Mitsubishi FX3U-20SSC-H User manual

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

(1)
Before installation, operation, maintenance or inspection of this product, thoroughly read through and
understand this manual and the associated manuals. Also, take care to handle the module properly and
safely.
This manual classifies the safety precautions into two categories: and .
Depending on the circumstances, procedures indicated by may also cause severe injury. In
any case, it is important to follow all usage directions. Store this manual in a safe place so that it can be taken
out and read 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
• Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during
external power supply problems or PLC failure. Otherwise, malfunctions may cause serious accidents.
1) Most importantly, have the following: an emergency stop circuit, a protection circuit, an interlock circuit for
opposite movements (such as normal vs. reverse rotation), and an interlock circuit (to prevent damage to the
equipment at the upper and lower positioning limits).
2) Note that when the PLC CPU detects an error, such as a watchdog timer error, during self-diagnosis, all outputs
are turned off. Also, when an error that cannot be detected by the PLC CPU occurs in an input/output control
block, output control may be disabled. External circuits and mechanisms should be designed to ensure safe
machinery operation in such a case.
3) Note that when an error occurs in a relay, triac or transistor output device, the output could be held either on or
off. For output signals that may lead to serious accidents, external circuits and mechanisms should be designed
to ensure safe machinery operation in such a case.
• At Forward/Reverse rotation limits, make sure to wire the contacts with NC, negative-logic. Wiring contacts with NO,
positive-logic may cause serious accidents.
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Reference
• Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due
to abnormal data written to the PLC under the influence of noise:
1) Do not bundle the main circuit line together with or lay it close to the main circuit, high-voltage line or load line.
Otherwise, noise disturbance and/or surge induction are likely to take place. As a guideline, lay the control line
at least 100mm (3.94") or more away from the main circuit or high-voltage lines.
2) Ground the shield wire or shield of the shielded cable at one point on the PLC. However, do not ground them at
the same point as the high-voltage lines.
• Install module so that excessive force will not be applied to the built-in programming connectors, power connectors
or I/O connectors. Failure to do so may result in wire damage/breakage or PLC failure.
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Reference
• Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to
do so may cause electric shock. 24
Safety Precautions
(Read these precautions before using.)

Safety Precautions
(Read these precautions before using.)
(2)
3. WIRING PRECAUTIONS
Reference
• Connect the extension cables, peripheral device cables, input/output cables and battery connecting cable securely
to their designated connectors. Unsecured connection may cause malfunctions.
• Use the product within the generic environment specifications described in section 3.1 of this manual. Never use the
product in areas with excessive dust, oily smoke, conductive dusts, corrosive gas (salt air, Cl2, H2S, SO2or NO2),
flammable gas, vibration or impacts, or exposed to high temperature, condensation, or rain and wind. If the product
is used in such conditions, electric shock, fire, malfunctions, deterioration or damage may occur.
• Do not touch the conductive parts of the product directly to avoid 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, make sure cutting or wiring debris does not enter the ventilation slits. Failure to
do so may cause fire, equipment failures or malfunctions.
• Be sure to remove the dust proof sheet from the PLC's ventilation port when installation work is completed. Failure
to do so may cause fire, equipment failures or malfunctions.
• Make sure to attach the terminal cover, offered as an accessory, before turning on the power or initiating operation
after installation or wiring work. Failure to do so may cause electric shock.
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Reference
• Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to
do so may cause electric shock. 26
Reference
• Use class D grounding (grounding resistance of 100Ωor less) with wire as thick as possible on the grounding
terminal of the 20SSC-H. However, do not connect the ground terminal at the same point as a heavy electrical
system.
• Make sure to attach the terminal cover, offered as an accessory, before turning on the power or initiating operation
after installation or wiring work. Failure to do so may cause electric shock.
• Make sure to connect cables and wires to the power/signal inputs of the 20SSC-H as described in this manual.
Connecting AC power cables with DC power sources or DC I/O terminals will burn out the hardware components.
• Do not wire vacant terminals externally. Doing so may damage the product.
• When drilling screw holes or wiring, make sure cutting or wiring debris does not enter the ventilation slits. Failure to
do so may cause fire, equipment failures or malfunctions.
