachtime anobject is unloadedfromthe
conveyor
onto the pallet. The amountscan
be changed by using the digital switch.
allet
Rotary table control
Divide the index table or rotarydiscinto "n"
equal portions by using designated angles.
Executetheshortest-distancepositioning
modeinaccordancewithcommands sent
fromtheprogrammablecontrollerin any
order.
L
Drill motor ,
I
Feed motor
A
Rapid
feed rate
Positioning feed rate and depth control
Executerapidreturn after completingrapid
feed and slow feed(cutting feed)from the
home position.
Setrapidfeedand slow feedratescan be
changed by using the digital switch.
-4-

Electric trolley
I
Photo-sensors
1
I
Reflector
Deceleration point
7
TravelingmotorsStoppingpoint
Digital switch Digital switch
Linear inbrpolation
~
X axis
i
Y axis
Speed matching operation
Executesthespeedmatchingoperation for -
bothwheels of awidetrolleydriven by
separatetravelmotorstoensuresmooth
movement.
Decelerates at a point before the target posi-
tiontostopthetrolleyjustinfront of the
target position.
Deceleration-startpoints,stoppingposi-
tions,returnpositions,etc.aredetermined
by sensor inputs sentfrom the photo-electric
switch, limit switch, etc.
Fixed volumes liquid-mixing unit
Thisisaliquid-mixingunitwhichuses
delivery pumps whose feed rates per rotation
are fixed.
The volumesof liquid fed from each tankare
set by using the digital switch.
Independent 2-axis plane control
Movesthetabletransverselyandlon-
gitudinally to permit drillingof a workpiece.
2 drills (small, large) are used, eachof which
isselectedandcontrolled by theprogram-
mable controller.
Up to 8 axes can be controlledby 1 program-
mable controller, but linear interpolation and
arc interpolation are not supported.
However, interlocked operations canbe con-
trolled by using multi-axis synchronizing sig-
nals.
-5-

1.3 GeneralInformationonDriveUnits
~~
1.3.1 When using a steppermotor
Drive unit DRU
AI
FX-1 GM
pulse output
unit (PGU)
iycommerci
Forward pulse
(commercially available product)
(zero-point signal)
Drivesignal // 1 ~ lrnnrnnnnr
7 Adjustment
function
Stepper motor
(commercially available product)
ally available stepper motor can be used to drive a small capacity load,
The stepper motor is a motor which rotates in short, uniform angular movements initiated by a input
pulse.
Accordingly, the rotation angle of the motor is directly in proportion
to the input pulses, and thus it
is possible to obtain a rotating speed which is proportional
to the pulse frequency.
N = 60 X - (RPM)
f
n N : Rotatingspeed(RPM)
f:Pulsefrequency
(PPS)
n = - (P/R)
Os: Stepangle(deg.)
n
: Numberof pulsesrequired to turn 1 revolutionof themotor (P/R)
360
OS
Unlike the servo motor system (see Section 1.3.2),
thestepping motor adoptsan "openloop"system,
E
whichmeanssmallersizeandcost for theentire cT)
Y
system.
t
If, because of load inertia, the motor response delay 6
is too great, it may become out of step with theinput c-
pulse, leadingto an error in the final step angle.
Because of this,itis necessary to be particularly
careful when selecting themotor and executing such
controls such as slow start, slow stop, etc.
0
2
0-
i
, 2) Draw-intorque
..............
...........
..
.
. .. ..... ,,
Pulse frequency (KPPS)
-6-

Adjusting the drive unit
The adjustments given below are necessary.
Systeminwhichtheforwardpulse is applied to onepulseinputter-
minal, and thebackward pulse to another pulse input terminal.
System inwhich both the forward pulse and backward pulse are applied
to onepulseinputterminal,andforward/backwardswitchingsignals
are applied to another pulse input terminal.
As shownbelow,thestepanglecanbechanged, by makingthestep
mode full step or half step.
STOP
-
........
................ :.:.. .........
.........................
.....................
::j:i ;, ;g+tia:sq; ;; 0.36' 0.36' 1,000 0.18' 2,000
1::; ..............
1 0.72' I
....... : .. :....
.:
. .................... 0.72' 500 0.36- 1,000
When the holding torque function is required when stopping the motor,
someunitspermitadjustment of the hold current by usingthe
STOP
potentiometer.
When alargeholdingtorqueis not required,keepthecurrent low to
help prevent the motor from overheating.
-
Where there is surplus capacity in the motor torque, some units permit
decreasingtheoperatingcurrent by usingthe
RUN potentiometer to
help keep the motor from overheating or vibrating.
However, reducing the current too much may increase the mechanical
response delay.
Some units are provided with a selector switch to automatically turn
current
OFF when the motor overheats.
I 1 I I YES - ShutsthecurrenlOFF automatically when themotor overheats
u
NO - Current isrot shut OFF
-7-
the
Seethemanufacturer's
InstructionManual for
details.
-

