Mitsubishi FX-10GM User manual

i
FX-10GM POSITIONING CONTROLLER
FX-10GM POSITIONING CONTROLLER
USER'S GUIDE
Manual number: JY992D68401
Manual revision: A
Date: September 1997
Foreword
• This manual only describes the specifications for FX-10GM positioning controller.
For complete operation, wiring, mounting and programming instructions please refer
to the FX-10GM, FX(E)-20GM HARDWARE/PROGRAMMING MANUAL, FX
PROGRAMMING MANUAL and FX SERIES HARDWARE MANUAL.
• Before attempting to install or use the FX-10GM unit this manual and FX-
10GM,FX(E)-20GM HARDWARE/PROGRAMMING MANUAL should be read and
understood.
• If in doubt at any stage of the installation of the FX-10GM unit always consult
a professional electrical engineer who is qualified and trained to the local and
national standards which apply to the installation site.
• If in doubt about the operation or use of the FX-10GM unit please consult the nearest
Mitsubisi Electric distributor.
• This manual is subject to change without notice.

FX-10GM POSITIONING CONTROLLER
ii

iii
FX-10GM POSITIONING CONTROLLER
Guidelines for the safety of the user and protection of the FX-10GM unit
This manual provides information for the use of the FX-10GM unit. The manual has
been written to be used by trained and competent personnel. The definition of such a
person or persons is as follows;
a) Any engineer who is responsible for the planning, design and construction of
automatic equipment using the product associated with this manual should be of
a competent nature,trained and qualified to the local and national standards
required to fulfill that role. These engineers should be fully aware of all aspects
of safety with regards to automated equipment.
b) Any commissioning or service engineer must be of a competent nature,trained
and qualified to the local and national standards required to fulfill that job. These
engineers should also be trained in the use and maintenance of the completed
product. This includes being completely familiar with all associated documentation
for the said product. All maintenance should be carried out in accordance with
established safety practices.
c) All operators of the completed equipment should be trained to use that product in
a safe and co-ordinated manner in compliance to established safety practices.
The operators should also be familiar with documentation which is connected
with the actual operation of the completed equipment.
Note: the term 'completed equipment' refers to a third party constructed device which
contains or uses the product associated with this manual.
Notes on the symbology used in this manual
At various times through out this manual certain symbols will be used to highlight
points of information which are intended to ensure the users personal safety and protect
the integrity of equipment. Whenever any of the following symbols are encountered its
associated note must be read and understood. Each of the symbols used will now be
listed with a brief description of its meaning.
Software warning
Indicates a point of interest or further explanation
Indicates a special point which the user of the associate software element
should be aware of
Indicates special care must be taken when using this element of software
Hardware warnings
Indicates that the identified danger could POSSIBLY cause physical and
property damage.
Indicates that the identified danger WILL cause physical and property
damage.
Indicates a point of further interest or further explanation.

FX-10GM POSITIONING CONTROLLER
iv
CONTENTS
1. INTRODUCTION......................................................................................................................................... 1 - 1
1.1 Outline ............................................................................................................................................... 1 - 1
1.2 System Configuration ....................................................................................................................... 1 - 2
1.2.1 Nomenclature.......................................................................................................................... 1 - 2
1.2.2 System configuration .............................................................................................................. 1 - 3
1.3 External Dimensions......................................................................................................................... 1 - 4
2. SPECIFICATIONS ...................................................................................................................................... 2 - 1
2.1 General Specifications...................................................................................................................... 2 - 1
2.2 Power Supply Specifications ............................................................................................................ 2 - 1
2.2.1 Power Supply Specifications.................................................................................................. 2 - 1
2.2.2 Service power supply.............................................................................................................. 2 - 2
2.3 Performance specifications .............................................................................................................. 2 - 2
2.4 I/O Specifications.............................................................................................................................. 2 -4
2.4.1 Input specifications ................................................................................................................. 2 - 4
2.4.2 Output specifications .............................................................................................................. 2 - 5
2.5 Optional Units.................................................................................................................................... 2 - 6

