CONTENTS

I. GENERALINFORMATIONONPOSITIONINGCONTROL ........................ 3 - 14

1.1 Why isPositioningControlNecessary? ....................................... 3

1.2WhatThisPositioningUnitCanDo .......................................... 4
1.3 GeneralInformationonDriveUnits .......................................... 6
1.3.1Whenusingasteppermotor ......................................... 6
1-3.2 Whenusingaservomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 PositioningLanguage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4.1Absolute and relativepositions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4.2Machinehomepositionreturn ....................................... 11
1S What istheProgramLike? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1S.1Distribution of functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.5.2Puttingtheoryaside ............................................... 13
1.6GeneralDescriptionoftheSystemStructure .................................. 14
1-6.1Mainunitandperipheralunits ....................................... 14

2 . SIGNAL HANDLING AND PARAMETER SElTlNG ............................. 15 - 28

2.1
SignalsHandled ........................................................ 16
2.1.1Signalsconcernedwith I/O terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2 WhenUsingtheProgrammableControllerwithaPGU . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2.1Signalsrelated to theprogrammablecontroller . . . . . . . . . . . . . . . . . . . . . . . . . . 18
,- Initial
2.3 Parameter
Settings ................................................. 22
2.3.1
Settingunits ..................................................... 22
2.3.2Speedandaccelerationtimes ....................................... 23
2.3.3 Compensationformechanicalfailings ................................. 24
2.3.4Positioningtimelimit .............................................. 24
2.3.5Machinehomepositionreturn ....................................... 25
2.3.6Setting of theoperatingmode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.3.7 Aux. relays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

3. CONTROLINSTRUCTIONS ............................................... 29 .46

3.1
Basiclnstructions ....................................................... 30
3.1.1 Blockdesignationinstructions ....................................... 30
3.1.2Speedinstruction ................................................. 32
3.1-3 Addressdesignationinstructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.1.4 Registercontrolinstruction .................................. ;...... 34
3.1.5Dedicatedinstruction for waiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.1.6Driveexecutioninstruction .......................................... 36
3.2 Examples of OperationControls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.2.1 Multi-stagespeedoperation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.2.2Drive
interrupt ................................................... 41
3.3Well-knownInstructions .................................................. 42
3.3.1Sequence instructions ............................................. 42

.
 3.3.2M-codesettinginstruction .......................................... 43
3.4ControllingProgram Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.4.1Jumpinstructions ................................................. 44
3.4.2Sub-routineinstructions ............................................ 45
3.4.3Repeatinstructions ............................................... 46

4 . HOW TO OPERATE THE TEACHING PANEL ................................. 4 7,.,6 4

4.1 PreparatoryOperations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.2 AboutFunctions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.3 Batch Deleting ofPrograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.4 WritingaProgram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 !
4.5 Reading, Checking, and Searching fora Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4.6 ModifyingaProgram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.7 CheckingaProgram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.8 RewritingParameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.9 Parameters Can Also be Checked . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.10 Transferring Programs and Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I
57 1

4.1 1 Startingoperation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.1 2 OtherUsefulFunctions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.1 3 UsingaCassetteRecorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

5 . PROGRAM CREATION APPLICATION EXAMPLES ............................ 65 83 -

5.1
Kit
Familiarization ....................................................... 66
5.1.1Generaldescription of the F2-30GM-SIMkit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.1.2Internalwiring of thekit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.2 LearningApplicationProgramming (1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.3 LearningApplicationProgramming(2) ....................................... 74
5.4LearningApplicationProgramming(3) ....................................... 80

6 . INSTALLATION ......................................................... 84-97

6.1Installing in thePanel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
6.1.1Generalinstallationandwiringitems .................................. 84
6.2
ConnectingTerminals ................................................... 87
6.2.1Powercircuitconfigurationandspecifications ........................... 87
6.2.2Driveunitconnections ............................................. 88
6.2.3Connection of general-purposeinputterminals . . . . . . . . . . . . . . . . . . . . . . . . . . 89
6.2.4Connection of general-purposeoutputterminals . . . . . . . . . . . . . . . . . . . . . . . . . 90
6.3BeforeStartinganOperation .............................................. 91
6.3.1Preliminarychecks ................................................ 91
6.3.2ChecksintheMANUALmode ....................................... 92
6.4StartinganOperation .................................................... 93
6.4.1Indicators in manualoperations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
6.4.2ChecksintheAUTOmode ......................................... 94
6.4.3Motorrotatingdirection ............................................ 95

6.5
6.4.4 Internaloperations of the PGU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Maintenance ...........................................................
96
97
.
1
 .
7 SUMMARY ............................................................ 98-138

. 7.1 OutsideDimensionsandSpecifications ...................................... 99

7.1.1 Outside dimensions (mm) .......................................... 99
7.1.2 Specifications of themainunit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
7.2 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
7.2.1 Inputloutputterminal-relatedsignals ................................. 101
7.2.2 Programmablecontroller-relatedsignals .............................. 102
7.3 Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
7.4 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
7.5 Error
Codes Checking .................................................. 108
7.5.1 Program checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.5.2 Parameter checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
7.6 TeachingPanelOperations .............................................. 111
7.6.1 PROG and PARA modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.6.2 CPU andCMT modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.7 Connection to DriveUnits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
7.7.1 For asteppingmotor ............................................. 113
7.7.2
Foraservomotor ................................................ 115

...
.111 .
 -8-
*suo!leueldxa 40 se!m puelslapun-ol-Asea ue se lnq ‘lenuew e se Aluo IOU ‘s~auu!6aqJ O ~
i
I Ienuew sey
-*-pal!dwoa uaaq s!yl
I
i
 -
1.2 WhatThisPositioningUnitCan Do

Application examples
Fixed size feed control
1
Feed roll Fixed length
Real High-accuracy, high-speed feeding and cut-
fl
feed
rate
ting of sheets in terms of sizes set by the
Cutter digital switch. The digital switch can be set
to up to 6 digits.

Brake

1 switch Digital I

Fixed amount multi-stage feed control

Uses home positioning to put the pallet
at the
same height as the conveyor.
Then, it lowers the pallet by a fixed amount
eachtime anobject is unloadedfromthe
conveyor onto the pallet. The amounts can
allet
be changed by using the digital switch.

Rotary table control

Divide the index table or rotary disc into "n"
equal portions by using designated angles.
Executetheshortest-distancepositioning
modeinaccordancewithcommands sent
fromtheprogrammablecontrollerin any
order.
A
Gear box

Drill motor , I Positioning feed rate and depth control

Execute rapid return after completing rapid
Feed motor
feed and slow feed (cutting feed)from the
home position.
A Set rapid feed and slow feed rates can be
Rapid changed by using the digital switch.
feed rate

-4-
 Speed matching operation
Photo-sensors
Electric trolley Executesthespeedmatchingoperation for -
I bothwheels of awidetrolleydriven by
1 separatetravelmotorstoensuresmooth
I
movement.
Reflector
Decelerates at a point before the target posi-
Deceleration point tiontostopthetrolleyjustinfront of the
7 target position.
point
Stopping
motors
Traveling
Deceleration-startpoints,stoppingposi-
tions,returnpositions,etc.aredetermined
by sensor inputs sent from the photo-electric
switch, limit switch, etc.

Fixed volumes liquid-mixing unit

Thisisaliquid-mixingunitwhichuses
delivery pumps whose feed rates per rotation
are fixed.
The volumes of liquid fed from each tank
are
set by using the digital switch.

Digital switch Digital switch

Independent 2-axis plane control

Movesthetabletransverselyandlon-
gitudinally to permit drilling of a workpiece.
2 drills (small, large) are used, each
of which
is selected and controlled by the program-
mable controller.
Up to 8 axes can be controlledby 1 program-
mable controller, but linear interpolation and
arc interpolation are not supported.
Linear inbrpolation
However, interlocked operations canbe con-
trolled by using multi-axis synchronizing sig-
Y axis nals.
X axis

i
~

-5-
1.3 GeneralInformationonDriveUnits
~~

1.3.1 When using a steppermotor

Drive unit DRU

FX-1 GM Forward pulse (commercially available product)
pulse output
unit (PGU)

1
(zero-point signal)

Drivesignal /
/ ~ lrnnrnnnnr

7Adjustment
function
Stepper motor
(commercially available product)

AIi y commerci ally available stepper motor can be used to drive a small capacity load,

The stepper motor is a motor which rotates in short, uniform angular movements initiated by a input
pulse.
Accordingly, the rotation angle of the motor is directly in proportion to the input pulses, and thus it
is possible to obtain a rotating speed which is proportionalto the pulse frequency.
f
N = 60 X - (RPM)
n N: Rotating
(RPM)
speed
Pulse
f: frequency (PPS)
360
n = - (P/R) Os: Step
angle
(deg.)
OS
n: Numberof pulses required to turn 1 revolution of the motor (P/R)

Unlike the servo motor system (see Section 1.3.2),

thestepping motor adoptsan "openloop"system, E
Y
..............
. .. . .......
........... ,,
, 2) Draw-in torque

whichmeanssmallersizeandcost for theentire cT)

system. t
0
2
0-
I f , because of load inertia, the motor response delay 6
is too great, it may become out of step with the input c-
pulse, leading to an error in the final step angle.
Because of this,itis necessary to be particularly
careful when selecting themotor and executing such
i
controls such as slow start, slow stop, etc.
Pulse frequency (KPPS)

-6-
Adjusting the drive unit
The adjustments given below are necessary.

System in which the forward pulse is applied to one pulse input ter-
minal, and the backward pulse to another pulse input terminal.

System in which both the forward pulse and backward pulse are applied
to one pulse input terminal, and forward/backward switching signals
are applied to another pulse input terminal.

As shown below, the step angle can be changed, by making the step
mode full step or half step.

1::; ;g+tia:sq;;;1 I
. . . . . . . . :.:.. . . . . . . . . .
................
.........................
::j:i ;,
.....................
0.36' 0.36' 1,000 0.18' 2,000
... . ..........
. . . . . . ..... . . . . : ..:.... 0.36-
........... .: 0.72' 0.72' 500 1,000

-
-
When the holding torque function is required when stopping the motor,
some units permit adjustment of the hold current by using the STOP
potentiometer.
STOP
When a large holding torque is not required, keep the current low to
help prevent the motor from overheating.

Where there is surplus capacity in the motor torque, some units permit
decreasing the operating current by using the RUN potentiometer to
help keep the motor from overheating or vibrating.
However, reducing the current too much may increase the mechanical
response delay.

to automatically turnthe
Some units are provided with a selector switch
current OFF when the motor overheats.

u
I1 II YES -ShutsthecurrenlOFF automatically when the
motor overheats

NO -Current isrot shut OFF

Seethemanufacturer's
InstructionManual for
-
details.

-7-
1.3.2 When using a servo motor

FX-1GM output unit

m
q Forward
pulse
-

(PGU pulse)

1I 1 Feedback 1 I -A
LJ
Encoder pulse
1 I

3000, 2000, Amplifier

1000 PIR
Amplifier

I--
I I
Servomotor -
I I
Drive unit DRU
(commercially available product)

A commercially available AC or DC servo motor can be used.

The servo motor driver detects the amount of load movement by using the encoder and operates
the motor so that the deviation between the generated command pulse and thefeedback pulse is
" 0" .
Thus, improved accuracy can be ensured since this is a closed loop system.
The rotating speed of the motor is almost in proportion to the command pulse frequency.
When the pulse signal is received, the positive or negative pulse is counted by the deviation
counter.
If this counter value becomes smaller than the in-position parameter value, the "positioning com-
pleted" signal is sent out, but the motor continues operating until the deviation counter reaches
within 2 1 pulse.

\ Command pulse frequency

.., M Y o r F i n g speed

Short-time
operation
range
\
\

w
I I

-+ Time -+ Rotatingspeed(rprn)

Adjustment time

-a-
Adjusting the drive unit
Since the following points in the drive unit have to be adjusted, the correct setting mustbe executed
in advance.

Theoperatingcharacteristics of thedrive
unit can be adjusted in various ways by DIP
switches, potentiometers, keys, etc.
Adjust the position or speed loop gain,
speed integrating compensation value, and
maximum rotating speed setting according
to the load specifications.
t ' IM
I READY

\ \ I

,o,,o,
,o, ,o, ,o, ,o,
/ \ I \ I \ / \ I

OV OC OL IPF NS EEX

Some drive units have a P-RATE (pulse rate) parameter. This is used to match the pulse rate of
the driver output with the FX-1GM output.
If the servo driver has a max. rate of 200 kPPS (kilo-pulses per sec.), this pulse rate multiplier
must be set at x 2 since the max. output from the FX-1GM is only 100 kPPS.
The required output pulse rate from the servo driver is directly related to the speed and the num-
ber of pitches per revolution of the motor and encoder,

A relatively large IN-POS (imposition) parameter setting allows the positioning completed signal
to be sent earlier.

For details. see the Servo Driver Instruction Manual.

f
I accuracy Positioning

Thetheoreticalaccuracyinthepositioningunitusingasteppingmotor or servomotoris
restricted by the feed rate per pulse.
This can be calculatedas follows in respect to the relationship between the pulse frequency and
feed speed.
f: Pulse
frequency
(PPS)
V
61 =+ -x 1o (pm/PLS) V: Feed
rate
(m/min.)
60f
61: Feed
rate per pulse(pm/PLS)
For instance, when V is Gm/min. and f is 100000 PPS, the theoretical accuracy will be + l p m .

-9-
1.4 Positioning
Language

1.4.1 Absolute and relative positions

An ADR (ADDRESS) instruction is prepared to designate the movement distance (or rotation angle)
of the machine.
This operates the machine in combination with the DRV (DRIVE) instruction.
The address instruction isshown either by the distance from the reference
point or the distance from
the current position.
The former is called "absolute position designation" and thelatter is "relative distance designation".

