Mitsubishi FX3U-20SSC-H User manual

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FX3U-20SSC-H Quick start

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Table of Contents:
1. Introduction
2. Components required for Setup
2.1.Hardware Requirements
2.1.1. Components
2.1.2. Setup
2.1.3. Wiring
2.2.Software Requirements
2.2.1. Components
3. Explanation of System Configuration
3.1.Memory Configuration
4. Begin to Use FX3U-20SSC-H with FX Configurator-FP
4.1.Initialization Process
4.1.1. Setting the Positioning Parameters
4.1.2. Setting the Servo Parameters
4.2.Using TEST MODE
4.2.1. JOG Operation
4.2.2. Setting the Zero Point
4.2.3. Positioning at 1-step speed
4.3.Creating Table Operations
4.4.Using Monitor Mode
4.4.1. Table Monitor
4.4.2. Operation Monitor
4.5.Resetting an Error
4.6.Absolute Position Detection System
5. Clearing Servo Warning “E6”
6. Example program with GX Developer

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1. Introduction
Based on customer demand, the FX3U-20SSC-H was developed and introduced to
the world as a high performance, cost effective solution for positioning
applications in the Micro PLC range of factory automation. The unit’s features and
capabilities are very similar to the QD75MH2 positioning module, which was
developed for the Q Series automation platform CPUs.
To setup and program the FX3U-20SSC-H for basic positioning operations, FX
Configurator-FP and GX Developer or GX IEC Developer can be used with a
personal computer. This quick start guide provides an overview of the hardware
and software involved and describes how to set up a system and understand the
device communication. FX Configurator-FP is used for initializing hardware
parameters, setting up positioning tables, and for testing and monitoring the
FX3U-20SSC-H. Please refer to the FX Configurator-FP Operation Manual
(JY997D21801A) for further help.
Related Documents
FX Configurator-FP Operation Manual (JY997D21801A)
FX3U-20SSC-H User’s Manual (JY997D21301C)
2. Components required for Setup
2.1 Hardware requirements
2.1.1 Components
FX3U Series Main PLC
FX3U-20SSC-H
MR-J3-_B servo amplifier
HF-MP/HF-KP or HF-SP servo motor
MR-J3BUS_M fiber optic cable
Programming cables (SC-09, USB)
2.1.2 Setup
With an FX3U Base Unit attached to the FX3U-20SSC-H, up to eight FX3U-20SSC-H
modules can be connected via extension cables to the FX3U. The FX3U-20SSC-H
requires DC power and SSCNET III communication for operation. Manual pulse
generator dial(s) are optional. For connection to MR-J3-B type servo amplifiers,
please refer to the MELSERVO-J3 Series MR-J3- B Servo Amplifier Instruction
Manual (SH(NA)-030051). A basic wiring overview is explained in the following
section.

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2.1.3 Wiring
 Wiring requirements for MR-J3-B:
200~230V AC to L1, L2, L3 for power circuit
200~230V AC to L11 and L21 for control circuit
Power cable between motor and amplifier (U,V,W terminal)
Encoder cable between motor and amplifier (CN2)
Fiber optic cable SSCNET 3at CN1A and CN1B
 Wiring requirements for FX3U-20SSC-H:
24 V DC to power connector
Fibre optic cable at SSCNET3 connector
Extension cable to FX3U (module takes 100mA from the 5V DC Bus)

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2.2 Software requirements
2.2.1 Components
 FX Configurator FP Version 1.00 or later (optional, but needed of using this
document)
 GX Developer Version 8.23Z or later
or GX IEC Developer Version 7.00 or later
3. Explanation of System Configuration
3.1 Memory configuration
The F3U-20SSC-H has two types of memory for initial data transfer processes and
continuous communication with servo equipment and programming devices. The
module’s flash memory retains parameter information and table data for initializing servo
equipment at power-ON while the buffer memory (BFM) constantly communicates with
servo equipment and PLC sequence programs. To set up positioning parameters, servo
parameters and table information for the F3U-20SSC-H, it is necessary to send data to
the module from a PLC sequence program or from FX Configurator-FP. Due to the
convenience and reduced complexity of program coding, FX Configurator-FP should be
used whenever possible to program table operations.
Below is a diagram of how the 20SSC-H memory communicates with servo amplifiers,
PLCs and other equipment.

