Mitsubishi FX3U-20SSC-H User manual

FX 3U -20SSC-H
USER'S MANUAL

(1)
Before installing, operating, maintenance or inspecting this product, thoroughly read and understand this
manual and the associated manuals. Also pay careful attention to handle the module properly and safety.
This manual classifies the safety precautions into two categories: and .
Depending on circumstances, procedures indicated by may also be linked to serious results.
In any case, it is important to follow the directions for usage.
Store this manual in a safe place so that you can take it out and read it whenever necessary. Always forward
it to the end user.
1. DESIGN PRECAUTIONS
2. INSTALLATION PRECAUTIONS
Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe
injury.
Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight
personal injury or physical damage.
Reference
• Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even when
external power supply trouble or PLC failure occurs.
Otherwise, malfunctions or output failures may result in an accident.
1) An emergency stop circuit, a protection circuit, an interlock circuit for opposite movements, such as normal and
reverse rotations, and an interlock circuit for preventing damage to the machine at the upper and lower
positioning limits should be configured on the outside of the PLC.
2) When the PLC CPU detects an error, such as a watch dog timer error, during self-diagnosis, all outputs are
turned off. When an error that cannot be detected by the PLC CPU occurs in an input/output control block,
output control may be disabled.
Design external circuits and mechanisms to ensure safe operations of the machine in such a case.
3) When some sort of error occurs in a relay, triac or transistor of the output unit, output may be kept on or off.
For output signals that may lead to serious accidents, design external circuits and mechanisms to ensure safe
operations of the machine in such cases.
• At forward/reverse rotation limits wiring, make sure to wire in negative logic and use NC contact. Setting in positive
logic and using NC-contact can cause serious accidents.
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Reference
• Observe the following items. Failure to do so may cause incorrect data-writing by noise to PLCs and result the PLC
failure, machine damage or an accident.
1) Do not lay close or bundle with the main circuit line, high-voltage line, or load line.
Noise and Surge induction interfere with the system operation.
Keep a safe distance of least 100 mm (3.94") from the above lines during wiring.
2) Ground the shield wire or shield of a shielded cable at one point on the PLC. However, do not ground at the
same point as high voltage lines.
• Install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to
programming, power connectors and I/O connectors.
Failure to do so may result in wire breakage or failure of the PLC.
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Reference
• Make sure to cut off all phases of the power supply externally before starting the installation or wiring work.
Failure to do so may cause electric shock. 23
Safety Precautions
(Read these precautions before using.)