-1i-
Example:
Relative distance
1 Station
from
Distance
position
Current
Station 1

0 - Station
2

28.8 km -
Station 3

83.9 km __+
Station 4

104.6 km -
Station 5

120.7
km -
Station 6

180.2
km -
Suppose that the train is now at Station 3, and the next target is Station 4.
In this case, it is correct to designate 104.6 km in thecase of absolute position designation. However,
it is necessary to clearly define that the reference home position is Station 1.
In the case of relative distance designation, it is necessary to designate 20.7 km.
It is also necessary to designate whether the train is going forward or backward.
The home position can be changed Current position
1
km 32 km
22.8
I -1- .I
Station 1 Station
Station
2 3 Station 4 Station 5 Station 6 Station 7

-39
-106.7
-156.3
km
km km 0 km ~ 3km
+59.7
6 . 9km +91.7 km

In the above figure, the absolute position is designated at each station with Station 4 as the home
position.
In this case, the absolute positions exist in both positive and negative values.
If it is necessary to go to Station 7 or Station 5 when the train is at Station 6, this is expressed as
follows:
Showingtheabsoluteposition [Absolutedrivemethod]

\
ADR +36.9 ADR ~ 9 1 . 7
Station 5 DRV ABS Station 6 DRV ABS Station 7
+91.7
+36.9 f c59.7
r"
Showing absolute drive command

[Relativedrivemethod] Showingtherelativedistance

iJ
ADR K22.8
/
ADR K32
Station 5 DRV - Station 6 DRV + Station 7
\
.(
22.8
.,
/, 32 \ >
Showing the direction of movement

- 10-
 Machine home position return
TheFX-1GMPGUhasabuilt-incurrentvalueregister(storingtheabsoluteaddress)whichis
incremented/decremented by the forward pulse or backward pulse it generates.
This allows the machine position to be calculated at all times.
When the operation is started for the first time, it is necessary to teach the current machine position
to the register.
ZRN (DRIVE ZERORETURN) instruction is preparedto execute
A machine home position return DRV
this operation automatically.
DRV ZRN is an independent instruction which is not accompanied by address instructions, unlike
DRV ABS or DRV instructions. It is operated in the following sequence:
Switch to turn the motorOFF at
Backward limit the forward limit
switch LSR DOG f l
Home return sequence switch
L
Motor

Creep speed
J ~ Initial @
position Details of machine home
p o s i t i orne t u ranr e

t
described on page 25.
' Home position return speed

-
Pulses of the zero-point signal (PGO) sent from the drive unit to the PGU
arecounted,andoperationsarestoppedwhenthecountreachesthe
considered
This
point
is designated
value.
These
pulses
normally
are 1 pulse
each
per
motor
home the

r
DOG Switch Configurations
Generally, DOG switches are configured as either a single point or a regional signal. In single
point operations, the DOG switch is only switched ON when the DOG table is at the start of
home return deceleration. Thereafter, it is switched OFF.

DOGSwtchONthmughwtrqon DOG Switch ON for a

single position

\ ; J ' . . . . .> . . . . . . . . . . .'

Automatic forward
if the initial position is situated within the O N region of
the dog switch, the machine home return operation can
be executed after advancing to out of range automat-
ically.
Manual forward
In the above case, if the DOG table is initially situated
within the home deceleration area, it will not be detected
by theDOGswitch.Hencemanualforwardmustbe
driven before the automatic mode can be switched ON.

- 11 -
1.5 What is the Program Like?

1.5.1 Distribution of functions

The FX-1GM PGU can be operatedtogether with the FX series programmable controller in executing
positioning control.
PC sequence control and positioning control are very different. Thus, each requires a dedicated
language best suited for that application, making understanding and software design much easier.
(See page 134 for PC versions.)
Though the multi-axis interpolation functionnot
is supported, interlocked operations can be controlled
by using multi-axis synchronizing signals.

Travel distance, speed,

Program is written from the Fz-30TP
Simple
signal
communication
by
the
number
repetition
of designation t e a c h i n gp a n e l( T P ) t o t h eF X -
structured
sequence. Start, stop, block designation EEPROM-4 ROM cassette installed
in the PGU.
(See page 134 for F2-30TP versions.)

E x e c u t e sc o n t r o l of Executes complicated
the entire system and positioning control by
auxiliarymachines by dedicatedpositioning
d e d i c a t e ds e q u e n c e language.
language.

G e n e r a l - p u r p o s ei n p u t s
outputs of the PGU can be
astheinputsandoutputs
programmablecontroller
thePGUandaPCare
together
7Simplesequenceinstructions
and 'general-purpose inputs and
outputs are supported for inde-
used

Configuration of the PGU program

STEP The program capacity of the ROM cassette built in the

0 - Program of
block-0 PGU has a max. of 2000 steps.
It can be divided into a max. of 100 blocks of variable
length.
Program of
block-1
_.

Which block program t o execute is designated by the

TO
programmablecontroller(ordigitalswitchescon-
nected to the PGU).
Program of
block-99
I

Program machine movement and speed routine block

by block.
STEP Areas commonly used in each block can be handled as
1,999
- Common sub.routine
program a sub-routine program.
24 parameters exist in the PGUso that its Derformance
2,000 matchesthat of theexternal equipmen't (e.g.motor
Parameters drive),
2,023 (24 types)
' I

- 12-
 1.5.2 Putting theory aside
Now,
let’s put theory
aside
and
see
what
program
a inside
the PGU
actually
is like. -

-
Forward
unknown
position
Current
position
home
Machine

(1) Machine home

I position
return I
(2) Waiting for a
command start r

I
>
(3) Forward 1000
(4) Wait timer (1 sec.)

(5) Forward 1300 ( 6 ) Waiting for a

(7) Backward 600 start command

DRV RAD sec.)

(8) (2
timer
Wait
(9) General return address
< \ /

When the SET RAD (setting of the return address) instruction is executed, the current position is
stored as the general return position. The machine is moved to this position by executing the DRV
RAD instruction.
The DRV RAD instruction only executes the movement to the return address: it has no connections
with the DOG switch or the DRV ZRN instructions

Pro-
ram Operation Remarks
Step

0 BLK K 0 Designates
number
block 0.

(1) 1 DRV ZRN Executes machine home position. ZERO RETURN

2 SET
RAD
machine
Sets
the home
position togeneral
thereturn
position
Instruction to wait for a start input signal. Proceeds when
received.

4 ADR K 1,000
Relative
movement
distance.
(Depends
parameter.)
the
on
Forward drive at the speed set by the parameter unless other-
(3) 5 DRV + wise designated.

I (9) DRV 13 RAD Go to the general return position.

I
I 1 14 END I I End of block. Wait for the start signal for the next block
oDeration. I L

- 13-
1.6 GeneralDescription of theSystemStructure

1.6.1 Mainunitandperipheralunits
An FX-1GM pulse output unit can be usedby itself or as a special extension unitof an FX series P C .
The system structure shown below is an example of an FX-1GM used as a main unit connected to
several peripheral units. (See page 134 for applicable versions of PCs and teaching panels.)

For complicated
controls: For directly
setting
data:
FX series
Up to 8 FX-1GM units can be connected to 1 (commercially available product)
programmable controller. Max. 6 digits

(commercially avaif-
r able product)

FX-POP programmingpanel For changing a program:

(HPP)
Since complicated positioning FX-EEPROM-4 ROM
controlisexecuted by the
PGU,programmingisdone
with an emphasis on general
sequencecontrol(control of 1 cassette is In-
aux. machine). axpotale3 in
each main unit.

For setting and displaying data:

F2-30GM-DUsettingand

r
display unit

For programming and Whenateachingpanelis

not connected, this panel-
storing programs: mounted unit can be used
f o rd i s p l a y i n gc u r r e n t
F-ABGPP-KIT/GM kit values and error codes, as
w e l la sf o rs e t t i n ga n d
By usinganAGGPP/PHP, modifying data.
p r o g r a ml i s t i n g ,s t o r i n g
programs to floppydisks,
andprinting of instruction
lists can be performed.
Fz-30GM-Dl

uj:
Interface unit

, [I m
UD to 3 FX-1GMs can be
cdnnected to 1 F2-30GM-
DU by using
this
unit.
F2-30TP teaching panel (TP)
Even a very complicated positioning
operation can be easily programmed
using the convenient instructions ex-
p r e s s e db yr e l e v a n st y m b o l s .
Programsthuscreatedcanalsobe For storing a program to an audio tape:
transferred to the PGU for use there.
!-
Whileoperationmonitoringandtest
operationsarealsopossible,this
panel is not necessary during actual
operations. I I I recorder
cassette
Audio
(commerciallyavailable
product)

- 14-
 Signal
The FX-1GM PGU exchangessignalswiththeprogrammablecontroller,motordriverunit,and
from signals
receives etc.
switches,
limit
BCD switches, -P

To understand the basic specifications of the product, it is necessary to understand what these
signals mean. *-
What is a parameter?
Variouspieces of externalequipmenthavevariousspecificationssuchassignallogic,position
direction, etc. Because of this, parameters are required to be set so that optimal matching can be
ensured.

Guidepost
Since this chapter contains agreat deal of difficult material, we recommend trying to understand just
the main parameters first and learning the entire contents at a later stage.