• Make sure to properly wire the FX Series terminal blocks in accordance with the precautions below in order to
prevent electric shock, a short-circuit, wire breakage, 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 and 0.8 N•m.
• Do not wire or bundle the SSCNET III cables together with or lay them near a main circuit cable, high-voltage line,
or load lines separate from the PLC. As a guideline, lay the SSCNET III cables at least 100mm (3.94") or more
away from power lines. Failure to do so may cause surge induction and/or noise disturbance.
• Optical fiber end face defects that are caused from contaminants may deteriorate the signal transmission rate and
cause malfunction. When removing the SSCNET III cabling from the 20SSC-H port, make sure to attach the
protective caps to the cable connectors and ports.
• Do not remove the SSCNET III cable from its port while the power is ON for the 20SSC-H or Servo Amp. Do not
look directly into the optical fiber cable ends or SSCNET III ports, as doing so may cause eye damage. (The laser
for SSCNET III communication complies with Class 1 as defined in JISC6802 and IEC60825-1)
• When handling the SSCNET III cables, do not expose them to strong impact, lateral pressure, excessive pulling
tension, abrupt bending or twisting. Failure to do so may crack the glass fiber and cause signal transmission loss.
Note that a short SSCNET III cable is highly susceptible to twisting.
• Make sure to use the SSCNET III cable within the allowable temperature range (as shown in subsection 5.1.1). Do
not expose the SSCNET III cabling to fire or excessive heat. Avoid contact with high temperature components such
as the servo amplifier radiator, regenerative brake and servo motor.
26

Safety Precautions
(Read these precautions before using.)
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4. STARTUP AND MAINTENANCE PRECAUTIONS
5. DISPOSAL PRECAUTIONS
6. TRANSPORTATION PRECAUTIONS
Reference
• Do not force the SSCNET III cable into a bend radius smaller than the minimum allowable bend radius. (Refer to
subsection 5.4.1 Precautions for the SSCNET III cable wiring.)
• When connecting the SSCNET III cable to the cable port, place the cabling inside a cable duct or bundle it as close
to the 20SSC-H as possible to avoid the cable from applying its own weight on the SSCNET III connector.
• Do not bundle or bring the SSCNET III cable in contact with other cables or with vinyl tape that contains plasticizing
agents (i.e. Soft Polyvinyl Chloride [PVC]/Polyethylene resin [PE]/Teflon [Fluoro resin]/Nylon). Plasticizing agents
may infiltrate the SSCNET III cable and deteriorate the optical fiber; thereby causing the wire to break and become
damaged. Use flame-resistant acetate cloth adhesive tape (e.g. 570F by Teraoka Seisakusho Co., Ltd.).
• Exposing the SSCNET III cable to solvent/oil may deteriorate the optical fiber and alter its mechanical
characteristics. When using the SSCNET III cable near solvent/oil, take protective measures to shield the SSCNET
III cable.
• When storing the SSCNET III cable, attach the protective cap to the 20SSC-H connector port for dust protection
• Do not remove the protective cap from the 20SSC-H connector port until just before connecting the SSCNET III
cable. Attach the protective cap to the 20SSC-H connector port after removing the SSCNET III cable to protect the
internal optical device from exposure to dust.
• Keep the protective cap and protective tubing clean, and always store them in the provided plastic bag when
removing them from the hardware devices.
• When replacing the 20SSC-H, or when sending the product to a local distributor for repair, make sure to attach the
protective cap to the 20SSC-H connector port. Failure to do so may damage the internal optical device and require
optical device replacement.
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Reference
• Do not touch any terminal while the PLC's power is on. Doing so may cause electric shock or malfunctions.
• Before cleaning or retightening terminals, externally cut off all phases of the power supply. Failure to do so may
cause electric shock.
• Before modifying or disrupting the program in operation or running the PLC, carefully read through this manual and
the associated manuals and ensure the safety of the operation. An operation error may damage the machinery or
cause accidents.
• When verifying the Zero-return/JOG operation and positioning data, thoroughly read this manual to ensure safe
system operation. Failure to do so may cause an operation failure that leads to a serious accident or that causes
damage to the machinery.