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20SSC-H System Communication
No. Description
(1) Read/Write/Monitor/Test the sequence programs with GX (IEC) Developer.
(2) Read out the following data from the FX3U-20SSC-H BFM to FX Configurator-FP.
· Positioning parameters
· Servo parameters
· Table information
· Monitor data (Operation status, motion status, input signal status, etc.)
(3) Write the following data from FX Configurator-FP to the FX3U-20SSC-H BFM.
· Positioning parameters
· Servo parameters
· Table information
· Control data (The present value change, speed change and operation test command,
etc.)
(4) Read/Write the following data in BFM with sequence program.
· Positioning parameters
· Servo parameters
· Table information
· Monitor data (Operation status, motion status, input signal status, etc.)
· Control data (The present value change, speed change and operation test command,
etc.)
(5) Store the following BFM data to the Flash ROM by the store command from a sequence
program, FX Configurator-FP.
· Positioning parameters
· Servo parameters
· Table information
(6) Positioning/servo parameters and table information transfer from the Flash ROM to the
BFM at power ON. Simultaneously, servo parameters transfer to the servo amplifiers.
(7) Servo parameters in the BFM transfer to the servo amplifiers at power ON.
(8) FX3U-20SSC-H retrieves the servo parameters changed by the servo amplifiers and
updates the servo parameters in its BFM.
In this document, sections of the FX3U-20SSC-H BFM are referred to as:
Positioning parameters
Servo parameters
Table information
Monitor data
Control data
The positioning parameters, servo parameters and table information can be read and
written with several devices including FX Configurator-FP, GX (IEC) Developer and
human machine interfaces. The monitor data can only be read from the BFM (except for
the current address, which has write access), while the control data can be read and
written to the BFM. Control data is written to the BFM very frequently, while positioning
parameters, table information and servo parameters are usually set up less frequently.
For a list of how the areas of the buffer memory can be accessed in terms of read/write,
please refer to the following table.

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Read/Write Properties for the 20SSC-H Buffer Memory
BFM # Content R/W
0 – 99 X-axis Monitor Data R
*1
100 – 199 Y-axis Monitor Data R
*1
200 – 499 Undefined R
500 – 599 X-axis Control Data R/W
600 – 699 Y-axis Control Data R/W
700 – 999 Undefined R
1000 – 3999 X-axis Table Information R/W
4000 – 6999 Y-axis Table Information R/W
7000 – 12999 XY-axis Table Information R/W
13000 – 13999 Undefined R
14000 – 14199 X-axis Positioning Parameters R/W
14200 – 14399 Y-axis Positioning Parameters R/W
14400 – 14999 Undefined R
15000 – 15199 X-axis Servo Parameters R/W
15200 – 15399 Y-axis Servo Parameters R/W
15400 – 15999 Undefined R
16000 – 16255 System Use Only R
*1: R/W is possible for the Current address (user) in BFM #1,#0 and BFM #101,#100
4. Begin to Use FX3U-20SSC-H with FX Configurator-FP
4.1 Initialization Process
When setting up the F3U-20SSC-H for the first time or when beginning a new project, it is
recommended to clear the servo parameters and positioning parameters and then write
the desired settings (as needed by the user application) to the controller. The purpose of
this section is to define basic settings for the initial testing of the module using the FX
Configurator-FP software.
1) Confirm that the hardware is set up correctly (as described in Section 2.1:
Hardware Requirements) and the PLC is in STOP mode. Turn the power ON.
(Both of the servos should display ‘Ab’ when the power is turned ON for the very
first time.)
2) Open FX Configurator-FP from the Start menu [Start →MELSOFT Application →
FX Configurator-FP] or from the Tools menu of GX Developer [Tools →FX special
function utility →FX Configurator-FP] and create a New file by clicking on in
the Toolbar.
3) Expand the tree of folders in the ‘File data list’ panel on the left-hand side by
double clicking on ‘Unset file,’ ‘Edit’ and ‘Monitor.’
4) Go to [Online →Connection setup →Comm. Test.]
Verify that the devices are communicating properly.
5) Go to [Online →Initialize module.]