INTRODUCTION 1
1-1
FX-10GM POSITIONING CONTROLLER
1. INTRODUCTION
This section explains the outline of the positioning unit and the related peripheral
units.
In description, the FX-10GM may be abbreviated as "10GM".
For complete operation, wiring, mounting and programming instructions please refer
to the FX-10GM, FX(E)-20GM HARDWARE/PROGRAMING MANUAL, FX
PROGRAMMING MANUAL and FX SERIES HARDWARE MANUAL.
1.1 Outline
The FX-10GM positioning unit is the pulse chain output type, and enables the positioning
control of the stepping motor or the servo motor via the drive unit.
Number of
control axes Positioning languages Number of output pulses Connection to Programmable controller
1Dedicated language +
Sequence language 1 to 200 kPPS Connected to FX/FX2C or performs
independently
Number of control axes
FX-10GM: For one axis.
Positioning languages
Both dedicated positioning language (cod instructions) and sequence language (basic
instructions and application instructions).
The languages are compatible among the FX-10GM.
Number of output pulses
High-speed pulse output from 1 PPS to 200 kPPS maximum.
Programmable controller connected
The FX-10GM can be connected to the FX/FX2C Series programmable controller to
read or write the positioning data. Each unit can also be used independently.

INTRODUCTION 1
1-2
FX-10GM POSITIONING CONTROLLER
24+
24-
When the top cover is removed
Power supply terminals
Connector for the FX/FX
Series programmable controller
Enlarged view of the lower left side
CN1:Connector for I/Os CN2:Connector for drive unit
Connector for
programming
Connector for
an extension
unit/block for
the programmable
controller
Mounting hole.2- 5.5 DIN rail
Not used when the unit is mounted
to a DIN rail
Operation
indicator LEDs
I/O output
status
indicator LEDs
2C
MANU
COM1
1.2 System Configuration
1.2.1 Nomenclature
This section explains the names of the terminals and the connectors provided in the
FX-10GM.
10 20
Y4 Y5
COM1 COM1
LSR
Y3
LSF
Y2
DOG
Y1
RVS
Y0
FWD
X3
ZRN
X2
STOP
X1
START
1
11X0
11
1
SVEND
COM2 COM2
PG0 CLR
COM4 COM3
RP0
FP0
RP
FP
24 + 24 +
VC VC
COM5 COM5
ST2 ST1
20 10
SVERDY

INTRODUCTION 1
1-3
FX-10GM POSITIONING CONTROLLER
1.2.2 System configuration
This section explains the system configuration and I/O assignment of the FX-10GM.
Independent operation
• The FX-10GM can operate independently because it is equipped with a power
supply of 24V DC, CPU, operation inputs, mechanical inputs and drive unit inputs/
outputs as described on the next page.
• The FX-10GM can be connected to external I/O devices because it is equipped
with 4 input points (X0 to X3) and 6 output points (Y0 to Y5) as general purpose
I/Os. When the I/O points are insufficient, use a programmable controller as
described below.
Connecting a programmable controller
• Applicable programmable controller: FX or FX2C Series
The FX-10GM is treated as a special unit of the programmable controller. Eight
special units (such as the analog I/O unit, the high-speed counter, etc.) including
the FX-10GM can be connected to a programmable controller.
POWER
RUN
BATT.V
PROG-E
CPU-E
`bWT `QUSu
L N 24+ X1 X3 X5 X7
COM X0 X2 X4 X6 X10
X11
X12
X13
X14
X15
X16
X17RUN
SG
Y0 Y2 Y4 Y6 Y10 Y12 Y14 Y16
COM1 Y1 Y3 COM 2 Y5 Y7 COM3 Y11 Y13 COM4 Y15 Y17
PULL
24+
24-
COM1
MANU
B
POWER
3 7
0 4
1 5
2 6
3 7
0 4
1 5
2 6
A
POWER
3 7
0 4
1 5
2 6
3 7
0 4
1 5
2 6
TRANSISTOR BLOCK
A
B
24+
24-
COM1
MANU
1
0
1
2
3
COM
COM
4
5
6
7
COM
COM
1
0
1
2
3
COM
COM
4
5
6
7
COM
COM24+
24-
Terminal block
Input unit described
on the next page
Special
units No.1
Special
units No.0
Programmable controller
Output unit described
on the next page
X00 X17 (X00 X03) X20 X27 (X00 X03)
Y00 Y17 (Y00 Y05) Y20 Y37 (Y00 Y05)
Peripheral units for the FX-10GM
• E-20TP teaching panel
• FX-PCS-KIT-GM-EE software kit for personal computer
Peripheral units for the programmable controller
• Various programming tools
• Data access unit
• I/O assignment
The FX-10GM is treated as a special unit of the programmable controller. The
special unit Nos. 0 to 7 are automatically assigned to each of the special units
from the unit closest to the programmable controller (The No. assigned here is
regarded as the unit No. specified in the FROM/TO instruction.)
No I/Os of the programmable controller are assigned, and the general purpose I/
Os of the FX-10GM are controlled by the 10GM.
Note
For details of the I/O assignment in the programmable controller, refer to the FX SERIES
HARDWARE MANUAL. The number of extension blocks connected after the 10GM
is limited. See section 2.2.2.