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Reference
• Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair,
contact your local Mitsubishi Electric distributor.
• Turn off the power to the PLC before connecting or disconnecting any extension cable. Failure to do so may cause
equipment failures or malfunctions.
• Turn off the power to the PLC before attaching or detaching the following devices. Failure to do so may cause
equipment failures or malfunctions.
- Display module, peripheral devices, expansion boards, and special adapters
- Terminal blocks and I/O extension units/blocks
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Reference
• Please contact a certified electronic waste disposal company for the environmentally safe recycling and disposal of
your device. 20
Reference
• The PLC is a precision instrument. During transportation, avoid impacts larger than those specified in the manual of
the PLC main unit. Failure to do so may cause failures in the PLC. After transportation, verify the operations of the
PLC.
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MEMO

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FX3U-20SSC-H Positioning Block User's Manual
FX3U-20SSC-H
User’s Manual
Foreword
This manual describes the FX3U-20SSC-H Positioning Block and should be read and understood before
attempting to install or operate the hardware.
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 E
Date 7/2007
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 aspects regarding to automated equipment.
2) Any commissioning or maintenance engineer must be of a competent nature, trained and qualified to the
local and national standards required to fulfill the job. These engineers should also be trained in the use
and maintenance of the completed product. This includes being familiar with all associated manuals and
documentation for the 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 with established safety practices. The operators should also be familiar with
documentation that is connected with the actual operation of the completed equipment.
Note: the term 'completed equipment' refers to a third party constructed device that 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 into the system.
• When combining this product with other products, please confirm the standards and codes of regulation to
which the user should follow. Moreover, please confirm the compatibility of this product with the system,
machines, and apparatuses to be used.
• If there is doubt at any stage during installation of the product, always consult a professional electrical
engineer who is qualified and trained in the local and national standards. If there is doubt about the
operation or use, please consult the nearest Mitsubishi Electric distributor.
• Since the examples within this manual, technical bulletin, catalog, etc. are used as reference; please use it
after confirming the function and safety of the equipment and system. Mitsubishi Electric will not accept
responsibility for actual use of the product based on these illustrative examples.
• The content, specification etc. of this manual may be changed for improvement without notice.
• The information in this manual has been carefully checked and is believed to be accurate; however, if you
notice any doubtful point, 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)
Standards................................................................................................................................... 9
Certification of UL, cUL standards ......................................................................................................... 9
Compliance with EC directive (CE Marking) .......................................................................................... 9
Functions and Use of the Manual .......................................................................................... 10
Associated Manuals................................................................................................................ 11
Generic Names and Abbreviations Used in the Manual ...................................................... 12
Reading the Manual ................................................................................................................ 14
1. Introduction 15
1.1 Outline........................................................................................................................................... 15
1.2 External Dimensions and Part Names .......................................................................................... 16
1.3 Power and Status LED.................................................................................................................. 17
2. System Configuration 18
2.1 General Configuration ................................................................................................................... 18
2.2 Connection with PLC..................................................................................................................... 19
2.3 Applicable PLC.............................................................................................................................. 19
3. Specifications 20
3.1 General Specifications .................................................................................................................. 20
3.2 Power Supply Specification........................................................................................................... 21
3.3 Performance Specification ............................................................................................................ 21
3.4 Input Specifications ....................................................................................................................... 22
3.4.1 Input specifications........................................................................................................................ 22
3.4.2 Internal input circuit ....................................................................................................................... 22
3.5 Pin Configuration........................................................................................................................... 23
3.5.1 Input connector.............................................................................................................................. 23
3.5.2 Power supply connector ................................................................................................................ 23
4. Installation 24
4.1 DIN rail Mounting .......................................................................................................................... 25
4.2 Direct Mounting ............................................................................................................................. 25
5. Wiring 26
5.1 Cable to Be Used, Applicable Connector and Wire Size .............................................................. 27
5.1.1 SSCNET III cable .......................................................................................................................... 27
5.1.2 Power supply cable ....................................................................................................................... 27
5.1.3 Input cable and terminal block....................................................................................................... 28
5.2 Power Supply Wiring..................................................................................................................... 29
5.2.1 Power supply wiring....................................................................................................................... 29
5.2.2 Grounding...................................................................................................................................... 29