Safety Precautions
(Read these precautions before using.)
(2)
3. WIRING PRECAUTIONS
Reference
• Fit the extension cables, peripheral device connecting cables, input/output cables and battery connecting cable
securely to the designated connectors.
Contact failures may cause malfunctions.
• Use the product in the environment within the generic specifications described in section 3.1 of this manual.
Never use the product in areas with 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 wind and rain.
If the product is used in such a place described, electrical shock, fire, malfunctions, damage, or deterioration may
be caused.
• Do not touch the conductive parts of the product directly, thus avoiding failure or malfunctions.
• Install the product securely using a DIN rail or mounting screws.
• 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.
• When drilling screw holes or wiring, cutting chips or wire chips should not enter ventilation slits. such an accident
may cause fire, failures or malfunctions.
• Be sure to remove the dust proof sheet from the PLC's ventilation port when the installation work is completed.
Failure to do so could cause fires, equipment failures, and malfunctions.
• Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or
starting the operation after installation or wiring work.
Failure to do so may cause electric shock.
23
Reference
• Make sure to cut off all phases of the power supply externally before starting the installation or wiring work.
Failure to do so may cause electric shock. 25
Reference
• Connect the DC power supply wiring to the dedicated terminals described in this manual.
If an AC power supply is connected to a DC input/output terminal or DC power supply terminal, the PLC will be burnt
out.
• Perform class D grounding (grounding resistance: 100. or less) to the grounding terminal in the 20SSC-H with a
wire as thick as possible. Do not connect the grounding terminal at the same point as a heavy electrical system
(refer to subsection 5.2.2).
• Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or
starting the operation after installation or wiring work.
Failure to do so may cause electric shock.
• Cables and wires for input to the 20SSC-H must be connected to their corresponding dedicated connectors as
described in this manual. For example, if you connect an AC power cable to a DC input connector, they will burn
out.
• Do not wire vacant terminals externally.
Doing so may damage the product.
• When drilling screw holes or wiring, cutting chips or wire chips should not enter ventilation slits. such an accident
may cause fire, failures or malfunctions.
• Properly perform wiring to the FX Series terminal blocks following the precautions below in order to prevent
electrical shock, short-circuit, breakage of wire, or damage to the product:
- The disposal size of the cable end should follow the dimensions described in this manual.
- Tightening torque should be between 0.5 to 0.8 N•m.
• Do not wire or bundle the SSCNET III cable with the main circuit cable, power cable and/or other such load carrying
cables other than those for the PLC. Separate these cables at least 100mm (3.94") from each other.
Noise and Surge induction interfere with the system operation.
• When pulling out SSCNET III cable from the connector, be sure to put the cap on SSCNET III connector.
If the SSCNET III end face is dirty, optical transmission is interrupted and it may cause malfunctions.
• Do not see directly the light generated from SSCNET III connector of servo amplifier or 20SSC-H.
When the light gets into the eyes, it causes discomformity in the eyes.
(The light source of SSCNET III corresponds to class1 defined in JISC6802 or IEC60825-1.)
• If SSCNET III cable is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its
inside distorts or breaks, and optical transmission will not be available.
SSCNET III cable should be given loose slack to avoid from becoming smaller than the minimum bend radius, and
it should not be twisted.
• Make sure to use SSCNET III cable within the range of operating temperature (refer to subsection 5.1.1) described
in this manual.
The optical cable and code part melts down if being left near the fire or high temperature. Therefore, do not make it
touched the part which becomes high temperature, such as radiator or regenerative brake option of servo amplifier,
or servomotor.
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Safety Precautions
(Read these precautions before using.)
(3)
4. STARTUP AND MAINTENANCE PRECAUTIONS
5. DISPOSAL PRECAUTIONS
Reference
• Make sure to lay SSCNET III cable with greater radius than the minimum bend radius. (Refer to the Section 5.4.1
Precautions for SSCNET III cable wiring.)
• Fix the optical cable at the closest part to the connector with bundle material in order to prevent SSCNET III cable
from putting its own weight on SSCNET III connector.
• Never use vinyl tape for optical cord. Plasticizing material in vinyl tape goes into optical fiber and lowers the optical
characteristic. At worst, it may cause wire breakage. If using adhesive tape for the optical cable laying, the fire
resistant acetate cloth adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.
If laying with other wires, do not make the optical cable touched wires or cables made from soft polyvinyl chloride
(PVC), polyethylene resin (PE), teflon (Fluorocarbon resin) or nylon which contains plasticizing material.
• If the adhesion of solvent and oil to the code part of SSCNET III cable may lower the optical characteristic and
machine characteristic. If it is used such an environment, be sure to do the protection measures to the optical cord.
• When storing, put a cap on the connector part for preventing the connector edge of SSCNET III from getting dirt,
dust and so on.
• SSCNET III connector is put a cap to protect light device inside connector from dust.
For this reason, do not remove a cap until just before mounting SSCNET III cable.
Then, when removing SSCNET III cable, make sure to put a cap.
• Keep the cap for SSCNET III connector and the tube for protecting light code end of SSCNET cable in a plastic bag
with a zipper of SSCNET III cable to prevent them from becoming dirty.
• When changing the servo amplifier or 20SSC-H, make sure to put cap on SSCNET III connector. When asking
repair of servo amplifier for some troubles, make sure to put a cap on SSCNET III connector.
When the connector is not put a cap, the light device may be damaged at the transit.
In this case, exchange and repair of light device is required.
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Reference
• Do not touch any terminal while the PLC's power is on.
Doing so may cause electrical shock or malfunctions.
• Before cleaning or retightening terminals, externally cut off all phases of the power supply.
Failure to do so may expose you to shock hazard.
• Before modifying the program under operation or performing operation for forcible output, running or stopping,
carefully read the manual, and sufficiently ensure the safety.
An operation error may damage the machine or cause accidents.
• To test Zero-return, JOG operation and Positioning data, throughly read this manual, ensure the safe system
operation
An operation error may damage the machine or cause accidents.
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Reference
• Do not disassemble or modify the PLC.
Doing so may cause failures, malfunctions or fire.
For repair, contact your local Mitsubishi Electric distributor.
• Before connecting or disconnecting any extension cable, turn off power.
Failure to do so may cause unit failure or malfunctions.
• Before attaching or detaching the following devices, turn off power.
Failure to do so may cause device failure or malfunctions.
- Peripheral devices, expansion boards and special adapters
- I/O extension blocks/units and terminal blocks
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Reference
• Please contact a company certified in the disposal of electronic waste for environmentally safe recycling and
disposal of your device. 19