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Select all servo parameters, positioning parameters and table information and
place a check mark in ‘Flash ROM write.’ Click the OK button and proceed with
selecting ‘Yes’ and then ‘OK.’
6) Set the positioning parameters
Double click on ‘Positioning parameters’ in the ‘File data list’ panel on the left-
hand side to modify the positioning parameters.
Change the following items from the ‘Item’ column:
Positioning parameters
· Maximum speed →
for X- and Y-axes.
Positioning parameters
· OPR mode →
for X- and Y-axes.
(This setting is used specifically for a system
without a DOG or mechanical zero-point.)
Positioning parameters
· OPR interlock setting →
for X- and Y-axes.
(This is used to ensure that the START command
functions regardless of the zero return complete
flag’s Status (BFM#28/128, b3).)
“26214400 Hz”
“1: Data set”
“0: Invalid”
Select all
information to
initialize the
20SSC-
H for the
first time.

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7) Set the servo parameters (20SSC-H v.1.04 and later)
7.1) When FX Configurator-FP is used and the forced stop is NOT being used:
If a forced stop switch is not used with the MR-J3-B servos, the servo forced stop
setting must be disabled before the servo series is set with the Configurator-FP as
follows:
Double click on ‘Servo parameters’ in the ‘File data list’ panel on the left-hand
side to modify the servo parameters. Be sure to change settings for BOTH the X
& Y axes.
Set the following item from the ‘Kind’ column:
Servo parameters
· Basic setting parameters →Function selection A-1 →Servo forced stop
selection →for X- and Y-axes.
Write the servo parameters to the 20SSC-H BFM and Flash ROM by
pressing the ‘Write to module’ button or by using [Online →Write to
module (Ctrl+T).] Select only the servo parameters and put a check
mark in the ‘Flash ROM write’ box as shown below. Click the OK button
and proceed with selecting ‘Yes’ and then ‘OK.’
Reboot the power to the SSCNET system.
Servo parameters
· Servo amplifier series →Servo amplifier series →
for X- and Y axes.
“1: Invalid (Do not use the forced stop signal.)”
“1: MR-J3-B”
Only the Servo
parameters are
selected to be written.
Check ‘Flash ROM
write
’ so that these
settings are active
every
time the power is
turned ON.

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8) Write the servo and positioning parameters
Write the servo parameters and positioning parameters to the FX3U-20SSC-H
by pressing the ‘Write to module’ button or by using [Online →Write to module
(Ctrl+T).] Select only the servo and positioning parameters and put a check mark
in the ‘Flash ROM write’ box as shown below. Click the OK button and proceed
with selecting ‘Yes’ and then ‘OK.’
4.2 Using TEST MODE
Verify that the PLC is in STOP mode before proceeding with this section.
To enter TEST MODE, press the Test On/Off button in the Test toolbar or go to
[Online →Test →Test On/Off.] Select ‘Yes,’ and then ‘OK.’
Open up the X- and Y- axis Operation test windows by clicking on the two buttons:
and .
4.2.1 JOG Operation, X-axis
In the ‘X-axis Operation test’ window, click on the JOG/MPG tab. Click and hold down the
FWD JOG button. Try changing the JOG speed and JOG instruction evaluation time.
(For more information on the JOG instruction evaluation time, refer to Chapter 8.2.1 in
the FX3U-20SSC-H User’s Manual (JY997D21301A).)
4.2.2 Setting the Zero Point
Click on the X-axis and Y-axis OPR tabs and then click the REQ. OPR button and select
‘Yes’ and ‘OK.’
Since the mechanical zero return mode has been set to the data-set type from Section
4.1: Initialization Process, the value in BFM# 14028, 14029 (initially zero) is directly
written to the current address. (In stopper type and DOG type mechanical zero return
modes, this method will cause the motor to turn in the direction of the zero point and will
not write zero until the motor comes to a complete stop after detecting an external DOG
signal or stopper device. If the REQ. OPR button causes the motor to rotate
continuously, verify that the Data-set OPR mode has been set in the Positioning
Parameters as described in Section 4.1: Initialization Process.)
Select the Positioning and
Servo parameters to be
written.
Check ‘Flash ROM write’ so
that these settings are active
every time the power is
turned ON.

