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.
20
40
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.
20
26
33
40
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.
24
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.)
(3)
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.
26
27
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.
33
158
173
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
33
158
173
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.
20

(4)
MEMO

1
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.

2
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.

3
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

4
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

5
FX3U-20SSC-H Positioning Block User's Manual Table of Contents
8.3 Manual pulse generator operation ................................................................................................ 81
8.3.1 Outline of manual pulse generator operation ................................................................................ 81
8.3.2 Current manual pulse input value.................................................................................................. 82
8.3.3 Input frequency of manual pulse generator ................................................................................... 82
8.3.4 Related parameters, control data and monitor data ...................................................................... 83
9. Positioning Control 84
9.1 Functions Available with Each Positioning Operation ................................................................... 84
9.2 1-speed Positioning Operation...................................................................................................... 85
9.3 Interrupt 1-speed Constant Quantity Feed.................................................................................... 86
9.3.1 Interrupt 1-speed Constant Quantity Feed .................................................................................... 86
9.3.2 Interrupt 1-speed Constant Quantity Feed (Constant position stop mode) ................................... 87
9.4 2-speed Positioning Operation...................................................................................................... 88
9.5 Interrupt 2-speed Constant Quantity Feed.................................................................................... 90
9.6 Interrupt Stop Operation................................................................................................................ 91
9.7 Variable Speed Operation............................................................................................................. 92
9.8 Multi-Speed Operation .................................................................................................................. 93
9.9 Linear Interpolation Operation....................................................................................................... 95
9.10 Linear Interpolation Operation (Interrupt Stop) ...........................................................................96
9.11 Circular Interpolation Operation .................................................................................................. 98
9.11.1 Circular interpolation [center coordinate specification] ................................................................98
9.11.2 Circular interpolation [radius specification] .................................................................................. 99
9.12 Reciprocal movement insutruction (Ver1.10 or later)................................................................ 101
9.13 Parameter, Control Data, Monitor Data and Table Information................................................. 103
10. Table Operation 105
10.1 Outline of Table Operation ........................................................................................................ 105
10.1.1 Applicable positioning operations for table operation ................................................................ 105
10.1.2 Types of table information and number of registered tables ..................................................... 105
10.1.3 Table information setting items.................................................................................................. 106
10.1.4 Table operation execution procedure........................................................................................ 108
10.2 How to Set Table Information.................................................................................................... 109
10.3 Tables and BFM No. Allocation................................................................................................. 112
10.4 Current Position Change........................................................................................................... 113
10.5 Absolute Address Specification................................................................................................. 113
10.6 Relative address specification................................................................................................... 113
10.7 Jump ......................................................................................................................................... 113
10.8 Dwell ......................................................................................................................................... 113
10.9 m code ...................................................................................................................................... 114
10.9.1 After mode ................................................................................................................................. 114
10.9.2 With mode ................................................................................................................................. 115
10.9.3 Related buffer memory.............................................................................................................. 116
10.10 Continuous Pass Operation .................................................................................................... 117