Safety Precautions
(Read these precautions before using.)
(4)
6. TRANSPORTATION PRECAUTIONS
Reference
• The PLC is precision equipment. During transportation, avoid impacts larger than that is specified in the manual of
the PLC main unit. Failure to do so may cause failures in the PLC.
After transportation, check the operations of the PLC.
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1
FX3U-20SSC-H Positioning Block User's Manual
FX3U-20SSC-H
User’s Manual
Foreword
This manual describes FX3U-20SSC-H Positioning Block and should be read and understood before
attempting to install or operation of software.
Store this manual in a safe place so that you can take it out and read it whenever necessary. Always forward
it to the end user.
© 2005 MITSUBISHI ELECTRIC CORPORATION
Manual number JY997D21301
Manual revision A
Date 12/2005
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi
Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of
using the contents noted in this manual.

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FX 3U -20SSC-H Positioning Block User's Manual
Outline Precautions
• This manual provides information for the use of the FX3U Series Programmable Controllers. The manual
has been written to be used by trained and competent personnel. The definition of such a person or
persons is as follows;
1) 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.
2) 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.
3) All operators of the completed equipment should be trained to use that product in a safe and coordinated
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
• 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 with 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.
• When combining this product with other products, please confirm the standard and the code, or regulations
with which the user should follow. Moreover, please confirm the compatibility of this product to the system,
machine, and apparatus with which a user is using.
• If in doubt at any stage during the installation of the product, always consult a professional electrical
engineer who is qualified and trained to the local and national standards. If in doubt about the operation or
use, please consult the nearest Mitsubishi Electric distributor.
• 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
have noticed a doubtful point, a doubtful error, etc., please contact the nearest Mitsubishi Electric
distributor.
Registration
•Microsoft
and Windowsare either registered trademarks or trademarks of Microsoft Corporation in the
United States and/or other countries.
• The company name and the product name to be described in this manual are the registered trademarks or
trademarks of each company.

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FX3U-20SSC-H Positioning Block User's Manual Table of Contents
Table of Contents
SAFETY PRECAUTIONS .................................................................................................. (1)
Compliance with EC directive (CE Marking)........................................................................... 8
Functions and Use of This Manual.......................................................................................... 9
Associated Manuals................................................................................................................ 10
Generic Names and Abbreviations Used in Manual ............................................................ 11
Reading of the Manual............................................................................................................ 13
1. Introduction 14
1.1 Outline........................................................................................................................................... 14
1.2 External Dimensions and Part Names .......................................................................................... 15
1.3 Power and Status LED.................................................................................................................. 16
2. System Configuration 17
2.1 General Configuration................................................................................................................... 17
2.2 Connection with PLC..................................................................................................................... 18
2.3 Applicable PLC.............................................................................................................................. 18
3. Specifications 19
3.1 General Specifications .................................................................................................................. 19
3.2 Power Supply Specification........................................................................................................... 20
3.3 Performance Specification ............................................................................................................ 20
3.4 Input Specifications ....................................................................................................................... 21
3.4.1 Input specifications ........................................................................................................................ 21
3.4.2 Internal input circuit ....................................................................................................................... 21
3.5 Pin Configuration........................................................................................................................... 22
3.5.1 Input connector.............................................................................................................................. 22
3.5.2 Power supply connector ................................................................................................................ 22
4. Installation 23
4.1 DIN rail Mounting .......................................................................................................................... 24
4.2 Direct Mounting ............................................................................................................................. 24
5. Wiring 25
5.1 Cable to Be Used, Applicable Connector and Wire Size .............................................................. 26
5.1.1 SSCNET III cable .......................................................................................................................... 26
5.1.2 Power supply cable ....................................................................................................................... 26
5.1.3 Input cable and terminal block....................................................................................................... 27
5.2 Power Supply Wiring..................................................................................................................... 28
5.2.1 Power supply wiring....................................................................................................................... 28
5.2.2 Grounding...................................................................................................................................... 28
5.3 Input Wiring ................................................................................................................................... 29
5.3.1 Sink input wiring ............................................................................................................................ 29
5.3.2 Source input wiring........................................................................................................................ 29
5.4 Connecting the SSCNET III Cable ................................................................................................ 30
5.4.1 Cautions for installation the SSCNET III cable .............................................................................. 30
5.4.2 Cautions for SSCNET III cable wiring............................................................................................ 31