- 15 -
 ~~~

2.1 Signals
Handled

2.1 .I Signalsconcernedwith I/O terminals

Operation inputs
The input signals sent from the switches on the operation panel are as follows:
Operation Panel FX-1GM PGU

I
Turn ON for
operations.
manual G Manual forwardbackward
MANU operations or home position
return

I
Machine home positionreturn when the input
is turned ON.
ZERO RETURN
H
ZRN (X4)
1 Executes the machine. home
~~ ~~ ~ . .

position return when input is

ZRN turned ON momentarily.
Forward operationswhile the input is
turned ON. FWD (X5) I
It is necessary to keep the but-
FWD (1 -phase feedif ON for less than 0.5 sec.) ton pressed down.

Backward operationswhile the input is

turned ON. RVS (X6) J
(1-phase feedif ON for less than 0.5 sec.) Same asabove
RVS

kc
b7
General stop pattern occurs when this goes ON.
In the MANUAL mode,
execute error reset. F Executes decelerationlstop
when turned ON momentarily
STOP STOP during MANUAL/AUTO opera-
I I I tions (temporary. stop).
i
..
Positioning starts when turned ON. Valid with a
PGU inthe ready state. Positioning is started with a

mA
E
START START
START input (valid when going
from OFF to ON).
A I
U 8
Executes the designation of the operating block
T
>
number of the program, setting of movement
distances, etc. General-purpose inputs X0 to
0 X3 are used.
x 0 to x 3

Time-sharing readingis
Digital switch max signals
Time-sharing
reading made by general-pur-
6 digits pose outputs YO to Y5.
YO to Y5
I 1

START,,'.':. ,., ' .:" Instructed by a BFM#1 b3 signal from a PC

P?+!t!+&;S$tt: : (during AUTO operations).

Note: ZRN, FWD, and RVS inputs can be used as general-purpose inputs X4, X5, and X6 in
the AUTO mode.
Drive unit connections
The l/O signals exchanged between the PGU and the drive unit include the following:

r
FX-1GM PGU Drive unit (DRU)

r T
Outputs FP, RP (type-A)or M FPPLS
PLS, SIGN (type-E), depend Forward or backward
upon parameter settings to
meet the DRU specifications.

P
I

Example: One pulse

per motor roJation
angle of 7.2 I
C PG 0 Zero-return signal

One pulse per each

rotation or half-rota-
tion of the motor

,
/ \
-
0 CLR Clear sianal Clear of deviation
ON when at the machine home position counter
and when the LSFiLSR are activated.

No pulse is Output when power to

generated unless the drive unit is turned
this signal is ON. ON and isoperating
normally.

An error is output Positioning completed

signal
when the differential '
time limit. counter value is less
than the set value ,

7-7-, .
I .... . . . . . . . . . .
. . of a servo
In the. case . . . motor
. . . . . . . . . .

-
LSF Limit switch forward
Forward limit switch
LIMIT SWITCH FORWARD

Also error output

LSR Limit switch reverse
LIMIT SWITCH REVERSE
- FLQ-Backward limit switct

D DOG Near-point signal 0

, o Near-point dog switcl

Machine

- 17-

.- - .... .-- .- ............... .-..

~~

2.2 WhenUsingtheProgrammableControllerwithaPGU

2.2.1 Signalsrelated totheprogrammable controller

Signal communications between a PGU and a programmable controller are performedvia the buffer
memory (BFM) in the PGU by using FROM/TO instructions. General BFM address allocations are
as shown below. (See pages 102 and 125 for details.)
Buffer (BFM) contents
PGU buffer
Code numbets PGU program

SET
WAIT

4 p
# 11 # 10
RPT X

MT + , K
SPD X
to 0 to 999,999
I 77 I

M 100

M 101 LD, LDI

E
102
M ANI
2 AND,
M 103
J OR, OR1
M 110
SET, RST
to
M 117

Remaining drive wait IL D ,

Y 440 LDI
READY
> b 5# 3 Y 441 2 AND, ANI
Error detection

M-code ON
4 Y 442 J OR, OR1
Y 443
WAIT MO INT, VCH
+
Y 444
WAIT M
> b 9 M 120 LD. LDI
SET M
> b 10
2 AND, ANI
to
J OR, OR1
b 15 M 127 RST
Execution blocks 0 to 99 SET,

# 26 (When #1, b7 = ON)

# 27 (When #1, b6 = ON)
K H,KnX
Error codes 0 to 20
KnY, KnM, KnS
Error status
T, C, D, V, Z
Type code 5.01 0
Programmablecontrollr

See page 134 for applicable versions

MO to M127, Y440 to Y444,and data registers 70 to 77 are code numbers used for programs
in the PGU.
For example, BFM#2 bO is coded as Y440, and these two numbers indicate the same memory
area. Therefore, when BFM#2 bO is turned ON by the programmable controller, the instruction
of the LD Y440 instruction in the PGU also goes ON.
- 18-
 Block designation signals
Block numbers 0 to 99 can be selected by using the instruction given below. .-

F? T

BFM
0 K 0

Unit num.
K 0
--- DO=Ot099
BFM
D 0

Transfer Transfer
K 1 D
O+BFM#O

write ber 0 #O source points

data
Elements K, H, KnX, KnY, KnM, KnS, T, C,D, V, Z,etc. are used as transfer source data, Index qualifica-
tion is also possible. (See page 132.)

Start, and stop mode signals

The following start, and stop mode signals are supported by the PGU

ng(Multi-axis (Start/stop)

Stop BFM# 1 b4 n BFM#1 b2 = ON

READY BFM# 3 b5
Start BFM# 1 b3
This signal automatically sets in the wait
statebeforeexecution of driveinstruc-
tions, such as DRV and DRVC. And then,
BFM#3 b2goes ON. When a start com-
\ mand is given or asignal
DOG of the PGU
isinput,drivingstartsandBFM#3b2 is
,

,
.

.
. turned OFF.

-
, ,
. ,
BFM#l b2 = OFF
Positioning operation This signal does not set in the wait state
See page 125 for details, Temporary stop before
execution of drive
instructions,
such as DRV and DRVC.
(Conditions required for starting) (1) Startcommand:BFM#1 b3 = OFFto ON
(2) M code OFF command: BFM#1 b5 = ON

Modes
struction
P G U mode (1) *1 (1) and (2) Automatically Proceeds auto. (1)
starts after drtve matically to the
- OFF OFF is completed. next step.

(1) when transfer prohibition M I 0 3 is

ON. I

Stepping (1) '1 (1) and (2) Program steps are processed in order when a
mode - OFF ON start command is given
Start commands are ignored during instruction execution. M103 turns ON.
Loop mode (1) *1 (2) *2 Aulomalically starts Proceeds auto- (1)
- ON OFF after drlve I S com- matically to the
plefed. next step

I
Continue (1) '1 (2) '
2 Automatically starts Proceeds auto. Proceeds auto.
after drive I S corn- matically to the matically to the
- ON ON next step next designated
plefed
mode block.

*I Whenastartcommand is sent to thePGU,the M codesareautomaticallyturnedOFFinthePGU.

*2 Startisautomaticallyperformedbyan M code OFF command.(Seepage 130.)
(Note)StartingbyaDOGinputisenabledonlywhenBFM#Ib8is ON.

-19-
M-code signal ............BFM#5
Generally, other machine operations (e.g. tool change, drill) are operated together with the position-
ing operation.
Thus, an M-code isset within the PGU to inform thePC which auxiliary machine to operate. 64 max.
kinds can be transmitted.
I f the instruction WAIT MXX or SET MXX (XX = 0 to 77, octal) is driven inside the PGU.

BFM#5 b7 to bO are operated as shown below:

5 3
4 c

Example: M53 1 0 1 0 1 1 OCT S i n c e M codesuse

octal
notation of 0 to 77, data 0 to
I .\ 77 which exclude numbers 8
0 1 0 1 0 0 1 1 BCD and 9 out of 0 to 255, when
BIN conversion expressedindecimals,in
BFM#5 BFM#5 is valid.
0 0 1 1 0 1 0 1 BIN

The sequence program shown on the following page enables the operations shown below.

e The M code ON signal given

by the WAIT(WAIT MO) in-
M217 (M-code ON)
7f\\
/ struction of the PGU is auto-
M codeXX maticallyresetby a start
command.
M205 (M-code OFF) M300 to M377areoperated
whenanyone of themis
M3XX
/---------- switched.(Thosewithnum-
bers 8 or 9 do not operate.)

f
AFTER MODE and WITH MODE

Positioning
operation
--\ AFTER MODE

L
WAIT M 1 WAIT M 2 Use WAIT M instructions between
successive
positioning instructions.

IJ
M-code
output

WITH MODE
Positioning instruction
when M SET a Use succeeding
the
operation during
executed
positioning
instruction
is an M-
WAIT M 3 Y
E
T M4
code output.

l M-code
output

A WAIT M instruction is an instructionto wait for a start command (in the loopor continue mode,
it is also started by an M code OFF command), and a SET M instruction is an instantaneous
instruction. Both can be used alone or in combination.

-20-
 Recommended sequence examples

FNC Ma000 12
+I MOV I KlXOlO I D 0 (X013 to X010) + D 0
FNC M8000 79 c
+I
Bbck desgratlon
I T O ] K O] K O I D 0 I K 1 I D 0-D BFM# 0

.T
I Wb2 ~
b3BFM#1 b4 b7
b5 b6 bl bO
M8000
Multi-axis Continue
t--I Output Input ‘Ode
OFF
transfer transfer Stop Start synchroniz-
~ 8 0 0 0Multi-axis PC ing LOOP Step
synchronization
4 M200
M201
M202
M203
M204
M205
M206
M207

I
b2 b3 b4 b5BFM#3b6 b7 bl bO

Start
M code
Error READY Remaining - Synchroniz MANU Block
ON drive wait ing wait AL end
M8000 *’
Iy Inputtransfer ~ ~2~2121716 5 M210
M211
M212
M213
M214
41 PC
M8000
I L/ Oblprl transfer
AI

W
M8000 FNC 78 1
{ - I+ FROM 0 K3K K2M210 K 1 BFM# 3 ( b 7 t o b 0 ) + (M217to M210
RUN monitor FNC 79 1
T 0 K 0 KK2M200
1 K 1 (M207 to M200) + BFM#l (b7 to b o ) *2
FNC78 1
M code ON FROM K 0 K 5 K2M220 K 1 BFM#
5 ( M code) + (M227 to M220)
h A 3 1 ,7
,.,-, FNC 41
..
M code is decoded to M300 to M377 by corresponding
DECO M220
M300 7 K to the octal number.
M301 machine
Aux. drive
If WAIT M53 or SET M53 is driven

*r
M code OFF by thePGM,M353 of the PC is
machine operated, which is usedfor driving
number 1 an aux. machine.

eF:E;d;
An M code OFF command is driven
when the aux. machine operation
to is completed.
Aux. machine drive Then, the M code ON signal goes
OFF in the PGU, and theb contact
OFF
of M217 resets M205.
M205 machine
number 63 Seepage134 for applicable PC
Aux machineoperatlonmpletion sgnal
versions.
vl code ON I
M217

t
1-1- RST I M205 I M code OFF command M205 is reset.

-21 -
2.3 Initial
Parameter
Settings

2.3.1 Setting
units
It is necessary to set the following parameters in the FX-1GM PGU:
The F2-30TP teaching panel has been factory-set with standard values.
When transferring them to the PGU, it may be necessary to change some of them, depending on
which type of machine is used.

System unit setting

UNIT

Recommended
modes

Select the appropriate parameter value from the following table:

UNIT SCALE
ORDER

When using the machine

system unit or composite
s y s t e mu n i t ,i ti sa l s o
necessary to set PARA1
a n d PARA2.

ADR mm.
KlOOO
/
10means
1/10inch=2,54mm
ADRmeans
K1000
/

10,000 pulses.

Set the pulse rate to be the number of pulses required to be sent to the motor driver D R U
to drive the motor 1 revolution. The following range is permitted:

Pulse rate 2000 (factory setting)

A = 1 to 65,535 PLSIREV
PULSEIREV

The actualmachinemovementisoftendriven by gearsandscrewshafts.Thefinal

movement distance for 1 motor revolution should be the value of this parameter. If the
value entered is in mm, then the system unit will be in mm (see page 131).

Feed rate 6 = 1 to 999,999 pm/REV

2000 (factory setting)
MOVEMENTiREV 1 to 999,999 mdeg./REV
1 to 999,999 x 10 -4 inchiREV
PARA number 1 and number 2 are valid only for the machine system unit and composite
system unit. They are ignored when the motor system unit is used.

-22-
 2.3.2 Speed and acceleration times
Set the following speeds and acceleration/deceleration times within the specified ranges:
The max. speed parameter is the ultimate max. operating speed regardless of any other instruction
or settings. However, operations may be changed to a lower speed by an SPD instruction or if the
movement distance is too short for full acceleration to this max. speed.
Set the max. speed within the following ranges:

* Machine system ..... 1 to 153,000 (cmimin., 10 deg./min., inch/min.)

Max. speed Motor system and composite system .......10 to 100,000 (PLSisec.)
(When
usingthe
machine
system
unit, 10 to 100,000 100,000 PLSIsec.
M A X SPEED
setting)(factory used.) be must PLSIsec

Read the Note at the bottom of page 131 and avoid setting values too high.

Set the operating speed for JOG (t), JOG (-) of the manual forwardireverse operations
(or FWDiRVS input of the PGU) on the teaching panel. The permitted range is the same
as that of the MAX SPEED parameter.
Manual JOG speed 10,000 PLSIsec.
JOG SPEED (factory setting)

Stepper motors suffer from high resonance peaks at low pulse rates. To avoid chattering
caused by this, set the bias speed so that the low pulse rate region can be skipped.
Machine system ...... 0 to 15,300 (cm/min., 10 deg./min., inchimin.)
Bias speed
* Motor system and composite system , . . . . . 0 to 10,000 (PLSisec.)
BIAS SPEED
0 PLSisec.
(factory setting)
-
This is the operating speed when DRV ZRN is executed in either AUTO or MANUAL. The
permitted range is same as that of the MAX SPEED parameter.

Home posltion return speed 50,000 PLSisec.

ZERORETURNSPEED (factory setting)

The home position return has 2 speed levels. Operation is at ZERO RETURN SPEED
first. When the DOG switch is detected, it decelerates to CREEP SPEED. Set in the
following ranges

Creep speed Machine system ,..... 0 to 15,300 (cmimin. x 10 deg./rnin. inchimin.)

CREEP SPEED Motor system and composite system ,.,.., 10 to 10,000 (PLSisec.)
1,000 PLSIsec.
(factory setting)

Set the acceleration/decelera-

tion time within the range from Actual ameleration time
50 rnsec to 5,000 rnsec.
PARA number 4
The accelerationideceleration Max. speed
Accelerationidecelerati
on times timeswillvary,dependingon
theactualoperatingspeed. PARAnumber6 I
ACCELERATEiDECEL If the bias speed
ERATE TIMES 1 by usingan SPD
Instruction

1,000 PLSisec.
V
I I
(factory setting)
-
PARA number8 Independentsetting PARAnumber 8
Acceleration time is not possible. Decelerationtime

-23-
2.3.3 Compensation for mechanicalfailings
The following parameters apply to all instructions in the program:

All absolute DRV instructions in the program will use this point as the reference position.
Normally, this is zero, but sometimes it may be more convenientto set this to some other
value: range: 0 to 2 999,999. Unit based on PARA number 3 (Unit Scale).
Home position address
ZERO ADDRESS 0 (factory setting)