INTRODUCTION 1
1-4
FX-10GM POSITIONING CONTROLLER
Units for general I/O connection
For the general I/Os of the positioning unit and the extension I/Os of the programmable
controller the following external units can be connected.
1) Various input switches
The various input switches such as a push-button switch, limit switch, sensor,
etc. can be connected.
2) Manual pulse generator
A pulse generator can be
connected to each axis, or one
pulse generator can be
connected to both axes and
switched between them. The
manual pulse generators used
must be an open collector output
type.
General input/extension input
1) Input from the digital switch
3) Interrupt input
The input from the
manual pulse generator
can be used as control
input for interrupt
positioning control by
switching the line.
90
0
10
60
70
80
• Up to 6 digits are
possible with the FX-
10GM. Use with a
programmable cont-
roller for more digits.
123456
+
-
+
-
+
-
+
-
+
-
+
-
Various data settings can be fetched
through connections that save wiring,
either by a direct connection method
or by multiplexing input/outputs.
General output/extension output
1) Auxiliary equipment control output
The ON/OFF control outputs for
various auxiliary equipment are
generated by M code signals (2-digit
BCD) or a direct program.
2) Seven-segment display
Various setting data and statuses,
and present value, can be displayed
through connections that save wiring,
either by a direct connection method
or by multiplexing outputs.
The following data can be set using
direct specification instructions.
• Target position • Speed
• Center coordinates of circular arc
• Radius of circular arc
• Various parameters and control constants
a) Current position display:
8 digits maximum for each axis.
b) The line No. being executed, the set
speed, the present dwell value, various
parameters and the status can be read
and displayed.
• Up to 2 digits are possible with the
FX-10GM. Use with a programmable
controller for more digits.
• The positioning control command inputs and the drive unit connection are enabled
via dedicated I/O.

INTRODUCTION 1
1-5
FX-10GM POSITIONING CONTROLLER
Units for dedicated I/O connection
1) Operation system inputs
• Automatic start command
• Single-step operation command
• Stop command
• Zero return command
2) Mechanical system inputs
• Forward rotation limit
• Reverse rotation limit
• Near-point dog signal
• Manual forward rotation command
• Manual reverse rotation command
• Manual/automatic selection
3) Drive unit
• Zero point signal
• Servo ready
• Servo end
• Forward/reverse rotation pulse sample
• Clear signal
• Absolute position detection signal
etc.

INTRODUCTION 1
1-6
FX-10GM POSITIONING CONTROLLER
FX-10GM
PULL
START
LSR
LSF
DOG
RVS
FWD
ZRN
STOP
Y5
X0
X1
X2
X3
Y0
Y1
Y2
Y3
Y4
CLR
MANU
SVRDY
SVEND
PGO
FP
RP
CPU-E
POWER
READY
ERROR
140
125
Width: 35mm
DIN rail moun-
ting groove
10
40
50 95
2- 5.5
Mounting
hole
1.3 External Dimensions
Weight : Approx. 0.4 kg
Accessory: Extention cable,
No. labels for special
function unit or block

2-1
FX-10GM POSITIONING CONTROLLER SPECIFICATIONS 2
Ambient temperature Operating: 0 to +55 Storage: -20 to +70
Ambient humidity Operating: 35 to 85%RH, non condensing.
Vibration resistance Conforms to JIS C0911: 10 to 55Hz, 0.5mm, (2G maximum) *1 2 hours in
3 axis directions.
Shock resistance Conforms to JIS C0912: 10G three times in 3 axis directions.
Noise resistance By noise simulator with noise voltage 1,000Vp-p, noise width 1 µs and
cycle 30 to 100Hz.
Withstand voltage 500V AC for 1 minute Between all terminals and ground.
Insulating resistance 5M Ωor more by 500V DC Megger.
Grounding Class 3 grounding (with strong power system is not allowed.) *2
Ambient atmosphere Free from corrosive gas and excessive dust.
*1 0.5G when mounted to a DIN rail.
*2
2. SPECIFICATIONS
For complefe operation wiring, mounting and programming instructions please refer
to the FX-10GM, FX(E)-20GM HARDWARE/PROGRAMMING MANUAL, FX
PROGRAMMING MANUAL and FX SERIES HARDWARE MANUAL.
2.1 General Specifications
Dedicated grounding
(best recommendation)
Joint grounding
(acceptable)
Common grounding
(unacceptable)
Positioning
unit Other unit
Positioning
unit Other unit
Class 3
grounding
Positioning
unit Other unit
2.2 Power Supply Specifications
2.2.1 Power Supply Specifications
Item Specifications
Rated voltage 24V DC
Allowable voltage range -15% to +10%
Allowable momentary
power interruption time
Continues operation against
momentary power interruption of
5 msec or less.
Power consumption 5W