6
FX3U-20SSC-H Positioning Block User's Manual Table of Contents
11. Buffer Memory (Parameters & Monitored Data) 118
11.1 Positioning Parameters ............................................................................................................. 118
11.1.1 Operation parameters 1 [BFM #14000, BFM #14200] .............................................................. 118
11.1.2 Operation parameters 2 [BFM #14002, BFM #14202] .............................................................. 120
11.1.3 Pulse rate [BFM #14005, #14004, BFM #14205, #14204] ........................................................ 121
11.1.4 Feed rate [BFM #14007, #14006, BFM #14207, #14206]......................................................... 121
11.1.5 Maximum speed [BFM #14009, #14008, BFM #14209, #14208] .............................................. 121
11.1.6 JOG speed [BFM #14013, #14012, BFM #14213, #14212] ...................................................... 122
11.1.7 JOG Instruction evaluation time [BFM #14014, BFM #14214] .................................................. 122
11.1.8 Acceleration time [BFM #14018, BFM #14218]......................................................................... 122
11.1.9 Deceleration time [BFM #14020, BFM #14220] ........................................................................ 123
11.1.10 Interpolation time constant [BFM #14022, BFM #14222] ........................................................ 123
11.1.11 Zero return speed (High Speed) [BFM #14025, #14024, BFM #14225, #14224].................... 123
11.1.12 Zero return speed (Creep) [BFM #14027, #14026, BFM #14227, #14226]............................. 124
11.1.13 Mechanical zero-point address [BFM #14029, #14028, BFM #14229, #14228] ..................... 124
11.1.14 Zero-phase signal count [BFM #14030, BFM #14230]............................................................ 124
11.1.15 Zero return mode [BFM #14031, BFM #14231]....................................................................... 125
11.1.16 Servo end evaluation time [BFM #14032, BFM #14232]......................................................... 125
11.1.17 Software limit (upper) [BFM #14035, #14034, BFM #14235, #14234]
Software limit (lower) [BFM #14037, #14036, BFM #14237, #14236].................................... 125
11.1.18 Torque limit [BFM #14038, BFM #14238]................................................................................ 126
11.1.19 Zero return torque limit [BFM #14040, BFM #14240].............................................................. 126
11.1.20 External input selection [BFM #14044, BFM #14244] ............................................................. 126
11.1.21 Ring counter upper limit value [BFM #14101, #14100, BFM #14301, #14300]....................... 126
11.1.22 Sudden stop deceleration time [BFM #14102, BFM #14302].................................................. 127
11.1.23 Sudden stop interpolation time constant [BFM #14104, BFM #14304] ................................... 127
11.1.24 Positioning completion signal output waiting time [BFM #14106, BFM #14306] ..................... 127
11.2 Servo Parameters ..................................................................................................................... 128
11.2.1 Servo parameters (Basic settings) ............................................................................................ 128
11.2.2 Servo parameters (Gain/Filter settings)..................................................................................... 129
11.2.3 Servo parameters (Advanced setting) ....................................................................................... 131
11.2.4 Servo parameters (I/O setting) .................................................................................................. 133
11.3 Monitor Data.............................................................................................................................. 135
11.3.1 Current address (User) [BFM #1, #0, BFM #101, #100]............................................................ 135
11.3.2 Current address (Pulse) [BFM #3, #2, BFM #103, #102] .......................................................... 135
11.3.3 Torque limit storing value [BFM #5, #4, BFM #105, #104] ........................................................ 136
11.3.4 Error BFM numbers [BFM #6, BFM #106]................................................................................. 136
11.3.5 Terminal Information [BFM #7, BFM #107] ............................................................................... 136
11.3.6 Servo terminal information [BFM #8, BFM #108] ...................................................................... 136
11.3.7 m code [BFM #9, BFM #109]..................................................................................................... 136
11.3.8 Current value of operation speed [BFM #11, #10, BFM #111, #110] ........................................ 137
11.3.9 Current pulses input by manual pulse generator [BFM #13, #12, BFM #113, #112]................. 137
11.3.10 Frequency of pulses input by manual pulse generator [BFM #15, #14, BFM #115, #114]...... 137
11.3.11 Table numbers in execution [BFM #16, BFM #116] ................................................................ 137
11.3.12 Version information [BFM #17] ................................................................................................ 137
11.3.13 Real current address (User) [BFM #21, #20, BFM #121, #120] .............................................. 138
11.3.14 Real current address (Pulse) [BFM #23, #22, BFM #123, #122]............................................. 138
11.3.15 Received target address [BFM #25, #24, BFM #125, #124] ................................................... 138
11.3.16 Received target speed [BFM #27, #26, BFM #127, #126] ...................................................... 138
11.3.17 Status information [BFM #28, BFM #128] ............................................................................... 139
11.3.18 Error code [BFM #29, BFM #129]............................................................................................ 140
11.3.19 Model code [BFM #30] ............................................................................................................ 141
11.3.20 Status information 2 [BFM #32, BFM #132] ........................................................................... 141
11.3.21 Deviation counter value [BFM #51, #50, BFM #151, #150]..................................................... 141
11.3.22 Motor speed [BFM #53, #52, BFM #153, #152] ...................................................................... 141
11.3.23 Motor current value [BFM #54, BFM #154] ............................................................................. 141
11.3.24 Servo amplifier software number [BFM #61 to #56, BFM #161 to #156]................................. 142
11.3.25 Servo parameter error numbers [BFM #62, BFM #162] .......................................................... 143
11.3.26 Servo status [BFM #64, #63, BFM #164, #163] ...................................................................... 143
11.3.27 Regenerative load ratio [BFM #65, BFM #165] ....................................................................... 144
11.3.28 Effective load torque [BFM #66, BFM #166]............................................................................ 144
11.3.29 Peak torque ratio [BFM #67, BFM #167] ................................................................................. 144