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WARNING: In OPR modes other than Data-set type, the motor will not stop without an
external DOG signal or stopper device.
X-axis Y-axis
4.2.3 Positioning at 1-Step Speed
By default, the FX3U-20SSC-H is set in Absolute positioning mode. If Incremental
positioning (Relative positioning) is desired, a table operation or PLC sequence program
must be used to specify the ‘Incremental mode’. The following procedure uses the
default Absolute positioning mode and is meant to be followed step-by-step.
Positioning at 1-step speed
Set the zero-point according to Section 4.2.2: Setting the Zero Point above if you haven’t
already done so. Click on the Position start tab and select ‘Positioning at 1-step speed’
in the X-axis Pattern drop-down menu. Set the following X-axis information:
Click on the Start button and observe the motor. Click ‘Yes’ and ‘OK.’
4.3 Creating table information
If you are in TEST MODE, press the Test On/Off button in the Test toolbar and click
‘Yes’ to disengage TEST MODE. Double-click on ‘XY-axis Table information’ in the
‘File data list’ panel on the left-hand side and maximize the window.
Enter the following data in the XY-axis Table information
Target address 1: 50,000,000 PLS
Operation speed 1: 10,000,000 Hz
Select OPR tab
and then REQ.
OPR

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(With PLS addresses, the numbers can be very large. To reduce the number size, the
Position data magnification item can be changed to “3:×1000 times” in the ‘Positioning
parameters.’ If this is changed with data already entered in a table information window,
the fields with addresses that lay outside the range –2,147,483,648 to 2,147,483,647 will
be highlighted in RED, indicating they must be changed.)
After entering the above table, click on the button or use [Online →Write to module
(Ctrl+T).] Remove checkmarks from ‘Positioning parameters’ and ‘Servo parameters’
and put a checkmark in ‘Table information.’ Unselect the ‘X-axis’ and ‘Y-axis,’ put a
checkmark in ‘XY-axis,’ and modify the table number range (table rows) from 0 – 25.
This will decrease the download time to the 20SSC-H. Unselect the ‘Flash ROM write’
button, click ‘OK’ and then ‘OK’ again.
No. Command Code Address
x:[PLS]
y:[PLS]
Speed
fx:[Hz]
fy:[Hz]
Arc center
i:[PLS]
j:[PLS]
Time
[10ms] Jump No. m code
0 Incremental address specification -1
20,000,000 10,000,000
1 X-axis positioning at 1-step speed -1
2 Y-axis positioning at 1-step speed 20,000,000 10,000,000 -1
5,000,000 2,000,000
3 XY-axis positioning at 1-step speed -5,000,000 2,000,000 -1
0 15,000,000 5,000,000
4 Circular interpolation(CNT,CW) 0 5,000,000 -1
5 Dwell 30 -1
10,000,000 10,000,000
6 XY-axis positioning at 2-step speed -10,000,000 10,000,000 -1
-10,000,000 10,000,000
7 XY-axis positioning at 2-step speed 10,000,000 10,000,000
8 Dwell 30 -1
10,000,000 10,000,000
9 XY-axis positioning at 2-step speed -10,000,000 10,000,000 -1
-10,000,000 10,000,000
10 XY-axis positioning at 2-step speed 10,000,000 10,000,000
11 Dwell 30 -1
0 7,000,000 5,000,000
12 Circular interpolation(CNT,CCW) 0 5,000,000 -1
13 Dwell 30 -1
10,000,000 15,000,000
14 XY-axis positioning at 2-step speed 5,000,000 7,500,000 -1
-5,000,000 7,500,000
15 XY-axis positioning at 2-step speed -10,000,000 15,000,000
16 Dwell 30 -1
20,000,000 26,214,400
17 Linear interpolation -20,000,000 -1
18 Dwell 150 -1
19 Jump 0
20 End