1.3.2 When using a servo motor
FX-1GM output unit
(PGU pulse)
mq Forwardpulse
--
Encoder
Amplifier
11 Feedbackpulse 1 I -A
I
1 I
3000, 2000,
1000 PIR
LJ
Amplifier
I-- Servomotor
I I
--
I I
Drive unit DRU
(commercially available product)
A commercially available ACor DC servo motor can be used.
The servo motor driver detects the amount of load movement by using the encoder and operates
the motor
so that the deviation between the generated command pulse and thefeedback pulse is
" 0" .
Thus, improved accuracy can be ensured since this is a closed loop system.
The rotating speed of the motor is almost in proportion to the command pulse frequency.
When the pulse signal is received, the positive or negative pulse is counted by the deviation
counter.
If this counter value becomes smaller than the in-position parameter value, the "positioning com-
pleted" signal is sent out, but the motor continues operating until the deviation counter reaches
within
2 1 pulse.
\ .., MYorFingspeed
Command pulse frequency
\
Short-timeoperationrange \
I I
-+ Rotatingspeed(rprn)
-+ Time
w
Adjustment time
-a-

Adjusting the drive unit
Since the followingpoints inthe drive unit have to be adjusted, the correct setting mustbe executed
in advance.
Theoperatingcharacteristics of thedrive
unit can be adjusted in variousways by DIP
switches,potentiometers,keys,etc.
Adjust the position or speed loop gain,
speed integrating compensation value, and
maximum rotating speed setting according
to the load specifications.
t
'
IM
I READY
\ /\ I\ I\ I\ /\ I
,o, ,o, ,o, ,o, ,o, ,o,
OV OC OL IPF NS EEX
Some drive units have a P-RATE (pulse rate) parameter. This is used to match the pulse rate of
the driver output with the FX-1GM output.
If the servo driver has a max. rate of
200 kPPS (kilo-pulses per sec.), this pulse rate multiplier
must be set at x
2 since the max. output from the FX-1GM is only 100 kPPS.
The required output pulse rate from the servo driver is directly related to the speed and the num-
ber of pitches per revolution of the motor and encoder,
A relativelylarge IN-POS (imposition)parametersettingallowsthepositioningcompletedsignal
to be sent earlier.
For details. see the Servo Driver Instruction Manual.
f
I Positioningaccuracy
Thetheoreticalaccuracyinthepositioningunitusingasteppingmotor or servomotoris
restricted by the feed rate per pulse.
This can be calculatedas follows inrespect
to the relationship between the pulse frequency and
feed speed.
f: Pulsefrequency(PPS)
61 =+ - x 1 o (pm/PLS)
V: Feedrate(m/min.)
61: Feedrate per pulse(pm/PLS)
V
60f
For instance, when V is Gm/min. and f is 100000 PPS, the theoretical accuracy will be + lpm.
-9-

1.4 PositioningLanguage
1.4.1 Absolute and relative positions
An ADR (ADDRESS) instruction is prepared to designate the movement distance (or rotation angle)
of the machine.
This operates the machine in combination with the DRV (DRIVE) instruction.
The address instruction isshown either by the distance from the referencepoint or the distance from
the current position.
The former is called "absolute position designation" and thelatter is "relative distance designation".
Example:
1-i- Relativedistance
CurrentpositionDistancefromStation1
Station 1 Station2 Station
6
Station 4 Station 5 Station 3
0 - 28.8 km - 83.9 km __+ 104.6 km - 120.7km - 180.2km -
Suppose that the train is now at Station 3, and the next target is Station 4.
Inthis case,it is correct to designate 104.6 km in thecase of absolute position designation. However,
it is necessary to clearly define that the reference home position is Station 1.
In the case of relative distance designation, it is necessary to designate 20.7 km.
It is also necessary to designate whether the train is going forward or backward.
The home position can be changed
Current position
1 22.8km32km
I -1- .I
Station 1 Station2Station 3 Station 4 Station 5 Station 6 Station 7
-156.3km-106.7km-39 km
0 km ~36.9km+59.7km +91.7 km
In the above figure, the absolute position is designated at each station with Station 4 as the home
position.
Inthis case, the absolute positions exist in both positive and negative values.
If it is necessary
to go to Station 7 or Station 5 when the train is at Station 6, this is expressed as
follows:
Showingtheabsoluteposition [Absolutedrivemethod]
\
Station 5
ADR +36.9
DRV ABS ADR ~91.7
Station 6 DRV ABS Station 7
+36.9 +91.7
f c59.7
r"
Showing absolute drive command
[Relativedrivemethod] Showingtherelativedistance
iJ
/
\
Station 5
ADR K22.8
DRV - Station 6
ADR K32
DRV +
Station 7
.(
.,
/,
22.8 32
\
Showing the direction of movement
>
- 10-