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FX3U-20SSC-H Positioning Block User's Manual Table of Contents
6. Memory Configuration and Data Operation 32
6.1 Memory Configuration and Role ................................................................................................... 33
6.1.1 Memory configuration.................................................................................................................... 33
6.1.2 Data type and role ......................................................................................................................... 34
6.2 Parameter setting method............................................................................................................. 34
6.3 Data Transfer Process .................................................................................................................. 35
6.3.1 PLC, 20SSC-H and servo amplifier............................................................................................... 35
6.3.2 FX Configurator-FP and 20SSC-H ................................................................................................ 36
6.3.3 Transfer (writing) servo parameter to servo amplifier....................................................................37
7. Before Starting Positioning Operation 38
7.1 Note on Setting Parameters.......................................................................................................... 38
7.2 Outline of Positioning Operation ................................................................................................... 39
7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit ................................................ 41
7.3.1 Forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS)
[servo amplifier side]................................................................................................................. 42
7.3.2 Forward rotation limit (LSF) and reverse rotation limit (LSR) [PLC side]....................................... 42
7.3.3 Software limit................................................................................................................................. 43
7.4 Handling the STOP command ...................................................................................................... 44
7.5 Changing During Operation (Operation Speed, Target Address) ................................................. 46
7.5.1 Changing the operation speed with override function ................................................................... 46
7.5.2 Changing the operation speed with the operation speed change function.................................... 47
7.5.3 Changing the target address ......................................................................................................... 48
7.6 Other functions.............................................................................................................................. 49
7.6.1 Servo-ready check function........................................................................................................... 49
7.6.2 Servo end check function .............................................................................................................. 49
7.6.3 Torque limit function ...................................................................................................................... 50
7.6.4 Absolute position detection system ............................................................................................... 51
7.6.5 Servo ON/OFF............................................................................................................................... 52
7.6.6 Follow-up function ......................................................................................................................... 52
7.6.7 Simultaneous start function ........................................................................................................... 53
7.6.8 Current address change function .................................................................................................. 53
7.6.9 Zero return interlock setting........................................................................................................... 54
7.7 Precautions for using the user units
(mechanical or composite system of units) .............................................................................. 54
7.8 Cautions for Positioning Operation ............................................................................................... 56
7.8.1 Overlapped specification of operation mode ................................................................................. 56
7.8.2 When the travel distance is small .................................................................................................. 56
7.9 Related parameter, control data and monitor data........................................................................ 58
8. Manual Control 61
8.1 Mechanical Zero Return Control ................................................................................................... 61
8.1.1 Outline of mechanical zero return control...................................................................................... 61
8.1.2 DOG type zero return .................................................................................................................... 62
8.1.3 Data-set type mechanical zero return............................................................................................ 64
8.1.4 Stopper type mechanical zero return............................................................................................. 65
8.1.5 Related parameters, control data and monitor data ...................................................................... 67
8.2 JOG Operation .............................................................................................................................. 69
8.2.1 Outline of JOG operation............................................................................................................... 69
8.2.2 Changing the speed during JOG operation................................................................................... 71
8.3 Manual pulse generator operation ................................................................................................ 72
8.3.1 Outline of manual pulse generator operation ................................................................................ 72
8.3.2 Current manual pulse input value.................................................................................................. 73
8.3.3 Input frequency of manual pulse generator ................................................................................... 73
8.3.4 Related parameters, control data and monitor data ...................................................................... 74