The backlash compensation amount can be set in the following ranges:

Machine system and composite system ...... 0 to 65,535 (pm, mdeg., x 10 -’ m inch)
Backlash compensation Motor system . , . . . . 0 to 65,535 (PLS)
BACKLASH 0 (factory setting)
When changing the direction during automatic operations, mechanical backlash in the
gears can cause positioning errors.
Compensate by adding an extra movement distance whenever the direction is changed.
This distance is to be specified in this parameter.

Machine side
w
& Backlash
i
H
Backlash i d
Machine side

The bias value can be set within the following range:

Travel distance compensation
POSITION BIAS
Machine system and composite system ...... 0 to * 65,535 (pm, mdeg., x 10 .’ m inch)
* Motor system ...... 0 to r 65,535 (PLS)
0 (factory setting)
This bias adds an extra position amount to all ADR instructions. Normally, this is zero
but it can be changed depending on mechanical requirements

2.3.4 Positioning
time limit

Set the positioning completion determination time within the range from 0 to 5,000 msec.

5.000 rnsec
(factory setting)
Error judgment time
ERROR TIME An errorisoutputwhenthetimebetweenthepulsetransmissioncompletionandthe
SERVO END signal going ON is greater than allowed by this parameter.
In the case of the stepping motor, keep the SERVO END input turned ON at all times

- 24 -
 2.3.5 Machinehomepositionreturn
Sincethemachine homepositionreturnisconcernedwithvariousparametersasshownbelow, -
always be sure to execute the setting correctly.

The number of zero-point signal (PGO) counts during machine home position return can
be set within the range from0 to 255. If PGO is not available, set this parameter
to zero.
PARA number 20 Home
Downcounts to HOME Acceleration/ position
position return speed
position 10 counts deceleration
times PARA number 18 Home
(factory setting) ' position return direction
ZERO SIGNAL COUNT

PARA number 21
Creep speed
PARA number 19 When the initial positionis within theD O G switch
Home position address : ON range, home position returnis executed after
: automatic forwardingto outside the DOG ON
/
-A A
region. (See page11.)

Near-point DOG signal ON

AdjustthepositionoftheDOG
Backward limit input OFF PARA
number
22 & swltch so it is almost at the center.

, i, 1
'

I
.. .
1
Count down to HOME :
'
PARA number 12 : This
example = 3 I I 1 OFF

+. I
LSR limit switch logic $, ,~e;o~po\ntsynh
7 1u \ u\u u u u u
The
The deviation counterCLEAR signal is outputto
point.
this at
DRU HOME position
return
completion signalM l O l status also changes.
1Count
Count
Count \ON

The count start logic of the DOG switch can be changed.

Count start logic I n 1

e$tfNiirbQ
~~::...:,..:':.::.'.'
OFF to ON I Turns ON at the HOME position return completion I
COUNT START
In the AUTO mode.
Turns OFF when the mode is switched from AUTO
to MANUAL.

Turns ON atHOME position return completron

regardless of the mode. Remains in the ON state
untii the power I S turned OFF.
See the above figure for settings '0' and '2' and
the following figure for settlngs '1' and '3',

Acceleration/ PARA
number 20 Home
position
speed
return
deceleration times

/i
PARA number 18 Home position return direction
1

PARA number 19
PARA
number
. % 2 I
Creep speed
Home position address
J ;Deceleration
start

-
A
Manual forward drive is Set PARA number 22 at 0
ing a for initial the when
necessary
zero-point
a issue not doesposition
area. this
i s within
signal output.

.Adjust the near-point signal reset point

6 : s o it is located almost at the center.
PARA number 12
OFF
LSR limit switch logic Zero-point signal
~

U U U W
Count (once
PARA
if number 22 issetto 1) x ON
-25-

__ . . ....
2.3.6 Setting of the operating mode
The following parameters are used to set the logic of each signal:

Pulse output type FP signals how far to move and RP determines the direction. (see following table).
TYPE

Pulse logic Setting '0' (positive logic)

LOGIC The effects are shown in the following table.
The LED onthePGU is litwhenthepulse
waveform is at level L (transistor ON).

Setting " 0 "(factory setting)

Increases the current address register within the PGU when a forward pulse is output,
and decreases it when a reverse pulse is output.

Rotating direction setting Setting '1 '

Increases the current address register within the PGU when a reverse pulse is output,
DIRECTION and decreases when a forward pulse is output.

Setting " O m , " 2 "

Moves in a direction so that the current address register is increased.
Setting "1 ' I , " 3 "(factory setting)
Home positionreturndirec- Moves in a direction so that the current address register is decreased
tion
Setting "0" " 1 I'

ZERO DIRECTION Data input time from the digital switch is 8 msec/digit
Setting "2" " 3 '
64 msec/digit. See page 136 for details.

Setting "1" (factory setting)

Emergency stop unless both LSF and LSR are ON.
Setting "0"
LSF and LSR logic Emergency stop unless both LSF and LSR are OFF.

-
LIMIT SWITCH
Machine home Dosition
The initial preset values OFF ON direction
return ON I OFF LSF
LSR
7
of PARA numbers 1 1 , 1 2 ,
and 1 8 are as shown o n A
the right. Forward
Machine home positio
(RTverse-
Address decrement Address increment

-26-
 x

(1) Dedicated for digit designation

Block
(2) (BFM#3,
end Y2.
bo) is to
output
by the digital switches (DSW).
\ See PARA
number 16.
(3) Error detection (BFM#3, b6) is output to Y3.

Setting " 0 " R E A D Y (BFM#3, b5) isoutput to Y6 output of PGU.

(factory setting)
Setting " 1 " Y6 canbeusedforgeneralpurposes
Setting of PGU output Y6
Setting " 2 " Y6 isreservedautomaticallyforthereading of thedigitalswitch
READY connected to the PGU for such purposes as block and external address
assignments (see page 123).

..... A deceleration
stop
not
isperformed.
M 102 is reset by a
STOPcommand. I
I
STOP mode
restarted after a deceleration sto , an operation drive is ex-
STOP for
remaining
thedistance. (A START command
is T

I
eeded.) ..... Remaininadrive
After a deceleration stop, the remaining distance is i nored and
the operation proceeds to the next step. So, a STAtiT command
I
1,:
needed. not is . . . . Remaining
discontinue

I
. . . . . . : ........
. . . . . :. , ...::.... After a deceleration stop, the remaining distance
,,,,ldtiw'j,i;:
, ..
'
is ignored and ~ ~ ~ ~ ~ ~ , "
.........
::::::::,:::,,:. . . .
............ the operation proceedsto the END step. ..... END return
mode.
CONT

- 27 -
 Aux. relays
M 1 1 0 to M117 and M120 t o M127 aux. relays (16 points in all) are prepared in the PGU, which can
be freely utilized by the user.
The following specialaux. relays (exceptfor M103) can only be read,as they are reserved and driven
automatically by the PGU.

This is active at all times in the AUTO mode if an error has not been generated.
This is used to forcibly drive various coil instructions which are driven by contacts.
(see page 126).
BFM#4 bO

In the AUTO mode, M101 is set and held when DRV ZRN is completed. It is only reset
when the mode is switched to MANUAL or the power is turned OFF.

BFM#4 b l Therefore, this can be used so that home reset only occurs 1 time (see page 45).
However,whenthePARAnumber23settingis‘2’or“3’,M101isturned ON by the
machine home position return regardlessof the operating mode, and the operation status
is held even after AUTO mode is canceled.

M102 is ON when a start pulse is received in the AUTO mode, and is reset by the STOP
input(BFM#lb4signalsentfrominputterminal of thePGUortheprogrammable
controller).
BFM#4 b2
M102 may serve as the signal to acknowledge that a start command has already been
entered.

WhenM103isdriven,execution ofthesucceedingsteps(excluding ELK inst.)are

prohibited anywhere in the program.

BFM#4 b3 1 -step transfer is executed each time the START command is applied (see page 50).
This is valid when both BFM#1 bO and b l are OFF. If B F M # l bO is ON and b l is OFF,
M103 is operated and a similar stepping operation is performed.

These are used as general outputs to programmable controllers.

When M110 to M117 are turned ON and OFF, BFM#4 b8 to b15 go ON and OFF
BFM#4

These are used as general inputs from programmable controllers.

When BFM#2 bO to b4 and b8 to b15 are turned ON and OFF, Y440 to Y444 and M120
to M127 go ON and OFF.

EFM#2

-2a-
In the previous sections, the I/O signals and the parameters of the pulse output unit (PGU)were
explained.
This section explains how the PGU is controlled.
Program instructions and parameters are both entered by using the teaching panel.

The instructions come in the format "Instruction + Element symbol + Data (element number, etc.)",
"Instruction + Element symbol", or the instruction alone.
This section gives details about each instruction (see Section 7 for summarized definitions).

IMPORTANT
Program Operations
Instructionsintheprogramareexecutedsequentiallystep by step.Thesucceedingstepis not
executed until the preceding step is fully completed. Be sure that you understand the difference
between this and the cyclic operations of the programmable controller.
The program is divided into blocks. Each block can be an individual routine, and execution is selected
by either a numeric switch input or by the programmable controller.
If neither is used, block zero will be executed.
Note that some of the instructions involve waiting.
Program execution does not continue until the appropriate conditions have been met. For example,
a WAIT instruction requires a start input signal. -
Others are instantaneous when the execution time is indicated.

-29-
 3.1 Basic
instructions

3.1.1 Block
designation
instructions

nts: Relevant BLOCK

Start
sub-program
of (1) KO to K99
(from
the
programmablecontroller)
(2) KO to K99 (from a numeric switch)
Execution tlme:
Instantaneous progressing type

mi
1) 1 msecorless 2) DSW read time Seepage 136.

Relevant elements:
E:dDof sub-program None
Execution time:
Waiting type (waits for a start input signal).

Designation from the programmable controller

(Program on the PC)
When the parameter number 1 4 setting is "3","7","1l " , or "1 5", block numbers of 100 divisions or
less are designated as KO to K99.

Tog1 K 0 I KO I K99 1 K1 1 When theblockdesignation

input
turns ON,
K99 is written to BFM#O. To transfer KO when
Blockdesignationbyprogrammablecontroller thedesignation input turns OFF, program the
ladder indicated by the broken line.
TOO1 K 0 1 KO 1 KO 1 K1 1
(PGU programming)
BLK K 0 Typicalinstructionsineachblockare as
follows:
Speed instructions
END
Not needed when the operation is per-
ELK K 1
formed at parameter speed.
Address instructions
END
Designate travel distances by relative
j Initially, when power I S and absolute addresses.
4 swltched ON the in AUTO j to
j m o d e , the last END i n s t r u c - Drive instructions
; lion is executed. Therefore, ;
; a start signal and a block ; BLKK 99 Operation execution instructions.
I n u m b e r input are required.
I
I
Block-99program I
I
Wait instructions
I END Designate the waiting time to start the
7 1 next operation, or an instruction to wait

.L
for a START command.
- Less than 2000- The above completes 1 operation. A group

I
of operations completes 1 program block.
Parameter numbers
Oto23

-30-
Designation by numeric switch
When the PARA number 14 setting is "1 "2", "5", " 6 " , "9", "1O", "1 3", or "1 4", block numbers of 100
'I,

divisions or less are designated as KO to K99.

It is possibleto connectDSW#1 to #6 by usingthegeneral-purposeinputs(X0to X3) andthe
general-purpose outputs (YO to Y5) of the PGU (see below).
When the setting value of parameter number 14 is "1","5","9",or "1 3",1 digit (DSW#6) is used. I f
the setting value is "2","6","10", or "14", 2 digits (DSW#6 and #5) are used.

1 -digit input

1m
When theBLK instructionis executed, the general purposeoutput Y 5 is turned
ON automatically, and the setting value (for instance, "8") of DSW#6 is read,
thus executing BLK K8.

2-digit input
When the BLK instruction is executed, the general purpose outputs
Y5 and Y4
areturned ON sequentially,andthesettingvalues(forinstance, "87")of
DSW#6 and #5 are read, thus executing BLK K87.
10' 100

Digital switch connection example

Type FX-1GM P G U

j
Input
photo-
I 24v coupler

I
I
\-.-

x 0
x 1 -
-
I
x 2
x 3 r' f l f J

The following types of digital switches to which diodes can be externally mounted are commercially available:
SDG4101 DX (FUJISOKU) , 31 J52M (JAE) , A7AS-207 (TATEISHI)

- 31 -
 3.1.2 Speed
instruction

SPEED elements: Relevant

Speed
designation (1) K10 to K100,OOO or KO (motor system
composite
or system)
(2)K1 to K153,OOO or KO (machine system)
(3) X70 to X77 The setting of (1) applies to the motor system and the composi
tesystem. Setting of (2) applies to the machine system.
(4) X1 to X654,321
Execution time:
Instantaneous progressing type
(1),(2) 1 msec or less
(3)1 programmablecontrolleroperationcycleorless
(4) DSW readtimeSeepage136.

(When the relevant element is K)

This instruction is programmed within each block when the motor must be operated at a speed less
than the max. motor speed set by parameter number 4.
When SPD K1,OOO is designated with the unit parameter number0 to 1 (motor system), for instance,
the speed will be 1,000 PLS/sec.
If the SPD instruction is not programmed, the motor will be operated at the max. speed as set by
parameter number 4.
The SPD instruction is only effective when it is less than the max. speed parameter

I The acceleration/deceleration times are determined by parameter num-

.
ber 8.

Parameter If the movement distance istoo short, the motor may decelerate without

.
reaching max. speed.
t number 4 or
SPD instruction