7
FX3U-20SSC-H Positioning Block User's Manual Table of Contents
11.3.30 Servo warning code [BFM #68, BFM #168]............................................................................. 144
11.3.31 Motor feedback position [BFM #71, #70, BFM #171, #170] .................................................... 144
11.3.32 Servo status 2 [BFM #72, BFM #172] .....................................................................................145
11.3.33 Flash memory write count [BFM #91, #90].............................................................................. 145
11.4 Control Data .............................................................................................................................. 146
11.4.1 Target address 1 [BFM #501, #500, BFM #601, #600] ............................................................. 146
11.4.2 Operation speed 1 [BFM #503, #502, BFM #603, #602]........................................................... 146
11.4.3 Target address 2 [BFM #505, #504, BFM #605, #604] ............................................................. 147
11.4.4 Operation speed 2 [BFM #507, #506, BFM #607, #606]........................................................... 147
11.4.5 Override setting [BFM #508, BFM #608] ...................................................................................147
11.4.6 Torque output setting value [BFM #510, BFM #610]................................................................. 147
11.4.7 Speed change value [BFM #513, #512, BFM #613, #612]........................................................ 148
11.4.8 Target position change value (Address) [BFM #515, #514, BFM #615, #614].......................... 148
11.4.9 Target position change value (Speed) [BFM #517, #516, BFM #617, #616] ............................ 148
11.4.10 Operation command 1 [BFM #518, BFM #618]....................................................................... 148
11.4.11 Operation command 2 [BFM #519, BFM #619]....................................................................... 150
11.4.12 Operation pattern selection [BFM #520, BFM #620] ............................................................... 151
11.4.13 Table operation start number [BFM #521, BFM #621] ............................................................ 152
11.4.14 Control command enable/disable [BFM #522] ........................................................................ 152
11.4.15 Control command [BFM #523]................................................................................................. 152
11.4.16 Manual pulse generator input magnification (numerator)
[BFM #525, #524, BFM #625, #624]...................................................................................... 153
11.4.17 Manual pulse generator input magnification (denominator)
[BFM #527, #526, BFM #627, #626]....................................................................................... 153
11.4.18 Manual pulse generator response [BFM #528, BFM #628].................................................... 153
11.4.19 Manual pulse generator input selection [BFM #529] ............................................................... 154
11.4.20 Ring operation rotation direction for absolute address............................................................ 154
11.5 Table Information ...................................................................................................................... 155
12. Program Example 158
12.1 Reading/Writing Buffer Memory................................................................................................ 159
12.1.1 Assigned unit number................................................................................................................ 159
12.1.2 How to read/write from/to buffer memory .................................................................................. 159
12.2 Device Assignments.................................................................................................................. 161
12.3 Explanation of Operation........................................................................................................... 162
12.3.1 Mechanical zero return .............................................................................................................. 163
12.3.2 JOG operation ........................................................................................................................... 163
12.3.3 1-speed positioning operation ................................................................................................... 164
12.3.4 Multi-speed operation [table operation (individual)]................................................................... 164
12.3.5 Circular interpolation operation [table operation (simultaneous)] .............................................. 166
12.4 Sequence Program ................................................................................................................... 166
13. Diagnostics 173
13.1 Check LEDs .............................................................................................................................. 174
13.1.1 Check LEDs............................................................................................................................... 174
13.1.2 Input LED state indications........................................................................................................ 174
13.2 Check Error Code ..................................................................................................................... 175
13.2.1 Checking errors ......................................................................................................................... 175
13.2.2 How to reset an error................................................................................................................. 175
13.2.3 Error code list [BFM #29 (X-axis), BFM #129 (Y-axis)] ............................................................. 176
13.2.4 Servo warning list [BFM #68 (X-axis), BFM #168 (Y-axis)] ....................................................... 181
13.3 Diagnostics on the PLC Main Unit ............................................................................................ 183
13.3.1 POWER LED [on/flashing/off].................................................................................................... 183
13.3.2 BATT LED [on/off] ..................................................................................................................... 183
13.3.3 ERROR LED [on/flashing/off] .................................................................................................... 184