Machine home position return
TheFX-1GMPGUhasabuilt-incurrentvalueregister(storingtheabsoluteaddress)whichis
incremented/decremented by the forward pulse or backward pulse it generates.
This allows the machine positionto be calculated at all times.
When the operation is startedfor the first time,
it is necessary to teach the current machine position
to the register.
A machine home position return DRV ZRN (DRIVE ZERO RETURN) instruction is preparedto execute
this operation automatically.
DRV
ZRN isanindependentinstructionwhichisnotaccompanied by addressinstructions,unlike
DRV
ABS or DRV instructions.It is operatedinthefollowingsequence:
Switch to turn the motor OFF at
Backward limit
switch LSR DOG fl L
Home return sequence switch the forward limit
Motor
Creep speed J~@ Initial position
t
' Home position return speed
Details of machine home
positionreturnare
described on page 25.
Pulses of the zero-point signal (PGO) sent from the drive unit to the PGU
arecounted,andoperationsarestoppedwhenthecountreachesthe
Thispointisconsidereddesignatedvalue.Thesepulsesarenormally 1 pulsepereachmotor
thehomeposition.rotation.
-
r
DOG Switch Configurations
Generally, DOG switches are configured as either a single point or a regional signal. In single
point operations, the DOG switch is only switched
ON when the DOG table is at the start of
home return deceleration. Thereafter,
it is switched OFF.
DOGSwtchONthmughwtrqon
DOG Switch ON for a
single position
\;J
Automatic forward
' . .. . .> . . . . . . . . . . . '
Manual forward
if the initial position is situated within the ON region of
Intheabovecase,iftheDOGtableisinitiallysituated
the dog switch, the machine home return operation can within the home deceleration area, it will not be detected
be executed after advancing to out of range automat- by theDOGswitch.Hencemanualforwardmustbe
ically. driven before the automatic mode can be switched
ON.
- 11 -

1.5 What is the Program Like?
1.5.1 Distribution of functions
The FX-1GM PGU can be operatedtogether with the FX series programmable controller in executing
positioning control.
PC sequencecontrolandpositioningcontrolareverydifferent.Thus,eachrequiresadedicated
language best suited for that application, making understanding and software design much easier.
(See page 134 for PC versions.)
Though the multi-axis interpolation function isnot supported, interlocked operations can be controlled
by using multi-axis synchronizing signals.
Travel distance, speed,
Simplesignalcommunicationbythenumberofrepetitiondesignation Program is written from the Fz-30TP
structuredsequence. Start, stop, block designation teachingpanel(TP)
to theFX-
EEPROM-4 ROM cassette installed
in the PGU.
(See page 134 for F2-30TP versions.)
Executescontrol of
theentiresystemand
auxiliarymachines by
dedicatedsequence
language.
General-purposeinputs
outputs of the PGU can be
astheinputsandoutputs
thePGUandaPCare
programmablecontroller
together
Executes complicated
positioning control by
dedicatedpositioning
language.
and 'general-purpose inputs and
outputsaresupportedforinde-
usedpendentoperations.
7 Simplesequenceinstructions
STEP
0
STEP
1,999
2,000
2,023
Configuration of the PGU program
The program capacity of the ROM cassette built in the
PGU has a max. of 2000 steps.
It can be divided into a max. of 100 blocks of variable
length.
-
Program of
block-0
_.
Program of
block-1
Which block program to executeisdesignated by the
programmablecontroller(ordigitalswitchescon-
nected
to the PGU).
TO
Program of
I
block-99
Programmachinemovementandspeedroutineblock
by block.
Common sub.routine
Areas commonly used in eachblock can be handledas
-
program
a sub-routine program.
24 parameters exist in the PGU so that itsDerformance
matchesthat of theexternal equipmen't (e.g.motor
drive),
Parameters
(24 types)
I'
- 12-