I The contents of max. speed setting register MSR will be changed each

,
time the SPD instruction or BLK instruction is executed, and all opera-
tions are performed in accordance with these values.
From parameter number 4
Themotorspeedwillnotbecomelowerthanthebiasspeed of
instruction execution parameter number 6.
Max. speed
setting Themotorspeedwillnotbecomehigher thanthemax.speed of
register parameter number 4.

Page 134 gives details about the applicable versions of the F2-30TP.
Parameter number 6

(When the relevant element is X)

X70 to X77: Setting of BFM#25 to # l o written from a programmable controller designates the
speed. For example, X70 is designated by the setting of B F M # l l and # l o .

X1 to X654,321: Speed is designated by digital switches. The connecting method is as shown on

the previous page. By designating digit numbers, setting values of such designated
digital switches can be used. (Digit designations and scaling are done like the EXT
instruction given on the next page.)

- 32 -
 3.1.3 Address
designation
instructions

elements: Relevant ADDRESS

Designation of position * 0 to 999,999
(absolute
addresses)
KO to K999,999 (relative addresses)
Execution time:
Instantaneous progressing type (1 msec or less)

Theelementsymbol may be+(plus)/-(minus), or K, dependingonwhethertheposition

address is absolute or relative.
This value indicates the target position or the movement distance for the execution with the
DRV
instruction. Its unit will be determined by unit parameter number 3.

elements: RelevantEXTERNAL
Designation Absolute
ofex-
anaddressing
ternal address 1) t 1 to 654,321 2) 2 70to77
Relative addressing
3) K1 to K654,321 4) K70 to K77
Execution time:
1) and3) DSW readtimeSeepage136.
2) and 4) 1programmablecontrolleroperationcycle

(Designation with digital switches)

In the above ADR instruction, the position is designated immediately by the constant within
the instruction.
However, if the EXT instruction is used, it is possible to designate the position by using the
digital switch (DSW#6 to#1) (see page 31) connected to the general-purpose inputof the PGU.
(The setting unit depends upon the value of parameter number 3.)
However, digits #6 and #5 cannot be used with the EXT instruction when DSW#6or #5 is being
used for the designation of the block.
The relevant element number dictates which digital switch is used. The digits of this number
should be in consecutive descending order.
Digital switch (DSW) Example 1
EXT K321 = ADR K684
# S # S # 4 # 3 # 2 # I
I I I I I I Example 2
EXTK32100 = ADRK68400 t---

Example 3
EXT K654321 = ADR K927684
Y 5 Y 4 Y 3 Y 2 Y 1 Y O
When the setting values of the digital switch are as
shown above, the actual address designations will be as
I If '0' is added to the lower digit, scaling is shifted up 1 digit. I
shown on the right.

Page 134 gives details about the applicable versions of

the Fz-30TP.

Other valid examples include plural address instructions

such as EXT K654 and EXT K321,

(Designations from the buffer)

.-
BFM#25 to #10 are used to designate 70 to 77 as the SPD instruction given on the previous page.
The contents of designation determine the addresses, and the setting units are determined according
to parameter number 3 setting "0" to "3".

- 33 -
3.1.4 Register
control
instruction

Relevant elements:
0 to 999,999 (setting of current value registers)
RAD (setting of return address HOME position register)
Execution time:
Instantaneous progressing type (1 rnsec or less)

SET instructions may be also used for relevant elements such as Y, MI etc. (see pages 42 and 43)
This section describes +, RAD only.
(SET RAD instruction)
When this instruction is executed, the current position of the machine during execution is set to the
RAD register (return address register).
With this step, it is possible to drive to the general return position by using the DRV RAD instruction.
(SET * 0 to 999,999 instruction)
When this instruction is executed, the contents of the current value register within the PGU are
changed to the data designated by the SET instruction.
For instance, when a fixed length feed-out control is executed, it is possible to return the current
valueto "0" by aSET to (or SET -0) instructioneachtimethedesireddimensionfeed-outis
completed.

-.
General description of internal registers

ADR instruction

1
Setting value
register position
SVR register RAD
EXT instruction

I
Pulse Parameter SPD
number 4 instruction
generation D R V RAD
circuit <p
(, +z.147,4a3.647
(pulse conversion)
I, I

Timer register

Parameter
20 to 999,999
I I
Subtraction
clock TMR instruction
to to 9 9 9 , 9 9 9 Machinehome SET instruction
position return

Other registers used in instructions such as DRVC and VCH are stored in the programmable
controller because the data received is from the programmable controller.

- 34 -
 3.1.5 Dedicatedinstruction for waiting

Relevant elements:
Waiting for start
a MO to M77 (octal) (MO need
not
be
designated.)
1-1 command
Execution time:
Waiting type (Waits for a start signal.)

TMR TIMER
Pause instruction
Relevant elements:
KO to K9,999(unit: 10 msec)
Execution time:
Waiting type (Timer wait)

I f TMR KlOO is used, for instance, the operation proceeds to the succeeding program step after
waiting 1 sec.
The waiting time is defined as 1/100 of the designated data 0 to 9,999.

-35-
3.1.6 Drive
execution instruction

.
Relevant elements:
Fi:bVdEspeed drive
instruction 1) ZRN Machine home position return
2)General
position
RAD
home
return
3) * driveRelative
4) ABS
1 to 9,999
Absolute
drive
drive
table
Rotary
5) ROT
Execution time:
Waiting type (Indefinite until motor positioning is completed.)

Example of relative drive

The relative addresses such as ADR, K, EXT K, etc. are valid for the drive command DRV +.
ADR + instruction, EXT + instruction, etc. are also regarded as ADR K, EXT K, etc. respectively when
DRV + is used.
Machine
home
positlon
position
General
Initial
return
position , a C I d \ .-
Try operation steps
IC\

I I 1
I(1) Machine home position return I I
K h Waiting for start
I Waiting' (1 sec.)
(2) 500 ' (3) 1,500 (4) 1,500
,
1
I

(6) RAD position return

A I
Waiting (1 sec.)

-
... . . . .. ..::
.......... . ..:.:.. :..jj..:j.:.:; . . ..:..
:,:A:,:. .. .. ..........................
....
.................
'+.+tY.qu~l:@~:s
...........
P
;,i:;:,Ii;;,.;gj= ;:;:> ..::j::
:.:.:........:.:::::.::::.
::..::............

BLK 0 Block-0 start

DRV Machine home return (ZERO RETURN)
SPD 8,000) Omitted if parameter speed is used.
ADR 500 Steps 2 and 3 are interchangeable.
DRV
SET Sets the general return position to 500. (Note)
ADR 1,500
DRV Movement to point a
TM R 100 Waiting for 1 sec.
(Step 6 data is used for the next ADR K1500 instruction.).
DRV + Movement from point a to point b
WAIT
ADR K 1,000 Waiting for 1 sec.
DRV - Movement form point b to point c
TMR K 100
DRV RAD General return
END Completion of block 0

Note: The absolute address of the machine home position is determined by the home position address parameter
number 19. If it is 0, the general return is written as +500 in the general return position register.
I f there is no program in step 3 and step 4 , the general return position becomes equal to the machine home
position, which mean the contents in the return address register will become 0 (when PARA number 19 is '0')

- 36 -
Whenthisinstructionisexecuted,homereturn is executed to themachinehomepositionin
accordance with the procedure described onpage 25.
This position is normally the position with an absolute address of 0 (set by parameter number 19).

This drives to the general return positionas indicated by the return address RAD register. This differs
from DRV ZRN in that positioning is based on a register and not on the external hardware position
of the DOG switch.Thus,theaccuracy of the DRV ZRN isgreater. DRV RADisaconvenient
secondary temporary home position in the work area.
Example of absolute drive
The relative addresses such as ADR 2 , EXT +, etc. are valid as position addresses.
The ADR K instruction,EXT K instruction,etc.arealsoregarded as the ADR +, EXT +, etc.
respectivelv.
ZRN RAD Initial position a C b
0 - +500 ? +2,000 ~2.500 +3.500

(1) Machine home position

startWaiting
for
sec.)Waiting
(1

I (2) 500 (3) 1,500

return
(6) General (5) 1,000
/

p'
Waiting (1 sec.)

. . . . .:
(DRV ABS instruction) (DRV ABS n instruction)
..l~
. .. . .......
. .. ... . . .. . .;::;
.......................... .. ..................
............
i::,:,:,:.dS#~~ii
:::,:::ti,6fi#:;,:;;:
... ...........
............
:$#**~;f$ :...................
...............
.:.:.:.:............. ::
:.:::;::.: ,::.:...:.:.:
.:.: ....... :,. :...:. ....,.:..................
.......................
BLK K
D RV ZRN
SPD
ADR
DRV
K

ABS
+ 8,000
500 I
SET RAD
ADR +
DRV ABS
TMR K 100
ADR +

I
DRV ABS 7x500 7
WAIT
ADR +
DRV ABS 5 5x500
TMR K 100

- DRV
END
RAD

I DRVABS n I Whenn is not specified or n = 1, the movement is made to the

absolute address position.
n = 1 to 9,999
Address data is specified by the previous ADR or EXT instruction.
n = 1 need not be designated. In general, when n is specified the target position address will be
n-times the given address.

-37-
 3.2 Examples of OperationControls

Rotary drive
When executing indexing control of a rotary table, relative drive or absolute drive can be performed
by designating the rotation angle with an ADRor EXT instruction in the same manner as linear
movements.
of 360"
The use of a DRV ROT instruction will allow a rotational drive automatically with a max. angle
(see page 123).
Example of rotary control
ADR + is devoted to the designation of the position for a DRV ROT instruction. ADR K, ADR -are
also regarded as ADR +.
The unit for an ADR instruction as a rotational angle is determined in accordance with the setting
value ("0" to "3")of the parameter number 3. When the setting value is " l " ,for instance, the setting
unit is 0.1". With a DRV ROT instruction, ADR + 0 to 3,600 may be valid. (In this case, the value of
parameter number 0 must be set to "0" or "2".)

If it is necessary to drive in the order of dl f ,

b, f , and d when the current position atispoint
d (as shown on the left), particular care must
be taken with its rotation direction in the case
of a DRV ABS instruction.
WhenaDRV ROT instructionisused,the
rotation direction is always made so that the
shortest route will be taken.
The following example compares them. (The
system unit is 1 in this example.)

I position
Current

(Combineduse of the DRV ABS, DRV (Use of the DRV ROT instruction)
-c instructions)

ADR + 300 ADR + 300

(2) DRV ABS d-e-f (2) DRV ROT d--e-f
TMR K 100 TM R K 100

(3)
ADR
DAV
TMR
K
+
K
90

100
f-a-b 1 Note 1
(3)
ADR
DRV
TM R
+
ROT
K
30

100
f-a-+b 1 Note 2

SET t 30 (Changefrom 390' to 30') ADR t 300

(4) DRV - b-a-f (4) DRV ROT b-a-f
SET t 300(Changefrom -60' to 300') TMR K 100
ADR + 150 ADR t 150
(1) DRV ABS f-e-d (1) DRV ROT 1-e-d
WAIT WAIT
-
Note 1 : If ADR + 3 0 , DRVABSareused,thenthe Note2: Theshortestdistancedriveisexecutedfrom
operationisexecutedintheorder o f f , e, c,andb.address +300 toaddress +30.

-38-
 Relevant elements:
Multi-stage speed drive 1) Absolute
ABSdrive
2) 2 Relative
drive
Executlon lime:
Waiting type (Indefinite until positioning has been completed.)

The multi-stage speed drive can be executed by using an SPD instruction and position designation
instruction in combination.
Example of a multi-stage speed drive
ADR, EXT instructions are applicable to the designation of the position.
( 1 ) 1,500 _I ( 2 ) 1,000 J ( 3 ) 2,500
1 In this example, ex-
ecutepositioning
Speed
while changing the
1 operation speed in
areas (1) to (3).

.
lute
(Initialdrive)
relative
(Initial

r1 SPD
ADR
DRVC
K 3000
K 1500
t
-
4 Note 1
Note 2
ABS
.
SPD
ADR
DRVC
K 3000
+ 4000 1
I
SPD K 2000 SPD K 2000
Note 3 Note
ADR K 1000 ADR,
SPD, and ADR K 1000

4
register DCR are

L 1
SPD K 1600 dedicated to SPD
DRVC K 1600
instructions
ADR K 2500 ADR K 2500
NOP NOP

Note 1: This instruction is not necessary when driving at a speed designated by parameter
number 4.
Note 2: The previous relative address or absolute address is valid to the position data of the DRVC
instruction.
Use DRVC t - instruction or DRVC ABS instruction as appropriate.
Note 3: Speed changes can be done in up to 8 stages by a series of instructions. I n such cases,
however, other instructions cannot be programmed in between.
Only the relative address is valid for the designation of a series of positions after a DRVC
instruction.
Always be sure to program an NOP instruction to indicate the DRVC end (i.e., stop).
A series of these instructions are read in advance by the dedicated register DCR when the
DRVC instruction is executed, and then the actual operation is executed.
After completing the operation of the DRVC instruction, the values of the max. speed
setting register (MSR) and setting value register (SVR) are returned to the original values
before the DRVC instruction.

- 39 -
3.2.1 Multi-stage
speed
operation

VELOCITY CHANGE
Relevant
elements:
Fixed
speed
change
com- 1) X0
to X6 (general-purpose input)
mand
2) Y440 to Y444 (BFM#2bO to b4)
Execution time:
Instantaneous progressingtype (1 msec or less)

at a desired speed regardlessof the movement

The instruction is used when execution must be done
distance.

{ I T
x 0 x 1
Let'soperate A, 6,and C
by turning ON the general-
Speed purpose inputsXO, X1, and
+ I
2,000
I
+
1,600
X2 sequentially.

I I

-
tns$Tucci;
:.j tl&f$::',j I.
P

47 BLK
48 SPD Omitted if parameter speed is used.
- 49 VCH Instantaneous progress regardless of the ON/OFF status of XO.
A 50 SPD Set the next speed in a special register.