5.3 Input Wiring ................................................................................................................................... 30
5.3.1 Sink input wiring ............................................................................................................................ 30
5.3.2 Source input wiring ........................................................................................................................ 30
5.4 Connecting the SSCNET III Cabling ............................................................................................. 31
5.4.1 Cautions for installing the SSCNET III cabling .............................................................................. 31
5.4.2 Cautions for SSCNET III cable wiring............................................................................................ 32

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FX3U-20SSC-H Positioning Block User's Manual Table of Contents
6. Memory Configuration and Data Operation 33
6.1 Memory Configuration and Role ................................................................................................... 34
6.1.1 Memory configuration .................................................................................................................... 34
6.1.2 Data type and role ......................................................................................................................... 35
6.2 Parameter setting method............................................................................................................. 35
6.3 Data Transfer Process .................................................................................................................. 36
6.3.1 PLC, 20SSC-H and servo amplifier............................................................................................... 36
6.3.2 FX Configurator-FP and 20SSC-H ................................................................................................ 37
6.3.3 Transfer (writing) servo parameters to servo amplifier.................................................................. 38
6.3.4 System reset (Ver.1.10 or later) .................................................................................................... 39
6.3.5 Servo parameter update stop (Ver.1.10 or later)........................................................................... 39
7. Before Starting Positioning Operation 40
7.1 Note on Setting Parameters.......................................................................................................... 40
7.2 Outline of Positioning Operation ................................................................................................... 41
7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit ................................................ 43
7.3.1 Forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS) [servo amplifier side] ................ 44
7.3.2 Forward rotation limit 1 (LSF) and reverse rotation limit 1 (LSR) [PLC side]................................. 44
7.3.3 Software limit................................................................................................................................. 45
7.4 Handling the STOP command ...................................................................................................... 46
7.5 Sudden stop selection (Ver.1.20 or later)...................................................................................... 48
7.6 Changing During Operation (Operation Speed, Target Address) ................................................. 50
7.6.1 Changing the operation speed with the override function ............................................................. 50
7.6.2 Changing the operation speed with the operation speed change function.................................... 51
7.6.3 Changing the target address ......................................................................................................... 52
7.7 Ring counter setting (Ver.1.10 or later) ......................................................................................... 54
7.8 Other functions.............................................................................................................................. 56
7.8.1 Servo-ready check function........................................................................................................... 56
7.8.2 Servo end check function .............................................................................................................. 57
7.8.3 Torque limit function ...................................................................................................................... 58
7.8.4 Absolute position detection system ............................................................................................... 59
7.8.5 Servo ON/OFF............................................................................................................................... 59
7.8.6 Follow-up function ......................................................................................................................... 60
7.8.7 Simultaneous start function ........................................................................................................... 60
7.8.8 Current address change function .................................................................................................. 60
7.8.9 Zero return interlock function......................................................................................................... 61
7.8.10 Positioning completion signal output waiting time (Ver.1.20 or later) .......................................... 61
7.9 Precautions for using the user units (mechanical or composite system of units).......................... 62
7.10 Cautions for Positioning Operation ............................................................................................. 63
7.10.1 Overlapped specification of operation mode ............................................................................... 63
7.10.2 When the travel distance is small ................................................................................................ 63
7.10.3 Cautions for interpolation operation............................................................................................. 66
7.11 Related parameter, control data and monitor data...................................................................... 67
8. Manual Control 70
8.1 Mechanical Zero Return Control ................................................................................................... 70
8.1.1 Outline of mechanical zero return control...................................................................................... 70
8.1.2 DOG type mechanical zero return ................................................................................................. 71
8.1.3 Data-set type mechanical zero return............................................................................................ 73
8.1.4 Stopper type mechanical zero return............................................................................................. 74
8.1.5 Related parameters, control data and monitor data ...................................................................... 76
8.2 JOG Operation .............................................................................................................................. 78
8.2.1 Outline of JOG operation............................................................................................................... 78
8.2.2 Changing the speed during JOG operation................................................................................... 79
8.2.3 Related parameters, control data and monitor data ...................................................................... 80