1.5.2 Putting theory aside
Now,let’s put theoryasideandseewhataprogram insidethe PGUisactuallylike. -
MachinehomepositionCurrentpositionunknownForward
I
positionreturn I
(1) Machinehome
(2) Waiting for a
startcommand r
>
I
(3) Forward 1000
(4) Wait timer (1 sec.)
-
(5) Forward1300
(7) Backward 600
start command
(6) Waiting for a
DRV RAD (8) Waittimer(2sec.)
(9) Generalreturnaddress
\ /
<
Whenthe SET RAD (setting of thereturn address)instructionisexecuted,thecurrentpositionis
stored as the general return position. The machine is moved
to this position by executing the DRV
RAD instruction.
The DRV RAD instruction only executes the movement to the return address: it has no connections
with the DOG switch or the DRV
ZRN instructions
Pro-
Step
OperationgramInstructions Remarks
0 BLK K 0 Designatesblocknumber 0.
(1) 1 DRV ZRN
Executesmachinehomeposition. ZERO RETURN
2 SETRADSetsthemachinehomeposition to thegeneralreturnposition
Instruction to wait for a start input signal. Proceeds when
received.
4 ADR K 1,000Relativemovementdistance.(Dependsontheparameter.)
(3) 5 DRV Forward drive at the speed set by the parameter unless other-
wise designated.
+
I
(9)
RAD
DRV 13
Go to the general return position.
I
I 1 14 END I I oDeration. I
End of block. Wait for the start signal for the next block
L
- 13-

1.6 GeneralDescription of theSystemStructure
1.6.1 Mainunitandperipheralunits
An FX-1GM pulse output unit can be usedby itself or as a special extension unit of an FX series PC.
The system structure shown below is an example of an FX-1GM used as a main unit connected to
several peripheral units. (See page 134 for applicable versions of PCs and teaching panels.)
For complicatedcontrols: For directlysettingdata:
FX seriesPCsDigitalswitch
Up to 8 FX-1GMunitscanbeconnected to 1
programmable controller.
(commercially available product)
Max. 6 digits
r
able product)
(commercially avaif-
r
!-
FX-POP programmingpanel
(HPP)
Since complicated positioning
controlisexecuted by the
PGU,programmingisdone
withanemphasisongeneral
sequencecontrol(control of
aux.machine).
For programming and
storingprograms:
F-ABGPP-KIT/GMkit
By usinganAGGPP/PHP,
programlisting,storing
programs to floppydisks,
andprinting of instruction
lists can be performed.
F2-30TP teaching panel (TP)
operationcanbeeasilyprogrammed
Evenaverycomplicatedpositioning
using the convenient instructions ex-
pressedbyrelevantsymbols.
transferred to the PGU for use there.
Programsthuscreatedcanalsobe
Whileoperationmonitoringandtest
operationsarealsopossible,this
operations.
panelisnotnecessaryduringactual
For changing a program:
FX-EEPROM-4 ROM
axpotale3
in
1 cassette is In-
each main unit.
For setting and displaying data:
F2-30GM-DUsettingand
display unit
Whenateachingpanelis
notconnected,thispanel-
mountedunitcanbeused
fordisplayingcurrent
values and error codes, as
wellasforsettingand
modifying data.
Fz-30GM-Dl
Interface unit
UD to 3FX-1GMscanbe
, I[ uj: cdnnected to 1 F2-30GM-
m DU by usingthisunit.
For storing a program to an audio tape:
I I I Audiocassetterecorder(commerciallyavailable
product)
- 14-

Signal
The FX-1GM PGU exchangessignalswiththeprogrammablecontroller,motordriverunit,and
receivessignalsfrom
BCD switches,limitswitches,etc. -P
To understandthebasicspecifications of theproduct, it is necessary to understand what these
signals mean.
*-
What is a parameter?
Variouspieces of externalequipmenthavevariousspecificationssuchassignallogic,position
direction, etc. Because
of this, parameters are required to be set so that optimal matching can be
ensured.
Guidepost
Since this chapter contains agreat deal of difficult material, we recommend trying to understand just
the main parameters first and learning the entire contents at a later stage.
- 15 -