- 51 D RV Drive at speed 3000. Change to 2000 when X0 is ON, and then continue.
- 52 VCH Instantaneous progress regardless of the ON/OFF status of X1.
B 53 SPD Set the next speed in a special register.
L 54 D RV t Drive at speed 2000. Change to 1600 when X1 is ON, and then continue.
- 55 VCH X Instantaneous progress regardless of the ONiOFF status of X2.
C 56 SPD K The last speed command is always '0".
57 DRV + Drive at speed 1600. Change to speed 0 when X2 is ON and then continue.
END

Note 1 : VCH instruction proceedsto the succeeding step regardlessof the input state, and executes
DRV 2 instruction immediately after reading the SPD instruction data. Then, the operation
waits for an input operation such as XO.
When the input of VCH instruction having been read is turned ON while executing the DRV
* instruction, the operation proceeds to the succeeding step after changing to the desired
speed.
Note 2: A, B, C, ... must beaconsecutiveset of instructions.Otherinstructionscannotbe
programmed in between.
Only DRV * is valid as the drive instruction, and0 must be set to the final speed command.
Note 3: After completing the VCH operation, the data of SPD at step 48 is returned to the MSR
register. (If there is no SPD instruction, the speed designated by the parameter becomes
valid.)

-40-
3.2.2 Drive
interrupt

INTERRUPT Relevant elements:

Drive interrupt by inputs General-purpose inputs
1) X0 to X6 2) KO to
K6
BFM#2 3) Y440 to Y444 4) K440 to K444

Execution time:
Instantaneous progressing type (1 msec)or less.

Response times:
l), 2) Approx. 4 msec
3), 4)Approx. 10 msec + operation cycle of programmable controller

(Relevant elements X and Y )

After an input signal is turned ON, the operation is executed for a designated distance.

I
XO=ON
6,000 4 Start the operation at a speed
of 3,000,andstop itaftera
movement of 6,000 after X 0
has been turned ON.

-
g:: -
Operation with a DRV 2 instruction
SPD K 3000 Aprogramisnotnecessary if thespeedhasbeensetbyaparameter.
K 6000 An EXT instructioncanalsobeused.(Absoluteaddressisinvalid.)

-
X0 to X6 and Y440 to Y444 can be designated
INT X 0-
(from the programmable controller BFM #2, see page 102).
+ Only a relative drive instruction (DRV *) is valid.
Execute the programming in the sequence shown above. Other instructions cannot be programmed in between.

An INT instruction proceeds to the succeeding DRV instruction immediately whether X0 is ON or

OFF. The relative drive of ADR K6000 is executed after X 0 has been turned ON.
(Relevant element K)
When an input signal is turned ON, THE deceleration stop is executed and completed ignoring the
remaining distance.

XO=ON

Speed . Speed .
~

? ?

Set distance Set distance

< > < 5
6,000 6,000

ADR K

,"
6,000
0 -
-
c- Absoluteaddresscanalsobeused.An
K440 to K444 can also be designated.
Absolute drive instruction can also be used.
EXT instructioncanalsobeused.

Execute the programming in the sequence shown above, Other instructions cannot be programmed in between.

Though the relevant element is K,the actual operation is carriedout responding to general inputsX0
to X6 or BFM#2 Y440 to Y444.
Page 134 gives details about the applicable versions of the F2-30TP.

- 41 -
 3.3 Well-known
Instructions

3.3.1 Sequence instructions

As with the programmable controller, there are the following sequence instructions, all of which are
of the instantaneous progressing type (1 msec or less).
Contact instructions such as LD/LDI, AND/ANI, and OR/ORI are used to drive coil instructions such
as SET/RST and CJ/CJN (see page 126).
LOAD INVERSE
Logical operation start
(NCcontact)
. Relevant elements
(1) X0 toX6
(general-purpose input)
(2) YO to Y6
AND INVERSE (general-purpose output)
Series contact connection Series contact connection (3) Y440 to Y444
(NO-contact) (NCcontact) (programmable controller)

Parallel contact connection Parallel contact connection

(NO-contact) (5) General aux. relays
(NC-contact)

m]
M110to M127

1 /I
ANDBLOCK OR BLOCK
Series connection of circuit block Parallel connection of circuit block

-
OPERATION NO
\
. Instruction not accompanied by

mi
a relevant element
Non-processing

-i
RESET Relevant elements:
YO to Y6
tu; : : holding instruction Output holding reset MlOO to M127
For others, see pages 34, 43.

An OR instruction is used as an addition and subtraction operation instruction as well as a parallel contact connection instruction
Example 1

i
ADR
+1,000
ADR+2,000Setvalueregister SVR stores +1 ,000 +2,000 = +3,000.
OR

I
Example 2
EXT
K654 When the digital switch DSW#654= 100, set value register SVR stores 100 -400 = -300.
ADR -400(EXTKdesignated by a DSW isregardedasapositivenumber.)
OR

t
Example 3
EXT
K70
EXT
K654 W h e n B F M # l l a n d #10 = +500, DSW#654 = 100, and BFM#13 and #12 = 1000,
OR +500 + l o 0 = +600 and +600 -1000 = -400. Set value register stores -400.
EXT
-71
OR
The above examples show an addition of set values designated by 2 ADR or EXT instructions.
The following additions use OR instructions.

Page 134 gives details about the applicable versions of the F2-30TP.

-42-
 mi
M-code setting instruction

Relevant elements:
tu; : : holdinginstruction MO to M77 (octal)
(For others, see pages 34 and 42.)
Execution lime:
Instantaneous progressingtype (1 msec or less)

When the SETMXX is driven withinthe PGU, programmable controller's input points BFM#5 operate
automatically as soon as the WAIT MXX is executed.

(16)
(32) 64 128
0
b b2 b3 b4 b5 b6 7
0 1 1
8 2
0
(4)
1 0
b l
(1 )
1
bO BFM#3
b7
- The M-code ON signal and M-
code data are turned OFF ('0')
by M-code
an OFF instruction
( B F M # l b 5 = ON).
M-code data BFM#5 (b7 to bo) M-code ON signal

I f SET M53 or WAIT M53 is driven, for instance, BFM113 b7 is turned ON

after bo, b2, b4, and b5 are turned ON.

At the programmable controller side, each aux. machine is driven in accordance with the M-code
data.
Since, unlike a WAIT M instruction, a SET M instruction
does not require any start command, it serves
as a convenient instruction to start the succeeding positioning operation (WITH MODE), while the
programmable controller drives the aux. machine.

(WITH MODE) .-

SET M53 Mcode OFF command

SET M 53
TMR K 10 Aux. machine drive \+ BFM#1 b5 is turned ON.

, .

ADR K
, .
100 ,
,
I
.
I .

+
, .
TMR K10 (as required)
DRV . .
c
Posltlonlng I .

(AFTER MODE)
WNT M53 command
M-code
OFF
WAIT M 53
Aux. machine drive
/ BFM#1 b5 is turned ON.
TMR K 10

ADR
DRV
K
+
100
Positioning
!+ /
TMR K10 (as required)
\
\
Start command This command is not required in the
LOOP and CONT modes (see page 19)

Note: Other SET MO to M77 and WAIT MO to M77 instructions will not be executed unless the
M-code ON signal BFM#3 b7 has been turned OFF by the M-code OFF command BFM#l
b5 (from the programmable controller).
See pages 20 and 130 for the differences between SET M and WAITM instructions. -

- 43 -
 3.4 Controlling
Program Flow

3.4.1 Jump
instructions

LABEL UNCONDITIONAL JUMP

Relevant elements:
Step transfer destination Jump to a designated label
KO to K255
Execution times:
Instantaneousprogressing
time (1 msec or less)

CONDITIONAL JUMP CONDITIONAL JUMP NOT

Jump when the input is Jump when the input is turned
[I 11 turned
ON. OFF.

(Description of operations)
to
A jump occurs to a LAB instruction having
I
K LAB
to loo the same number as that designated by the
K LAB
data of CJ, CJN, and JMP instructions.
to LAB number must not be used more than
once
LD X 0 throughout the program.
CJN K
A LAB instruction may be used before or
5
I
102 K CJ 1
after CJ, CJN, and JMP instructions.
to Ig
K JMP It may also be used inside
or outside theblock.
to It is not necessary to finish at the END of the
102 K LAB same block. Other END instructions in other
blocks are acceptable.

(Selection of the execution programby general-

purpose input)
When the digital switch isnot connected to
the general-purpose input,X 0 to X3 may be
used as jump instructions.
Theexampleshownontheleftshowsa
case in whichX 0 and X1 are used to select
- PROGRAM 1 of 4 different programs.
1 -
JMP K 5 For instance, program 1 is executed when
LAB K 2
+- both X 0 and X1 are turned OFF.
- PROGRAM
2 -
JMP K
~
5
LAB K 3
- PROGRAM 3
6

-
K JMP 5

LAB

- 44 -
3.4.2 Sub-routine
instructions
Relevant elements:
E E u t i n e call KO to K255
CALL instructions under a CALL instruction can be used up to 15 times.
Execution time:
Instantaneous progressing type (1 msec or less)

RETURN Relevant elements:

Subroutine return Not necessary
Execution time:
Instantaneous progressing type (1 msec or less)

Machine home General return Initial position

posltlon
posttion
1
a ? i bl b2 b3
Repeatsteps (4) to (7)
at points b l , b 2 , and b 3 .

I ( 1 ) Machine
home
Subroutine

A I

Standard
subroutine

--
Main program Subroutine program
a,B:'.l::l'.;
Hgfru$
............. ..........
......
.. . . .. .. .. .. .. . .. ;:;:;:,
......................
..........
........
....................... .............
, , , , , , -:::.:::

;;*&#4;, ;m&&j
..... ........
:.:.:.:................. ..................... ...............................
.:.:.:.:.:.:...:...........
.
I..
.

4 , 1,500 LAB K 6
255 (3)(9)(11)
1,501 D RV +
1,000 1,502 ADR K 500
A
6-- (4) 1,503 DRV +
ADR 2,000 (5)
1,504 DRV -
B
CALL 6-- 1,505 ADR K 600
ADR 3,000 (6) 1,506 DRV +
C
CALL 6-- (7) 1,507 DRV -
END 67 (8)(10)(12)
1,508 DRV RAD
1,509 WAIT
___ 1,510 RET

L
-
Standard program for home position return
1,991 LAB K 255
CALL K255 may be in any block. 1,992 LD M 101
Home return is performed only once and 01
MI 1,993 CJ K 254
is then turned ON.
IMPORTANT (1) 1,994 DRV ZRN
Thereafter, this process is jumped.
1,995 LAB K 254
General return is performed at the end of the
LAB K6 subroutine. (2) 1,996 ADR + 500
1,997 DRV ABS
1,998 SET RAD
1,999 RET

- 45 -
 3.4.3 Repeat instructions
REPEAT Relevant elemenla:
Start of the repeat 1) K1 to Kg999
instruction 2) X70 to X77 (BFM) A value of 0 to 9,999 is valid.
3) X1 to X6543 (digital switch) A value of 0 will execute once.
Execution time:
RPTinstructionsunderaRPTin-
Instantaneous progressing type
struction can be used upto 15 times.
1) 1 msec or less
2) 1 programmable controller cycle
3) See page 136.

REPEAT END Relevant elements:

End of repeat section Not necessary
Execution limo:
Instantaneous progressing time (1 msec or less)

Machine home General return Initial position

position
position
a ? a' a" steps
Repeat (3) to (5) 3 times.
Y I

position
return A
instruction
RPTprogram
between
an
and an RPE instruction is repeated 1 to

600

Timer wait 1 sec 8 0 0

Timer wait 1 sec

too

(6) General return

1 00

..............................

68
69
70
CALL
ELK

R PT
- The subroutine given on page 45 can be used directly.
It is a command standard program for home position return.
71 WAIT
72 ADR
73 D RV
I
74 ADR
75 D RV
I
76 ADR
77 D RV

-
78 TMR
79 RPE
80 D RV Set the general return so that it is used by every block. In this
81 END way, the block may be repeated from the general return posi-
tion instead of the last position.

Page 134 gives details about the applicable versions of the F2-30TP

-46-
Functions of the teaching panel
The F2-30TP teaching panel (TP) is provided with the following 4 modes:
Program mode

In the program mode, the TP executes program writing, reading, inserting, deleting, and verifying
(program check with the PGU) in the memory built in the TP.
Parameter mode

In the parameter mode, the TP executes parameter writing, reading, inserting, deleting, and verifying
(parameter check) in the memory built in the TP.
CPU mode

In the CPU mode, it is possible to execute the transfer of programs or parameters between the TP
and the PGU (reading, writing), verifying (comparing), monitoring, testing, etc. with the PGU.
CMT mode

In the CMT mode, it is possible to execute the transfer (reading, writing) and verifying (comparing)
between the TP and the CMT (Audio cassette tape).

This section explains the TP key operation procedures for all 4 modes described above. These are
summarized in Section 7.

When power is applied to the F2-30TP through the FX-lGM, the following message is displayed.
Press key 1 to work in English characters.
-

1 E N G L I S H C A R A C T
Initial screen
I 2

- 47 -
 4.2 About
Functions
-
Functions and overall procedures
I Generation of new programs I
Use the TP keys to write programs and parameters to the RAM memory built in the TP to execute
reading, correcting, (inserting, deleting, rewriting), verifying, etc.

Changing existing programs

After reading programs from the FX-EEPROM-4 cassette mounted onto the PGU or from the CMT
(audio cassette recorder) to the TP, execute corrections and verification checks as necessary.

Transferring to the PGU for execution

After writing programs from the RAM builtin the TP to the FX-EEPROM-4 ROM cassetteof the PGU,
perform test operations as necessary.

I Storingprograms I
Programs and parameters in the FX-EEPROM-4 ROM cassette can be stored in the
PGU instead of
the CMT tape cassette or the TP's RAM memory.
Mode and function directory

All functions (unless otherwise specified) are valid in the MANUAL and AUTO modes.

. . , , . . . ..
.....................
. . . .. . .. .

DELETE READ WRITE I

Program Program Program Program

-

-
insertion deletion reading/ writing/ :hecking
display rewriting

PROGRAM
I
I
53
50, 53 52, 53 51, 53 54

Reference Parameter Parameter Parameter

reading/ rewriting Zhecking -
display

PARAMETER 121 55 55

TP TP TP
7 Read 1 Write f 4 Verify
CMT CMT ZMT
>ASSETTE
63 63 64

-
dAGNETlC TAPE
1-1-1 I TP TP PGU TP PGU opera- r~~~ test
7 Read Write Verify MANUAL tion monitor
PG U MANUAL STOP key (PROTECT-OFF)
PGU
- (PROTECT-OFF) valid
:ENTRAL
58 57 58 6 0 to 62 59
'ROCESSING UNIT

F 7
~~~ ~ ~ ~