8
FX3U-20SSC-H Positioning Block User's Manual Table of Contents
Appendix A: LIST OF PARAMETERS AND DATA 185
Appendix A-1 Monitor Data List ................................................................................................ 185
Appendix A-2 Control Data Table ............................................................................................. 187
Appendix A-3 Table Information List......................................................................................... 189
Appendix A-4 Positioning parameters List................................................................................ 191
Appendix A-5 Servo Parameters List........................................................................................ 193
Appendix B: Version Information 195
Appendix B-1 Version Information ............................................................................................ 195
Appendix B-1-1 Version check method ................................................................................................ 195
Appendix B-1-2 Version Upgrade History............................................................................................. 195
Warranty................................................................................................................................. 197
Revised History ..................................................................................................................... 198

Certification of UL, cUL standards
9
FX 3U -20SSC-H Positioning Block User's Manual
Standards
Certification of UL, cUL standards
The following product has UL and cUL certification.
UL, cUL File number :E95239
Models: MELSEC FX3U series manufactured
Compliance with EC directive (CE Marking)
This document does not guarantee that a mechanical system including this product will comply with the
following standards.
Compliance to EMC directive and LVD directive for the entire mechanical module should be checked by the
user / manufacturer. For more details please contact the local Mitsubishi Electric sales site.
Requirement for Compliance with EMC directive
The following products have shown compliance through direct testing (of the identified standards below) and
design analysis (through the creation of a technical construction file) to the European Directive for
Electromagnetic Compatibility (89/336/EEC) when used as directed by the appropriate documentation.
Type: Programmable Controller (Open Type Equipment)
Models: MELSEC FX3U series manufactured
Caution to conform with EC Directives
Attach the ferrite cores to the power supply and the input cables (20SSC-H side).
Attach the ferrite core approximately 200 mm or less from connector on the 20SSC-H side.
• The ferrite core should use the following equivalent
product:
- Power supply cable (needs at least 1 turn)
Model name: ZCAT2035-0930
(Manufactureed by TDK co., Ltd.)
- Input cable
Model name: ZCAT3035-1330
(Manufactureed by TDK co., Ltd.)
from June 1st, 2006 FX3U-20SSC-H
from December 1st, 2005 FX3U-20SSC-H
Standard Remark
EN61131-2:2003
Programmable controllers
- Equipment requirements and tests
Compliance with all relevant aspects of the standard.
• Radiated Emissions
• Mains Terminal Voltage Emissions
• RF immunity
• Fast Transients
• ESD
• Conducted
• Power magnetic fields
200 mm (0.78") or less
20SSC-H
Ferrite cores
Input cable External equipment
Power supply cable
1 turn