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Save the project.
To perform the table operation:
Select ‘XY-axis table operation’ in the X-axis Pattern drop-down menu of the Position
start tab. Set the Table operation start No. as desired (0 in this example) and begin
positioning by pressing the Start button, ‘Yes,’ and ‘OK.’
4.4 Using Monitor Mode
4.4.1 Table Monitor
To use table monitor during positioning, first enable the XY-operation Table pattern in
TEST MODE and begin its operation by following Section 4.3: To perform the table
operation above. Do not stop the operation. Ensure that the ‘XY-axis Table information’
window is open and click on the Monitor button in the Test toolbar or go to [Online →
Monitor →Monitor On/Off.]
4.4.2 Operation Monitor
To use operation monitor during positioning, first enable the XY-operation Table pattern
in TEST MODE and begin its operation by following Section 4.3:To perform the table
operation above. Do not stop the operation. Instead, click on the Close button to exit the
X-axis Operation test window.
Press the Test On/Off button in the Test toolbar and click ‘Yes’ to turn TEST MODE
off. Double-click on ‘Operation monitor’ in the ‘File data list’ panel on the left-hand side.
Click on the Monitor Start button and experiment with the X-axis Operation status and Y-
axis Operation status buttons to monitor axis control data such as target addresses and
operation speeds and servo status. By clicking on the Signal button, the FX3U-20SSC-H
monitor data can be displayed for useful feedback. The Operation Monitor is also helpful
for determining positioning errors.
Uncheck this setting
unless you want data to
be written to the Flash
ROM.
These parameters do
not need to be written to
the 20SSC-H again.

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4.5 Resetting an Error
When an error occurs on the X- or Y- axis, the ‘X-ERROR’ or ‘Y-ERROR’ light on the
FX3U-20SSC-H begins blinking and positioning operations are halted until the error-reset
bit in the operation data is set via GX (IEC) Developer or FX Configurator-FP.
-- NOTE --
If the FX3U-20SSC-H error LEDs are continually blinking and the servos read ‘E6,’ even
after recycling the power, refer to Section 5 Clearing Servo Warning ‘E6’ to reset the
error.
When an error occurs, the icon in FX Configurator-FP turns on if you’re in TEST
MODE, or while you’re using the Table monitor, or during the ‘Operation monitor’
Monitor Start mode. The Error code is listed in the X-axis Operation or Y-axis Operation
test window as shown below and may be seen in the Operation monitor as well.
To remove the error, click on the button or select [Online →Test →Error reset →
Error reset X-axis] and press ‘Yes’ and ‘OK.’
4.6 Absolute Position Detection System
The absolute position detection system is a feature available from the MR-J3-B servo
amplifiers to remember the current position of the work piece at all times. According to
Chapter 7.6.4 in the FX3U-20SSC-H User’s Manual (JY997D21301A), the current
position is stored in the servo amplifiers’ battery backed memory, and even if the work
piece moves at power failure, the moving distance is added to the current position with
the absolute encoder and servo amplifier absolute position system.
To set the absolute position detection system, it is necessary to write information to the
servo parameters and then perform a mechanical zero return operation once to define
the coordinate system. After the coordinate system is defined, the zero return operation
does not need to be executed again, even when the power is turned on. If the absolute
position detection system is disabled and then enabled again, however, the mechanical
zero return operation will be needed again.
The Error code
number allows
you to diagnose
the cause of the
problem with the
FX
3U
-20SSC-H
User’s Manual.
These buttons
provide detailed
information about
the operation
speeds and
addresses. They
also allow
monitoring of
servo speeds in
RPM.