FX-10GM POSITIONING CONTROLLER
2-2
SPECIFICATIONS 2
2.2.2 Service power supply
• The drive power supply of the FX-10GM is 24V DC. There is no 24V DC service
power supply for an external unit.
• When a programmable controller is used, extension blocks can be connected.
The maximum total input and output points for non powered extension blocks is
48.
• The capacity of the 5V DC power supply for special extension blocks (such as
the FX-2DA/4AD analog block, the FX-1HC high-speed counter, etc.) is 100 mA.
• When more than 48 I/O points are needed or when the capacity of the 5 V power
supply is insufficient, use powered extension units.
2.3 Performance Specifications
Item Specifications
Number of control axes 1
Applicable
programmable controller Bus connection with FX/FX2C Series PC, Number of I/O points occuupied:8 points
Program memory 3.8k step EEPROM built in
Positioning units
(incremental / absolute)
Command units:0.001,0.01,0.1mm(deg),0.1inch
or 1,10,100,1000PLS
Max. command value: ±999,999(indirectly specified:32 bits)
Cumulative address ±2,147,483,647pulses
Speed commands 200kPPS max.,153,000cm/min
Automatic trapezoidal pattern acceleration / deceleration
Zero return Manual or automatic dog type machine zero return (with the
dog search function). Automatic electrical zero return in
accordance with the electrical zero position setting is possible.
Absolute position
detection When using the MR-H or the MR-J2A servo motor, simple absolute pposition detection is possible.

2-3
FX-10GM POSITIONING CONTROLLER SPECIFICATIONS 2
Item Specifications
Control
inputs
Operation
system
MANU (manual), FED (manual forward rotation), RVS
(manual reverse rotation), ZRN (machine zero return),
START (automatic start), STOP (stop), manual pulse
generator (2kPPS max.), single-step operation input
(depending on parameter settings)
mechanical
system Dog (near-point signal), LSF (forward rotation limit), LSR (reverse rotation limit), interrupts:4 points
Servo system SVRDY (servo ready), SVEND (servo end),
PG0 (zero-point signal)
General
purpose General purpose:X0 to X3
Control
outputs
Servo system RF (forward rotation pulse), RF (reverse rotation pulse),
CLR (counter clear)
General
purpose General purpose: Y0 to Y5
Program Nos. Ox00 to Ox99, O100 (subtask program)
Instruct-
ions
Positioning Cod No. system (used with instruction cods), 13 types
Sequence 11 types: LD, LDI, AND, ANI, OR, ORI, ANB, ORB, SET,
RST, NOP
Application FNC No. system, 29 types
M codes maintask m00 (WAIT) program stop and m02 (END) m01,m03 to m99
can be used as required (SFTER mode, WITH mode)
Subtask m100 (WAIT) and m102 (END) can be used
Param-
eters
System setting 9 types
Positioning 27 types
I/O control 18 types
Self-diagnosis Diagnosis is enabled by the display of parameter errors,
program errors and exernal errors with error code Noos.
Devices
Inputs X0 to X3, X375 to X377
Outputs Y0 to Y5
Auxilliary
relays M0 to M511 (general purpose)
M9000 to M9175 (special purpose)
Pointers P0 to P127
Data registers
(16 bit)
D0 to D1999 (general purpose)
D4000 to D6999 (file)
D9000 to D9313 (special purpose)
Indexes V0 to V7 (16 bit)
Z0 to Z7 (32 bit)
Programming tool
E-20TP teaching panel FX-PCS-KIT-GM-EE
Program (reading / writing, insertion / deletion),
parameters (reading / writing), operation monitor,
testing (jog, machine zero return, Personal computer (PC-AT)