Functions TST CPU

(1) Home
position
return
function (5) Error
reset
function
(See
error
code
pages 108 to 1 10.)
(2) PGU, TP program simultaneousrewrite
function (6) Fixed
length
feed
function
(3) PGU,TPparametersimultaneous rewrite
function JOG +, JOG -, STOP keys
also
valid.
(4) Registerrewritefunction
J
-49-
4.3 BatchDeletingofPrograms
~ ~ ~ _ _ _ _ _ _

Program deletion
This section explains the block delete function. The display shows an instance when the whole
program area is to be deleted.

S ES T T E P N O
c
+

1 Numeric value
correction
Deletion end step n u m k r S ES T T E P N O
AAAA.oto1939 ' - A A A A
Keyed-in numerals t
ul
A A A A -
c
+
E
Numeric value
a
a,
correction
Deletion end step number A A A A -
a,
- B B B B

A A A A - B B B B
I F O K - G O

A A A A
- N O P
A>1,999, or B>1,999.
When deletion has been comoleted.
.~ , A's instruction
. steo
~~~

NOP is displayed.

r
Step Control
BLK KAA Insert a CALL instruction immediately after the BLK instruction in
CALL K100 each program. Write SET and RST instructions for special aux.
relay M103 as the contents of the CALL instruction.
to
This example shows that M103 is SET when the PGU's general
LAB
KlOO input X0 is ON and
then
transition is prohibited.
LD X 0
SET M103 Every time a START command is given, the. program
- .~progresses
1
LDI X 0 step.
RST M103
RET However,
STARTcommandsare
ignored
during
timer
await
state
or until the drive operation is completed.
i

- 50 -
4.4 Writing a Program

Creating a new program

After deletion of a program, the steps given in this section will allow you to write a new program.
When the first line of the following sample program is entered, the following display appears:

WR
Program WRITE mode P U S H S S N K E Y
WR key should be pressed
. when the PROG mode has
been selected.
S E TS T E P N O
+

Numeric value
correction
WRITE startstepnumber S E TS T E P N O
EEEE = 0 to 1,939 - E E E E
I
Display instruction of designated step
I E E E E
- N O P
(+) or STEP (-) key.

7 Numeric data
Numeric value
correction
* Displays the designated step number
E E E E
-.

' - E L K K 0
K O fdlowing
number
The step EEEE is displayed.

E E E E t 1
'--NOP

1 1
Correction of wrong
operation for instruction
I or element I
~ Repeatedoperation

Correction after pressing

the GO key

The following writes the program shown on page 36.

-51 -
4.5 Reading,Checking,andSearchingforaProgram

Reading/searching for an instruction

This section describes the proceduresfor program reading and instruction searching so that correc-
tions may be executed.

RD
Program READ mode

RD key should be pressed :o: P U S H S S N O R

I N S T I
when the PROG mode has
I been selected

Reading the designatedstep c

-
S ES T T E P N O

nNumeric value
READ start step n u m k r SS TE ET P N O
0

0
D i s l , + B L K K 0
0 when AAAA is 0.

Display of the instruction for step number 1

when STEP (+) is selected.
- D R v
1
R N

U Consecutive instructions are read by repeating STEP (+) or STEP (-).

Instruction searching

1
-
L
n
c
4 Numeric data
5 0 0
Nurnericvalue .- A
ADR K
Step number
C
.-e 3
? ?

Correction of - A D R K 5 0 0
wrong operation Displays the step number
designated
for a instruction

__-----_________________

When the STEP (+) or

displayed. A D R K 5 0 0
L
- N OF TO U N D
The next stepnumber containing this instruction is
c I I searched when the GO key is pressed again. If there is
none, the display above is given.

Note: Pressing the GO key when a step number is displayed reads and displays the corresponding
designated instruction following that step number.
When a step number is not displayed, the search is made from step zero. Otherwise, it is
made from the current position.

- 52 -
4.6 Modifying
Program
a

Program correction
Correction is made based on the idea that the correction point is searched before the appropriate
WR, INS, or DEL operation is selected.

I t

I Search by insirutbn

Dired a m ty siep number

I Correctionty ovemraing

- Dired a- ty step number

I
iI DEL

Insertion, deletion, and step numbers

There will not be any change in the step number when an instruction is rewritten.
When a deletion is executed, however, the program stepsof the program after the deletion in-
struction are automatically decremented. -
When an insertion is executed, the step numbers of the instructions after the inserted instruction
are all incremented. I

-53-
4.7 Checking a Program

Program checking and error codes

The syntax of programs can be checked automatically in accordance with the following procedure:

VtH
Program verification mode P R O G C H E C K
The
VER key should
be :o:pl F 0 K - . G 0
pressed after thePROG
mode has been selected.

P R O C GH E C K
c
If there is no error N O E R R O R
Error instruction step number Error code
r
A A A A P E 1
If there is an error B L K K 6 0

r
Error instructions are
readidisplayed one after P R O G C H E C K
another, and stop when C F I N I S H E D
there are no more.

Error codes: See page 108.

+ +
Wrong instructionsand step
numbersare displayed, Corred as appropriate. .... ....
. . . ....
. .....

Reverify

.
Other checks

In the PROG-VER mode, programs in the TP are checked by the

TP.
error codes (PEO to PE8) shown on page 108may
As a result, the
Check by TP
be displayed by the TP.

In the PARA-VER mode, parameters in the TP are checked by

the TP. As a result, the error codes (PE10 to PE18) shown on
Check by TP
pages 109 and 110 may be displayed by the TP.
Since programs and parameters are interrelated, always be sure
to check both the parameter and the program when one of them
requires correcting.

When a program or parameter containing an error is sent to the

PGU, the error check isalsoperformed by the PGU. Its error
Check by PGU codes (CE1 to CE20)shown on pages 108 to 110 will be dis-
played by the TP.
In this case, the error detect output BFM#3 b6 to the program-
mable controller and the error displayLED on the PGU panelare
also activated.

- 54 -
4.8 Rewriting
Parameters

Reading/writing parameters
The procedure to read, write and rewrite parameters is as follows:

RD
Parametrr P A NR OA MS EE T T E R
............. mode
read

WR
Parameter P A R A MS EE TT E R N O
write mode

4 From RD or WR

Numeric value
correction
Parameter n u m k r S EP TA R A M E T E R N O
EE.01023 c
- E E
Displays the designated parameter number
c
0 U N I T O . N P , l : P
IfEEisO
.-+ 2 : 1
A
Though 2: is not displayed, Setting value 1
key entries are valid.
c

-
1 P L S i R E V

T1I
If STEP (+) is used
2 0 0 0
__+I In WR mode nNumeric value
Parameter
change
value correction 1 P L S i R E V

.-+ D
_ D D_O D D_ ~
1

Corrected data f
Data of PARA number 1
is changed from 2,000 to
DDDDDD.
c -
2 M O V E M E N T / R E
2 0 0 0
V

Data of succeeding parameters is displayed

See page 1 2 4 for parameter reading from the TP system ROM to the RAM.
(Parameter correction example)

Changing the valueof parameter number 4 from 100,000 to 20,000 when parameter number 0 is set
to "1 (I,

4 H I G H S P E E D
Confirmation _I
+ 2 0 0 0 0

- 55 -
4.9 ParametersCan Also beChecked

Parameter checking and error codes

The parameter errors can be checked automatically in accordance with the following procedure:

VER
Parameter verification mode

The VER key should be

b
:o: I P A RC AH E C K
F O K - G O
pressed after the PARA
mode has been selected.
P A RC AH E C K

n
c
If there is no error N O E R R O R

-.
1 P L S i R E V
If there is an error P E 1 0 1 0 01
Error code (Pages 109 and 1 10)
Error instructions are
read/displayed one after P A RC AH E C K
c
another, and stop when F I N I S H E D
there are no more.

Displayingerror parameter
Correcting error parameter.
number and data.

Reverify

Drive errors d u e t o t h e s y s t e m u n i t
The proportion between pulse rate A (1 to 65,535) of PARA number 1 and feed rate B (1 to
999,999 pm/REV, mdeg/REV, x10 -4 inch/REV) of PARA number 2 need not be an integral
value.
If the movement distance "C" (ym, mdeg, x 1 0 -4inch) is generated, A/B x C indicates the
amount of pulses generated by the PGU.
There is no immediate significant error if A/B x C is not an integral value.
However, the size of the error will accumulate if it is operated repeatedly using the relative
drive instruction. In the case of absolute drive, an error of 1 pulse may occur due to rounding.

-56-
4.10 TransferringProgramsandParameters

Transferring/writing to the PGU

Execute the writing of both programs and parameters together from the TP after turning the PGU to
MANUAL & STOP, and also turning the EEPROM memory protect switch OFF.

i
I

I
r T P - G M
_ I F O K - G O

Execution of transfer / T P - G M

4
T P - G M
- F I N I S H E D
I3epeat the
Ixocess if there
are any failure If PGU isnot at MANUALETOP
(after correction) T P - G M
S E L E C MT A N U i S T O P

Connection failure of transmission T P - G M

Precautions when writing to the PGU

Whentransferring/writingprograms or parametersfromtheTPtothePGU,thefollowing
preparations must be done. (The same applies when the TEST mode is used.)
(1) Do not attempt to execute manual operation of XRN, FWD, RVS, etc.
I f the home position return is in operation, wait for the completion of this operation, or use
the STOP input to stop the operation.
(2) Turn OFF the memory protect switch of the FX-EEPROM-4 ROM cassette.
FX-EEPROM-4

ON

I
I I -

FX-1GM PGU

OFF

Memory protect switch

OFF (normally ON)

-57-
Reading from the PGU
Execute the readingof programs and parameters from the FX-EEPROM-4ROM cassette built in the
PGU to the TP. (In this case, data in the TP is destroyed.)

T P - G M
I F O K - G O

Normal reading T P - G M
c
E X E C U T I N G
I
T P - G M
L F I N I S H E D
In the case of transmis-
sion failure, repeat the Connection failure of the transmission
operation after eliminating connector T P + G M
the reason for the trouble.
T R A N S F E T RR O U B L E

PGU/TP verifying
Execute verifying/comparing of programs and parameters in the PGU and the TP
If there is any inconsistency, the relevant step number is displayed,

T P G M
F I N I S H E D
In the case of transmission
failure or verify error, repeat Up to max. 15 step numbers can be
the operation atter eliminating
the reason for the trouble.
displayed. (Note) E R R O R x x x x x x x x
Verify error x x x xx x x x x x x x
Connection failure of transmission
connector T P : G M
T R A N S F E T RR O U B L E

Note: Inconsistent step numbers of parameters and programs are given as follows:
20 (In the case of parameter number 14, for instance, 2014 is displayed.)

1Inconsistent parameter number

-5a-
4.1 1 StartingOperation
-
Monitoring operation
The operating condition of the PGU in the AUTO or MANUAL mode can be monitored by using the
TP.

T
Select 1 MNT: Monitor without reading or checking
Select 2 VER: Monitor after checking for consistency between the TP and the PGU
Select 3 RD: Monitor after reading from the PGU to the TP

C P MU O N I T O R
I F O K - GR OD - M N T

Execution of monitoring - M4 C
O PN U I T O R I
after reading
\ E X E C U T I N G

1
+ C P UM O N I T O R
- T R A N S F E T RR O U B L E
If there is disconnection

C P MU O N I T O R
Executing verifying c
I F O K - GV OE R + M N T
-
Execution of monitoring d C P U M O N I T O R
after verifying E X E C U T I N G

1
C P MU O N I T O R
V E R I F Y E R R O R
If there is any inconsistency

C P MU O N I T O R
I F O K - GM ON T

Value in the user chosen unit from

the currentvalue register
Instructions with short execution
Step number times cannot be seen.

4
4 I _*_

9 3 0 0 0
Confirmation -c
- D R V t

Displays the instruction currently being

executed
In the case of transmission
failure or disconnection, *
repeat the operation after 9 3 5 0 0
eliminating the reason for
the trouble. T R A N S F E TRR O U B L E
Display is stopped when there is a transmission failure
during monitoring
When the STOP key is pressed during an operation, the machine
decelerates and stops.
When a START command is given to the PGU, operations such
as END return, remaining operation discontinuation, or operation
continuation from the current status are executed according to the
PARA number 1 7 setting.

-59-
4.12 OtherUsefulFunctions

Manual home position return

It is possible to execute the manual home position return operation from the TP when the PGU has
stopped in the MANUAL mode,

Mode selection M O DC EP U
' S E L E CF TU N C T I O N

Function number designation 0 Z RD NR I V E

I F O K - G O

Execute machine home return 0 Z RDNR I V E

1 2 3 4 5 6 7 8 9

Displays the current value (max. 10 digits)

0 Z RDNR I V E
c
Reoperate after eliminating the reason S E L E C MT A N U i S T O P
for the trouble Displayed if the PGU is inthe wrong mode or
if there is atransmission error.

Program rewrite
In the CPU TEST mode, changes are madeto the PGU EEPROM andthe TP memory simultaneously.
The PGU must be in stopped and in theMANUAL mode, with the memory protect switch OFF.
The position address can be rewritten directly or by using the JOG function.
The user can program the target address more easily by actual machine movement utilizing theJOG
.c keys. See page 129 during automatic operation.

I Step number Current position

'- 1 9 0

I A D A t 5 0 0

I I New instruction for rewriting

(e.g: ADR + 1,000)

1 9 0
- S E L E CM T A N U i S T O P
When the PGU is not in the manual stop state. When a
transmission cable makes a connection failure or the
* A memory protect switch of the PGU is ON, a transfer prob-
lern is generated.
IncremenVdecrernent Current position changed by using the JOG operation 7
2 0 1 2 3 4
Example + 1,234 A B - SD R V

From any point

If the GO key is pressed after execution of JOG 2 while NOP, ADR K, or ADR 2 is displayed,
the instruction is rewritten as ADR tXXX.(*XXX is an absolute value.)

-60-
In the CPU TEST mode, the following function numbers may be selected:
0: Manualhomepositionreturn 1: Rewriting of program(PGU,TP)
2: Rewriting of parameter(PGU,TP) 3: Correction of currentvalue
4: Error
reset 5: Fixedlengthfeed

Parameter rewriting
It is possible to rewrite TP parameters while the PGU continues, when the memory protect switch of
the PGU is OFF in the MANUAL mode. However, the PGU must be stopped first.

S E T P A R A M E T E R N O

CI
r

Parameter No. 8 A C / D E C T I M E
b
0 to 23 --. 1 0 0 0
Reading of the current valueof the designated parameter
Example 8

-
4 I
nCorrection Displays the succeeding
parameter
rewriting
after

New parameter retting - +

9 T Y PO E : B , l : A
1
Example
1,500 I checked
Corrections
be can step
by the (-) key

Except when stopped in the MANUAL mode

From any point -c 8 A C / D E C T I M E

- S E L E C T M A N U / S T O P
When a transmission cable makes a connection failureor
the memory protect switch of the PGU is ON, a transfer
trouble is generated.

Overwriting the current value register

Rewrite the contentsof current register with the currently keyed-in data with thePGU stopped in the
MANUAL mode.
This register stores the current position address of the machine.

I I

I contents the
register
Displays
value current of the
Operate JOG (-) or
JOG (+) as required IC V R 1 2 3 4 5 6 7 8 9
--c

I I n ( Displays
. . the new setting of the current value register1 *
New setting IC V R 1 0 0 01
0 to t 999,999

I Example +1,000
III ' I I - I S E L ELC ,T
I
c v R 1 A2 N3 U4 /5 S6 T 7 O8 P 9 ]
M

When a transmission cable makesa connection

of the PGU is ON,
failure or the memory protect switch
a transfer trouble is generated.

-61 -
Error display/reset
When an error occurs in AUTO mode of the PGU, the error code can be read if the mode is changed
to the MANUAL mode using the following operation.

I
Error code number
PGU Display of the error
number code E R R O R C E X X
' I F O K - G O -
If there is
no error
LIW%FX-1GM C E O E R R O R
I
0-
0E r n 7
0 C W . E
Execution of
O E Z error reset

I c
Repeateliminating
after S E L E C TM A N U i S T O P
the
cause ofthe trouble Fromany point
When a transmission cable makes connection failure,
a transfer troubleis generated.

When the error is reset, the LED of the PGU is turned OFF and the error detection signal BFM#3 b6
to the programmable controller is also turnedOFF.
It can also be reset by turning on the STOP input manually. However, care must be taken in this
case, as the error code is reset and lost. (Error code: see pages 108 to 110.)

Fixed length feed

The fixed length feed operation can be executed from the teaching panel. The system unit in this
case is dependent upon the setting value of PARA number 3.

Current position 1 2 F3 E4 E5 D
6 7 0 9
-+
Correction Refeed
n

Setting other distance

- 62 -
 4.13 Using a CassetteRecorder

Transfer/writing to a cassette recorder (CMT)

Execute the transfer/writing of programs and parameters together from the TP to the CMT.

T P - C M T
- R U N T A P E

Cassette recorder set-up T P - C M T

(1) Tape rewind - R E C O R D x x x x x
(2)Speed: Standard
(3)Sound level: Max. Recording 1 to 3 times L___
Step number in
recording
(5) Start recording v
T P - C M T
C O M P L E T I O N 3
Recording completion
Execution is interrupted with the [CAN] or [KEY SHIFT] + [MODE]
Continuation is not possible.

Transferheading from the CMT

The transferheadingof programs and parameters can be executed together from the CMT to the
TP.

IRD

I I I

Cassette recorder set-up c T P - C M T

(1) Tape rewind
(2) Speed: Standard - A D J U SL TE V E L
(3) Sound level: Max. Turn sound level toMAX.
(4) Connection of the white plug to EAR If many errors occur, decrease the sound level slightly.
(5) Start play back
4 T P - C M T
- P L A Y B A C K x x x x x
v
Recording numbers 1 to 3 Step number in
playback

T P - C M T
/ - [ C O M P L E T I O N 1
Completion of playback without any error in the 1st
(2nd, or 3rd) operation

P L AE YR B R A OC RK
If there are errors in all 3 data blocks.

Execution is interrupted with [CAN] or [KEY SHIFT] + [MODE]

Continuation is not possible.

- 63 -
Verification between the TP and CMT
Batch verification of programs and parameters can be executed between the TP and the CMT.

VER
T P : C M T

T P : C M T
+ R UT NA P E

Cassette recorder set-up c T P : C M T

(1) Tape rewind
(2) Speed: Standard - A D J U SL TE V E L
(3)Sound level: M a x Turn sound level to M A X
(4) Connection of the white plug to E A R If many errors occur, decrease the soundlevel slightly.
(5) Start play back

-
- CT M
P T
- V E R I F Y x x x x x
data blocks stored in the CMT. Recording numbers 1 to 3 Step number in
playback

T P : C M T 1 3
C O M P L E T I O N 1 2 1
Consistent recording number (upper line) T I
Inconsistent recording number (lower line) A
Execution is interrupted with the [CAN] or [KEY SHIFT] + [MODE]
Continuation is not possible.

Handling of the cassette recorder

Be careful not to apply any shock to the cassette recorder or change the tape speed during
recording or playback. Set the sound level to MAX.
I f many errors occur, try decreasing the sound level slightly.
Connect the red plug to the MIC terminal when recording, and the white plug to the EAR ter-
minal when playing back respectively.
Connect only 1 of the plugs at any 1 time.