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Follow the steps below to activate the absolute position detection system.
1) Set the servo parameters
Double click on ‘Servo parameters’ in the ‘File data list’ panel on the left-hand
side to modify the servo parameters. Be sure to change settings for BOTH the X &
Y axes.
Set the necessary items from the ‘Kind’ column:
· Basic setting parameters →Absolute position detection system →Selection of
absolute position detection system →
for X- and Y-axes.
Set all other parameters that are needed for your system if necessary.
2) Write the servo parameters
Write the servo parameters to the 20SSC-H BFM and Flash ROM by pressing
the ‘Write to module’ button or by using [Online →Write to module (Ctrl+T).]
Select only the servo parameters and put a check mark in the ‘Flash ROM write’
box as shown below. Click the OK button and proceed with selecting ‘Yes’ and
then ‘OK.’
“1: Used in absolute position detection system”
Only the Servo parameters
are selected to be written .
Check ‘Flash ROM write’ so
that these settings are
active
every time the power is
turned ON.

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5. Clearing Servo Warning ‘E6’
If the servo warning signal ‘E6’ does not go away when the power is recycled, the Flash
ROM needs to be written to with GX (IEC) Developer instead of using FX Configurator-
FP. This situation occurs when a forced stop signal is not hardwired to the servos (CN3
terminal) and the FX3U-20SSC-H Flash ROM has been configured to use the forced stop
signal.
Write the correct servo parameters to the BFM and then use GX (IEC) Developer to write
the BFM to the Flash ROM as described below.
How to Write to the 20SSC-H Flash ROM with Servo Warning ‘E6’
1) Using Configurator-FP, write the servo parameters to the 20SSC-H buffer memory
only. Double click on ‘Servo parameters’ in the ‘File data list’ panel on the left-
hand side to review the servo parameters. Be sure to change settings for BOTH
the X & Y axes.
Set the following items:
Write the servo parameters to the FX3U-20SSC-H buffer memory only by
pressing the ‘Write to module’ button or by using [Online →Write to module
(Ctrl+T).] Select the servo parameters. Click the OK button and proceed with
selecting ‘Yes’ and then ‘OK.’

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2) Using GX Developer, write the servo parameters to the F3U-20SSC-H Flash ROM.
Open GX Developer and create a new FX3U project. To access the BFM, open the
Buffer memory batch window by going to [Online →Monitor →Buffer memory
batch].
Access BFM #522 by inputting ‘0’ for the ‘Module start address’ and ‘522’ for the
‘Buffer memory address’ as shown below. Note, the ‘Module start address’ is
different if you have other hardware connected to the FX3U.
1) Module start address: 0
2) Buffer memory address: 522
3) Click on the ‘Start monitor’ button.
4) Click on the ‘Device test’ button.

Mitsubishi Electric Europe B.V. /// FA-European Business Group /// Gothaer Strasse 8 /// D-40880 Ratingen /// Germany
Tel: [phone] /// Fax: [phone] /// Email:[e-mail] /// Web: www.mitsubishi-automation.com
Issue:
February 2007 /// Created by: FA-EBG Marketing Communications Dept
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1) Set ‘5220’ to BFM #522 1) Change the ‘Address’ to 523
2) Click the ‘Set’ button 2) Change the value type to HEX
3) Set ‘60’ to BFM #523
4) Click the ‘Set’ button
Close the ‘Device test’ window and stop the monitoring.
3) Reboot the power of the SSCNET System.

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Tel: [phone] /// Fax: [phone] /// Email:[e-mail] /// Web: www.mitsubishi-automation.com
Issue:
February 2007 /// Created by: FA-EBG Marketing Communications Dept
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6. Example program with GX Developer