Compliance with EC directive (CE Marking)
10
FX3U-20SSC-H Positioning Block User's Manual
Functions and Use of the Manual
Operation Manual
FX Configurator-FP
FX Configurator-FP
This Manual
FX3U-20SSC-H
FX3U-20SSC-H Regarding specification and parts names
Installation Manual
User’s Manual
PLC
FX3USeries
FX3UCSeries
Regarding wiring and installation of PLC:
Hardware manual
User’s Manual - Hardware Edition
Supplied Manual
How to install/use the device
Operating instructions and program examples
Shows how to use FX 3U -20SSC-H
positioning special function block and
details on example programs.
Servo amplifer, Servo motor
Obtain the instruction manual of the servo motor to be connected
to your system.
This manual will be needed to set the parameters for the servo
amplifer or write to the servo amplifer.
Additional Manual
Supplied Manual
Supplied Manual
Additional Manual
POWER
MOTOR-Y
START
DOG
INT0
INT1
A
B
X-REA DY
Y-RE ADY
X-ERROR
Y-ER ROR
START
DOG
INT0
INT1
A
B
MOTOR-X

Compliance with EC directive (CE Marking)
11
FX 3U -20SSC-H Positioning Block User's Manual
Associated Manuals
For a detailed explanation of the FX3U-20SSC-H positioning block, refer to this manual.
For the operation of FX Configurator-FP, or hardware information and instructions on the PLC main unit, refer
to the respective manuals.
~Refer to these manuals
Refer to the appropriate equipment manual
For a detailed explanation, refer to an additional manual
Title of manual Document
number Description Model code
Manual for the Main Module
FX3U Series PLCs Main Unit
Supplied
Manual
FX3U Series
Hardware Manual JY997D18801
Describes FX3U Series PLC specification for I/O,
wiring and installation extracted from the FX3U
User’s Manual - Hardware Edition.
For details, refer to FX3U Series User’s Manual -
Hardware Edition.
-
~Additional
Manual
FX3U Series
User’s Manual
- Hardware Edition
JY997D16501 Describes FX3U Series PLC specification details for
I/O, wiring, installation and maintenance. 09R516
FX3UC Series PLCs Main Unit
Supplied
Manual
FX3UC Series
Hardware Manual
(Only Japanese
document)
JY997D12701
Describes FX3UC Series PLC specification for I/O,
wiring and installation extracted from the FX3UC
User’s Manual - Hardware Edition.
For details, refer to FX3UC Series User’s Manual -
Hardware Edition (Only
Japanese document).
-
~Additional
Manual
FX3UC Series
User’s Manual
- Hardware Edition
(Only Japanese
document)
JY997D11601
Describes FX3UC Series PLC specification details
for I/O, wiring, installation and maintenance.
(Only Japanese document)
09R513
Programming for FX3U/FX3UC Series
~Additional
Manual
FX3U / FX3UC Series
Programming Manual
- Basic & Applied
Instruction Edition
JY997D16601
Describes FX3U / FX3UC Series PLC
programming for basic/ applied
instructions and devices.
09R517
Manuals for FX3U-20SSC-H Positioning Block
Supplied
Manual
FX3U-20SSC-H
Installation Manual JY997D21101
Describes FX3U-20SSC-H positioning block
specification for I/O, power supply extracted from
the FX3U-20SSC-H User’s Manual.
For details, refer to FX3U-20SSC-H User's Manual.
-
~Additional
Manual
FX3U-20SSC-H
User's Manual JY997D21301 Describes FX3U-20SSC-H Positioning block details. 09R622
~Supplied
Manual
FX Configurator-FP
Operation Manual JY997D21801 Describes operation details of FX Configurator-FP Configuration Software. 09R916
AC Servo Related Manual
Additional
Manual
MR-J3- B
Instruction Manual SH-030051 Explains parameters and the detailed specifications
for MR-J3- B servo amplifier. -
Additional
Manual
EMC
Installation Guidelines IB67339
Explains installation procedures to conform with
EMC Directives and fabrication method of control
board.
-