FX-10GM POSITIONING CONTROLLER
2-4
SPECIFICATIONS 2
Input circuit
configuration
Input signal
names
Group 1
MANU,START,STOP,ZRN,FWD, SVRDY, SVEND
RVS,LSF,LSR
Group 2 DOG PG0 *2
Group 3 General inputs (X00 to X03) 
Group 4 Manual pulse generator,
interrupt inputs 
Circuit isolation By photocoupler By photocoupler
Operation indication LED is lit while input is ON. LED is lit while input is ON.
Signal voltage 24V DC ±10%
(internal power supply) 5 to 24V DC ±10%
Input current 7 mA / 24V DC 7 mA / 24V DC
(PG0 11.5 mA / 24V DC)
Input ON current 4.5 mA or more 0.6 mA or more
(PG0 1.5 mA or more)
Input OFF current 1.5 mA or less 0.3 mA or less
(PG0 0.5 mA or less)
Signal format Contact input or NPN open collector transistor input.
Response
time
Group 1 Approx. 0.5 msec Approx. 3 msec
Group 2 Approx. 3 msec Approx. 3 µsec
Group 3 Approx. 0.1 msec *1 
Group 4 Approx. 3 msec *1 
2.4 I/O Specifications
2.4.1 Input Specifications
3.3k
24V
COM
1
Input
Photocoupler
3.3k
5 24V
COMm
2
*1 The selection of general purpose inputs, manual pulse generator inputs or interrupt inputs in
the parameter settings automatically adjusts the input filters. The maximum response frequency
for the manual pulse generator is 2 kPPS.
*2 When using a stepping motor, short-circuit [ST1] and [ST2] terminals to each other to reduce
the PG0 resistance from 3.3 kΩto 1 kΩ.
The input current also changes.
PG0 4.9 mA/5V DC ON at 1.5 mA or less
OFF at 0.5 mA or less

2-5
FX-10GM POSITIONING CONTROLLER SPECIFICATIONS 2
Item Positioning unit drive output Positioning unit general purpose output
Output circuit
configuration
Output signal names FP (FP0), RP (RP0),CLR X00 ~ X05
Circuit isolation By photocoupler By photocoupler
Operation indication LED is lit while output is ON. LED is lit while output is ON.
External power
supply 5 to 24V DC ±10% 5 to 24V DC ±10%
Load current 20 mA or less 50 mA or less
Open circuit leak
current 0.1 mA / 24V DC or less 0.1 mA / 24V DC or less
Output ON voltage 0.5V max.
(1.5V max. for CLR) 0.5V max.
Response time
For pulse outputs FP (FP0) and 0.2 msec max. for both
RP (RP0): 200 kPPS max. OFF →ON and ON →OFF.
Pulse output width of CLR signal:
Approx. 20 msec
2.4.2 Output specifications
5 24V
50V
Load
Output
COM1
5 24V
50V
Load
Output
COMn

FX-10GM POSITIONING CONTROLLER
2-6
SPECIFICATIONS 2
2.5 Optional Units
When an I/O connector of the positioning unit is connected to a terminal block, the
following cables are convenient.
Optional cables
The following optional cables are available to connect the positioning unit.
16-points 16-points
FX-16E-150CAB type cable (1.5m)
FX-16E-300CAB type cable (3.0m)
FX-16E-500CAB type cable (5.0m)
FX-16E-150CAB-R type cable (1.5m)
FX-16E-300CAB-R type cable (3.0m)
FX-16E-500CAB-R type cable (5.0m)
FX-16E-500CAB-S type cable (5.0m)
FX-10GM
CON1
FX(E-20GM)
CON1
CON2
Positioning unit Terminal block
Flat cable with
connector at both
ends.
Round multi-cored
cable with connector
at both ends.
Connector Separate wires
at one end.
If no terminal
block is used,
the cable can
be cut off at
one end.
Applicable connectors
The specifications for connector cables made by the user and for the connectors
to be used when connecting additional equipment are indicated below.
1) When making a cable
①Flat cables
Wire size: AWG28 (0.1 mm2)
1.27 pitch, 20 cores
Example of pressure displacement con-
nectors (female)
• HIF3BA-20D-2.54R Hirose Denki
• FRC5-A020-3TOS Daiichi Denshi
• FRC2-A020-30S Daiichi Denshi
②Separate wires
Wire size: AWG22 to 20 (0.3 to 0.5 mm2)
Solderless contacts: HU-411S (0.3 mm2)
Daiichi Denshi
HU-411SA (0.5 mm2)
Daiichi Denshi
Housing: HU-200S2-001 Daiichi Denshi
* Depending on the variation in sheath
thickness, it may be difficult to accom-
modate the wires in the housing.
UL-1061 wires are recommended.
2) When connecting additional equipment
The destination side connectors to which
Mitsubishi's optional cables can be
connected include the following models.
• HIF3BA-20PA-2.54DSA Hirose Denki
• FRC5-C20S53T-OL Daiichi Denshi
• FRC2-C20S13-OL Daiichi Denshi
The internal connectors of the positioning
unit and extension blocks are equivalent to
the models indicated above.