2.1 SignalsHandled
~~~
2.1 .I Signalsconcernedwith I/O terminals
Operation inputs
The input signals sent from the switches on the operation panel are as follows:
i
AI
U8
T
0
OperationPanel
FX-1GM PGU
I
Turn ON formanualoperations. G Manual forwardbackward
MANU operations or home position
return
Machine home positionreturn when the input
is turned ON. H 1 Executes the machine home
ZRN
I
ZERO RETURN ZRN (X4) position return when input is
~~ ~~ ~ ...
turned ON momentarily.
turned ON.
Forward operationswhile the input is
FWD (X5) I
FWD
(1 -phase feed if ON for less than 0.5 sec.)
It is necessary to keep the but-
ton pressed down.
Backward operationswhile the input is
turned
ON. RVS (X6) J
RVS
(1-phase feed if ON for less than 0.5 sec.)
Same asabove
kc STOP
General stop pattern occurs when this goes ON.
In the MANUAL mode,execute error reset. F Executes decelerationlstop
when turned ON momentarily
STOP during MANUAL/AUTOopera-
I I I tions (temporary stop).
Positioning starts when turned ON. Valid with a
PGU inthe ready state.
E Positioning is started with a
b7 START
. ..
START
from OFF to ON).
START input (validwhen going
mA
number of the program,setting of movement
Executesthe designationof the operating block
distances,etc.
> X3 are used.
General-purposeinputs X0 to
x0 to x3
Digital switch max
6 digits
Time-sharing readingis
pose outputs YO to Y5.
Time-sharingreadingsignals made by general-pur-
YO to Y5
I 1
START,,'.' :. ,., ' .:"
P?+!t!+&;S$tt: :
Instructed by a BFM#1 b3 signal from a PC
(during AUTO operations).
Note: ZRN, FWD, and RVS inputs can be used as general-purpose inputs X4, X5, and X6 in
the AUTO mode.

Drive unit connections
The
l/O signals exchanged between the PGU and the drive unit include the following:
r
FX-1GM PGU
Outputs FP, RP (type-A)or
PLS, SIGN (type-E),depend
upon parameter settings to
meet the DRU specifications.
M FPPLS
I
P
C PG 0 Zero-returnsignal
0 CLR Clear sianal
/\
-
,
ON when at the machine home position
and when the LSFiLSRare activated.
No pulse is
generated unless
this signal is ON.
An error is output
time limit.
r
Drive unit (DRU)
Forward or backward
Example:One pulse
angle of 7.2
per motor roJation
One pulse per each
tion of the motor
rotationor half-rota-
Clear of deviation
counter
Output when power to
the drive unit is turned
ON and isoperating
normally.
signal
Positioning completed
when the differential '
than the set value ,
counter value is less
.... ......
I
T
I
7-7-
,.
....
In the case of a servo motor
... .............
LSF Limit switch forward
LIMIT
SWITCH FORWARD
LSR Limit switch reverse
LIMIT SWITCH REVERSE
Forward limit switch
Also error output -
FLQ- Backward limit switct
D DOG Near-point signal
0
,
o Near-pointdog switcl
- Machine
- 17-
.- - .... . -- .- ............... .- ...

~~
2.2 WhenUsingtheProgrammableControllerwithaPGU
2.2.1 Signalsrelated totheprogrammable controller
Signal communications between a PGU and a programmable controller are performedvia thebuffer
memory (BFM) in the PGU by usingFROM/TOinstructions.GeneralBFMaddressallocationsare
as shown below. (See pages 102 and 125 for details.)
Buffer (BFM) contents
PGU buffer
# 11 # 10
Remaining drive wait
READY
Error detection
M-code
ON
WAIT MO
WAIT M
SET M
>b5#3
+
>b9
> b 10
Execution blocks 0 to 99
b 15
# 26 (When #1, b7 = ON)
# 27 (When #1, b6 = ON)
Errorcodes 0 to 20
Error status
Type code
5.01 0
Code numbets
PGU program
4 to p 0 to 999,999
I 77 I
M 100
M 101
M102
M 103
M 110
to
M 117
E
2
J
I
Y 440
Y 441
4 Y 442
Y 443
Y 444
M 120
2
J
2
J
to
M 127
SET
WAIT
RPT X
MT +,K
SPD X
LD,
LDI
AND, ANI
OR,
OR1
SET,
RST
LD,
LDI
AND,
ANI
OR,
OR1
INT,
VCH
LD.
LDI
AND,
ANI
OR,
OR1
SET,
RST
K H, KnX
KnY, KnM, KnS
T, C, D, V, Z
Programmablecontrollr
See page 134for applicable versions
MO to M127, Y440 to Y444,and data registers 70 to 77 are code numbers usedfor programs
in the PGU.
For example, BFM#2 bO is coded as Y440, and these two numbers indicate the same memory
area. Therefore, when BFM#2 bO is turned
ON by the programmable controller, the instruction
of the
LD Y440 instruction in the PGU also goes ON.
- 18-