Compliance with EC directive (CE Marking)
12
FX3U-20SSC-H Positioning Block User's Manual
Generic Names and Abbreviations Used in the Manual
Generic name or abbreviation Description
PLC
FX3U series Generic name for FX3U Series PLC
FX3U PLC or main unit Generic name for FX3U Series PLC main unit
FX3UC series Generic name for FX3UC Series PLC
FX3UC PLC or main unit Generic name for FX3UC Series PLC main unit
Only manuals in Japanese are available for these products.
Expansion board
Expansion board
Generic name for expansion board
The number of connectable units, however, depends on the type of main unit.
To check the number of connectable units, refer to the User's Manual - Hardware Editon of the main
unit to be used for your system.
Special adapter
Special adapter
Generic name for high-speed input/output special adapter, communication special adapter, and
analog special adapter
The number of connectable units, however, depends on the type of main unit.
To check the number of connectable units, refer to the User's Manual - Hardware Editon of the main
unit to be used for your system.
Special function unit/block
Special function unit/block or
Special extension unit
Generic name for special function unit and special function block
The number of connectable units, however, depends on the type of main unit.
To check the number of connectable units, refer to the User's Manual - Hardware Edition of the main
unit to be used for your system.
Special function unit Generic name for special function unit
Special function block
Generic name for special function block
The number of connectable units, however, depends on the type of main unit.
To check the number of connectable units, refer to the User's Manual - Hardware Edition of the main
unit to be used for your system.
Positioning special function
block
or 20SSC-H
Abbreviated name for FX3U-20SSC-H
Optional unit
Memory cassette FX3U-FLROM-16, FX3U-FLROM-64, FX3U-FLROM-64L
Battery FX3U-32BL
FX Series terminal block FX-16E-TB, FX-32E-TB
Input/output cable
or Input cable
FX-16E-500CAB-S, FX-16E- CAB, FX-16E- CAB-R
represents 150, 300, or 500.
Input/output connector FX2C-I/O-CON, FX2C-I/O-CON-S, FX2C-I/O-CON-SA
Power cable FX2NC-100MPCB, FX2NC-100BPCB, FX2NC-10BPCB1
Peripheral unit
Peripheral unit Generic name for programming software, handy programming panel, and indicator
Programming tool
Programming tool Generic name for programming software and handy programming panel
Programming software Generic name for programming software
GX Developer Generic name for SW D5C-GPPW-J/SW D5C-GPPW-E programming software package
FX-PCS/WIN(-E) Generic name for FX-PCS/WIN or FX-PCS/WIN-E programming software package
Handy programming panel (HPP) Generic name for FX-20P(-E) and FX-10P(-E)
Configuration software
Configuration software or
FX Configurator-FP Abbreviated name for FX Configurator-FP Configuration software

Compliance with EC directive (CE Marking)
13
FX 3U -20SSC-H Positioning Block User's Manual
Indicator
GOT1000 series Generic name for GT15, GT11 and GT10
GOT-900 series Generic name for GOT-A900 series and GOT-F900 series
GOT-A900 series Generic name for GOT-A900 series
GOT-F900 series Generic name for GOT-F900 series
ET-940 series Generic name for ET-940 series
Only manuals in Japanese are available for these products
Servo motor/servo amplifier
Servo motor Generic name for servo motor or stepping motor
Including servo amplifier corresponding to SSCNET III.
Servo amplifier Generic name for servo amplifier corresponding to SSCNET III
MELSERVO series Generic name for MELSERVO-J3 series
Other unit
Manual pulse generator Generic name for manual pulse generator (prepared by user)
Manual
FX3U hardware Edition FX3U Series User's Manual - Hardware Edition
FX3UC hardware Edition This manual is only available in Japanese.
Programming manual FX3U/FX3UC Series Programming Manual - Basic and Applied Instructions Edition
Communication control Edition FX Series User's Manual - Data Communication Edition
Analog control Edition FX3U/FX3UC Series User's Manual - Analog Control Edition
Positioning control Edition FX3U/FX3UC Series User's Manual - Positioning Control Edition
Generic name or abbreviation Description

Compliance with EC directive (CE Marking)
14
FX3U-20SSC-H Positioning Block User's Manual
Reading the Manual
The above is different from the actual page, as it is provided for explanation only.
This area shows the title of the chapter and the
title of the section for the current page.
The right side of each page
indexes the chapter number
for the page currently opened.
This area shows the
manual title for the current
page.
The " " mark indicates
a reference destination
and reference manual.
Shows the reference.
Indexes the chapter number.
Shows the title of the chapter and the title
of the section.
Shows the manual title.