Do not attempt t o connect the black plug, as REMOTE start is not used in this case.
Use an audio cassette tape which lasts longer than 30 min.

-64-
Putting theory aside
The fastest way to understand program creation is to learn by programming and monitoring simple
examples.

This section not only shows just how to create a program, but also shows how to check for troubles
by using the equipment listed below.

Since the drive unit and motor are not used, always be sure to check the current position by using
the monitor display of the TP when a simulation is in progress.

Items to prepare
Items related to the programmable controller
(1) FX-20P programming panel ............................................................................................... 1
(2) FX-32MR programmable controller ................................................................................... 1
(3) FX-32SW simulation input switch ..................................................................................... 1
items related to the PGU
(1) FX-1GM PGU ....................................................................................................................... 1
(2) F2-30TP TP ........................................................................................................................... 1
(3) F2-30GM-SIM simulation kit ............................................................................................... 1
(4) FX-1 GM-SIM-CAB cable............................................................................................... 1 set
For application examples 1 and 2, it is not necessary to prepare the programmable controller
or its -

-65-
5.1 Kit
Familiarization

5.1.1 Generaldescription of the F2-30GM-SIM kit

100 VAC system power supply

To the PGU power supply
0
%
0

To the PGU input terminal I

I

LSR DOC ZRN RVS FWD LSF

To the PGU output terminal

BLOCK ADDRESS

Use FX-1GM-SIM-CAB cables

SIMULATIOH KIT MusuusHl
for input and output cables.
2
4
k
0
- (
9
.
4
5
"
)
-4

f Operation procedure
MANUAL mode
When the ZRN button is pressed, the machine home position return is started. If the PGO
button is pressed 10 times with the DOG input turned ON, the CLR lamp is turned ON at the
same time, indicating that home position return has been completed. In this case, the home
position address becomes 0.
After completion of the above, always be sure to turn the DOG switch to OFF.
When the FWD button or RVS button is pressed, the machine is moved forward or backward.
In this case, the FP or RP lamp flickers.

I AUTO mode
Keep the SVRDY and SVEND switches turned ON. This operation is not possible if SVRDY
is turned OFF. In addition, an error will occur when a drive instruction has been completed
when the SVEND is turned OFF.
To simulatetheaction of apositioningmechanism,theDOGswitchmustbeturned ON
manually.Then,pressthe PGO buttontherequirednumber of timeswhenexecutinga
machine home position return instruction in the AUTO operation mode.

~ Parameter 1
Alwaysbesureto setalltheparametersettings tothevaluesshowninthefollowing
L examples.

- 66 -
 (3) Coding

The following instructions form the program for this fixed size cutting example.

Note: Since the FX- 1 GM employs a sequential instruction-by-instruction operation, the ON/OFF
condition will not be read unless the instruction concerned is being executed.
In this regard, the FX- 1 GM uses such a cycle method to wait for the input.
Momentary operations such as pushbuttons, etc. will not be accepted if the pulse is less than
10 msec (except for INT and VCH instructions).

-70-
(4) Programpreparations

(a) Turn OFF the memory protect switch of the FX-EEPROM-4 ROM cassette mounted onto the
PGU (always be sure to turn it ON after programming has been completed.).
(b) Connect thePGU to the F2-30TP TPwith the transmission cable, and then ON
turnthe Power
to the PGU.
(c) Turn ON the MANUAL input of the PGU.
(d) Execute an all-program deletion in the TP by using the following procedure:

(5) Parameter
rewriting

Rewriting parameters prior to program creation.

PARA No.0 - [O]

PARA No.2 - 26,180

PARA
N0.3 0

PARA N0.4 - 3,141

PARA No.5 - 300

PARA No.14 - 0

PARA No.20 - 3,141

PARA No.21 - 30

PARA N0.22 - 0

n
Reading check

- 71 -
(6) Programwriting

Execute the program writing as shown below in accordance with the program in the coding sheet,

f Correcting
+

When A key operation is executed incorrectly while writing an instruction, it can be corrected by
the following procedure:
(For the full procedure, see page 53.)

Normaloperation

t_I DATA
t

Corredia- before pressing the GO key

Corredion after pressing the GO key

-72-
(7) Operationprocedure &-

Writing to the PGU

During the MANUAL stop

Transfer

Monitoring operation

MANUAL operation
Keep the MANUAL/AUTO input switch turned to MANUAL during manual operation.
(When it is necessary to clear the contents of the current value register in the PGU, this
can be done in the CPU TST mode.)
When the FWD button is pressed, the forward operation is executed.
When the RVS button is pressed, the backward operation is executed. Both of these can
be monitored by looking at the current value displayed by the TP.

-
Step number
Current
value

0 1
(mm)

2 3 4 5 6 7 8 9
I--B L K K 0

AUTO operation
SVRDY = ON
SVEND = O N
Turn the MANUAL/AUTO switch to AUTO,
Set the digital switches as shown below (for example).

#5 #4 #3 #2
lo3 IO* 10' loo

I I I
Y4 Y3 Y2 Y1

When the START button is turned ON, the forward operation is started, which increases
the current value displayed by the TP from 0.
If the STOP button is pressed in the course of the operation, the movement decelerates
and stops.
I f the START button is pressed again, the operation resumes from the current position.
When the cutter drive output YO is turned ON after positioning is completed, the cutter
operation should turn limit switch X4 from OFF to ON and then back OFF.
If the cutter return limit switch X6 is turned from ON to OFF and then ON, the cutting
operation is completed and the next step is executed.
The above operation is performed repeatedly if the cycle stop input X4 is OFF.
If X4 is turned ON, the operation stops at the end of the cycle at the END instruction.
Turn ON the START button to restart the operation.
Note the current value displayed by the TP during this simulation.

-73-
 5.3 LearningApplicationProgramming (2)

,i,
Application example (2)
Lift table
Thickness setting in0.1 -mm units
, ~ ' , ~ , ~ - ' ,
Step feed-out and cutter
control are executed by
Reel PGU-1.
m
Y 5 Y 2 Y 1 Y O
-
X O - X 3

Select the desired

amount of material
to lay 10, 15, or 20
sheets by using
the ELK numeric
Electromagnetic switch.
powder brake

PGU-2
START/STOP
PND/RVS/ZRN
L
- 0
X4: Take-out checking
Y3:Table lowering
Output interlock for
,=- Y4: Cycle stop signal output PGU-1 of applica-
I Controtspecifications I
I 1
Y 6 : Home positioning completionsignal tion example (1)

The programmable controller is not used in this example.

Each time the sheet material is cut by the cutter, the table is lowered by the same amount as
the thickness of the cut material.
When the sheet material cut reaches the desired number of sheets, the operation is com-
pleted, and the material on the table is removed by other means.
In this case, the take-out confirmation switch X4 is actuated.
It is possible to interlock the operation with the PGU-1 shown in application example (1) by
using the general-purpose outputs Y3, Y4, and Y6 (see the next page.).
START

Home positioning
4 t Home return
t
Home positioning completion
(Ye)
(Y6) is used as the START input forPGU-1.
Completion of desired
4
on Cutter (X5) amount of material
...........

Table lowering
6 .t 4 L
r " . " . ' ' ' '
..........

check Lowering (Y3) 4 I

This signal is connected in series to (X6) (cutter reset) of the PGU-1,

Cycle stop signal (Y4)

This signal is used as a substitute for the cycle stop input(X4) of the PGU-1.
4 L
Take-out check o(4)

-74-
 (1) Externalconnectionsdiagram

X4: Takeout signal

AANU $AUTO X5: Cutter operation
iTI

-
X6: Not used

PGO, SVRDY, WEND

F

Servo
drive
unit

.t
RP, FP, CLR

mw a
IO- 100 IO'

For connectionto the servo drive

t
unit, see pages 115 to 122.

signals
input
Y3: Table lowering
Y4:
PGU-1
stop
Cycle uu 1111 i N
Thickness setting -' BLK
\

Y6: Home positioning completion

f Synchronizing PGU-1 and PGU-2

Application examples (1) and (2) show cases where the PGU is operated independently without
the programmable controller.
Even so, it is possible to perform operations in combinationby connecting the output of the
PGU-2 to the input of the PGU-1,

X5: Cutter operation

X6: Cutter reset
Y3: Table lowering
Y4: Cycle stop
Y6: Home positioning completion

L
- -
I >
I
If the programmable controller is used in combination,
the PGU only
I executes
positioning
control,
making the I/O
writing
much
simpler. I
I
__

-75-
 1 1 1
(2) Requiredparameter settings

I PARA-o System
unit I 0 I Machine
system
unit I PARA-12
Ultimate LS logic ) ; ;5( B:Normally
c close
1 PARA-I rate
Pulse 1 (2,000) I PLSiREV -1 PARA-13 Error judgment time
1 PARA.2rateFeed 1 * 200 I WmiREV I designation
PARA-14
Block
Block 0 only
1 PARA-3
scale Unit J IO . l m r n' 1 I PARA-15 Position bias
I PARA.4 Max. w e e d
I PARA-5
Manual JOG speed
I
I
*36

* 36
lcmimin
I cmimin
I
I
PARA-16
Settina of RDY outout Y6
I 1 1 RDY
valid

PARA-17
mode
STOP I I
valid
STOP I
I 1 1
(1)
PARA4 Bias speed (0) cmlmin
PARA-18 Home position
PARA.7 (1) Address
decrement
return direction
Backiash compensation

I 1 I I
PARA.19
PARA.8 Home Dosition address
(l'ooo)
I 1
Accelerationideceleration time

I PARA.9 Pulse output mode

Forward pulse
Backward
pulse
speed
I
PARA.20 Home position
return *36 lcmimin
speedCreep
PARA.21 I *3 lcmirnin I
increase the current
PARA-22
I * (10)
I OFF -.ON
Down
counts
home
to position ITimes
PAPA.11 Rotation direction value using the for-
(0)
ward pulse
1PARA-23Count
start
logic I (0) I
Data settings marked with need t o be c h a n g e d w h e n t h edata s e t t i n g u s e d in Application example (1) is used.

-76-
(3) Coding

Continued on next page.

-77-

. ... . __ -. -.. . ._. .

 I2 62 cut) after
lowering I
(Table K2 CALL For
LAB 63 K 5-

64 LD X 5operation
cutter
the Waiting
for
_ _ _ _ _ ~
CJN 65 K 5-

66 LO M 100
'
Table lowering signal (Y3) and home positioning signal (Y6)
RST 67 Y are reset after the cutter operation.
RST 68 Y 6

EXT 69 K 321 Table lowered to the setting value of digital switches #3, #2,
and # l .
70 DRV +
LD 71 M 100
Sets the table ready signal (Y3)
SET 72
3 Y

I
I I I I

73 RET

LAB 74 3K CALL
For
(Return
K3 stacker
after
sheet
removal)

LD 75 M 100
Sets the cycle stop signal (Y4).
76 SET Y 4

LAB 77 K 6 -

1
12
LD 78 Waiting
5 X for the
operation
cutter
-~~
79 CJN K 6 -

Waiting for the taking out of stacked material

CJN 82

DRV
83 return position Home RAD

84 RET

(4) Transfer/writingoperation

Prepare parameters and programs by using the TP, and transfer them to thePGU-2.
For the operating procedure, see Application example (1) and the description given in Section 4.

-7a-
(5) Executionsimulation

Check the program operation by using the F2-30GM-SIM simulation kit.

MANUAL mode
Home positioning is completed by pressing the PGO button 10 times after pushing the ZRN
button and turning ON the DOG switch (in that order).
Whenthe FWD, RVS buttonsarepressed,theforwardoperation(tablelowering)and
backward operation (table lifting) are executed.
Check the operating condition by reading the current value displayedby the TP.

Current value (0.1 mm)

Set the block number (0 to 2) and the thicknessof the sheetsby using the digital switch shown
below:

84 # 3 # 2 81

0LK Y4 Y J Y2 Y 1 YO
a Not used 10' ioo lo-'

Thickness setting (0.1 mm)

When the START button is pressed, the machine home positioning is executed only 1 time
for the initial start operation.
When the RP lamp goes ON, turn ON the DOG switch, and then press the PGO button 10
times in succession to simulate the signals from the drive unitwhen returning to home.
The output display Y6 is turned ON when home positioning has been completed.
When the cutter operation checking switchX5 is turned from OFFto ON and then back OFF,
thetablestartstheloweringoperation,andtheloweringcheckingsignal Y 3 isquickly
operated.
After this operation has been performed 9 times, the cycle stop signal Y4 is operated.
When the take-out checking switch X4 is turned from OFF to ON and then back OFF, the
table returns to the home position and waitsfor a start signal.
If the STOP button is pressed during any operation, the equipment decelerates and stops.
If the START button is now pressed, the operation resumes from the current position.
If the STOP button is pressed while any instruction other than DRV is being executed, the
operation stops at the current program step.
In this case. if the START button is pressed, the operation is restarted from the current step.

-79-
 5.4 LearningApplicationProgramming (3)

Application example (3)

Index pointer
Timer /AUTO MANU
X000 to X003
Start X004 ZRNDOG
Stop PG 0
Cycle
Block selection
X01 0 to X01 3

5 KPPS

;o: :o: ;o: ;o:

;o:
Yo00 Yo01 YO02 YO03 YW4
C E L M S

M-cod~
Programmable
controlfor
20prnlPLS number output
M1 Y 000
M2 Y 001
Stepping
motor M3 Y 002
M4 Y 003
Y 004
m m 8 * v Letter panel 400 PLS/character M5

~ Controlspecifications I

i-i
4OOPLS
E
YWO
E
YO01
H
4OOPLS
MM
YO02 YO03
M t Display output by M-code
YO04

-80-
 (1) Circuit design on the programmable controller side

+I
M8000 79

RUN monitor
FNC

I T 0 IK 0 IK 0 I K1 X01 0
[ ' ]
Block designation (X01 3 to X01 0)
(unit
number 0)
- BFM#O

M8000

M8000

BFM
b6# l b7 b2 b3
b5 b4 bl bO
X004
Multi-axis Continue
Output Input 'Ode
Start
transfer
transfer OFF Stop synchroniz-
ing LOOP Step
Start
PC M206
M207 M205
M200
M201
M202
M203
M204

BFM#3 b7 b2 b6 b3b5 b4 bl bO
Error
M code Remaining - MANU Block
detec- READY Sync wait
X005
Stop ON drive wait AL end
tion
M210M211M212M213
PC
M214M215M216M217

+I Cycle stop
Maooo 78 FNC
+I BFM#3 ( b 7 to b o ) --( M217 to M 2 1 0 ) *1

-
RUN monitor
FNC
79
-
( M207 to M200 ) BFM#1 ( b 7 to b 0 ) *2
FNC78

BFM#S(M-code)
ON M code -. (M227 to M220)
41 FNC M217

+I M300 K3
M220 DECO M-code is decoded to M300 to M307.

M217
M301
+ H l - - - G h C: display 12 FNC

M302
M217
W
-1 I KIXooo I 1 Timer setting value
(X003 to XOOO) + ( D l )

----IF---+*
L E: display
M303 M217
c+ H I *
M304
M217 See page 134 for applicable PC
M: display versions.
M305 M217
S: display
M305

pi+(@ M-code
OFF
command

END

When WAIT MO, and WAIT M1 to WAIT M5 are driven on the PGU, M300 to M305 are turned -
ON. M301 t o M305 are used t o drive outputs YO00 to YO04 of the programmable controller.
The operation progresses after the time duration set with the timer T1 designated by each
WAIT instruction.

-81 -
- Z8-
llVM
11V3
(3)Operationconfirmation

PREPARATION

Write programs to the programmable controller by using the programming panel.

Prepare the parameters and positioning program by using the TP, and transfer/write them to the
PGU.
MANUAL mode

Turn on the MANUAL input of the F2-30GM-SIM, which activates ZRN/FWD/RVS, etc. in manual
operations.
When executing the machine home position return, press ZRN
the button, turn theDOG switch ON,
and then press the PGO button 10 times in succession.

During this period, monitor the current value by the TP, since this indicates the simulated present
position.
Indication of the current value (x 10 PLS unit)

I AUTO mode I

1
#5
Turn OFF the MANUAL input of the F2-30GM-SIM, andset digital switch #5 n
to 1 or 2.
Instruction SET Y4 of step 68 selects digital switch #5.

a 4 2 1
By making settingsof 1 to 9 using programmable controller inputsX003 to XO00,
X003 X000
X002 X001 timer T1 makes delay operations of 0.1 to 0.9 sec.
Timer setting

a 4 2 1
Make settingsof 0 to 3 by using programmable controller inputsX013 to X010.
X013 X012 X011 X010 If other inputs are usedfor block setting, a block omission erroris generated,
Block setting

This enables reading of DSW#5.

Turn the programmable controller to RUN and turn ON the start input X004, which starts the home
position return operation.
On the Fz-~OGM-SIM, turn the DOG switch ON, and then press the PGO button 10 times.

The PGU is operated automatically thereafter, depending of the block designation and timer setting
values.
If cycle stop input X006 is turned ON, the operation is stopped at the block end.
If stop input X005 is turned ON, the equipment decelerates and stops.
In either case, the operation can be restarted by using start input X004.

-83-
The sections so far have described the functionsof the FX-1 GM and its programming procedures.
Now, let's step forward from desk theory to the practical use of the machine.
This section explains the installation, wiring, maintenancelinspection, and troubleshooting of the
main unit.
Mitsubishi recommends that this information be delivered to the end user.

6.1 InstallinginthePanel

6.1.1 Generalinstallationandwiringitems
Installation dimensions
[Mounting to DIN rails]
The PGU can be mounted to a DIN46277 DIN rail (35mm wide) with no additional work.
To remove the unit, pull down the hook on the DIN rail and remove the unit.
Do not attempt to mount the unit on the surface of the floor or ceiling since doing so blocks
the ventilation system. Be sure to mount the unit on the wall.
Thread pitches of the screw holes (M4) for direct mounting are as given in the table below.

FX-16M, 24M 140

FX-32M 150
FX-48M 220
FX-64M 260
FX-OOM 320
FX-128M 390

FX-32€, FX-1GM
FX-48E I 150
220

* FX-8E, 0EX, 8EY 35

F X - l 6 E [ 1-V 35
F X - l 6 E ( I-C 35
* FX-l6EX, 16EY 63
* FX2-24EI 35

FX2-40AP, 40AW 35
FX-8AV 35
FX-232AW 35

[Direct mounting method]

Mounting holes marked with * are not provided to the types of units marked with a * shown in the
table above. Main units and extension units can be mounted in 2 rows.

-84-
Notes for handling each part of the unit
[Connecting extension cables] -
Always be sure that the extension cable connectors are securely engaged.
[Memory cassette handling]
When detaching amemory cassette, raise the wire handle and slowly pull the handle attached to the
cassette. Always be sure the power to the unit is OFF before attaching and detaching memory
cassettes.

[Special function unit labels]

Special function units and blocks such as FX-1GM PGU, analog I/O units, and high-speed counter
units which are accessed by using FROM/TO instructions are numbered from 0 to 7 beginning with
the one closest to the main unit of a programmable controller.
Use the unit number labels supplied with the unit by sticking them to the front panel of each special
function unit.
See page 134 for applicable versions of programmable controllers.
Installing extension cables
Notch

k
l Remove the connector covers on the right hand sideof both
the programmable controller and FX-1GM, so that the cable
may be inserted.
0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 Theextensioncablehasnotchedconnectors to prevent
wrong installation. Always be sure to align these notches
Extension connector
properly when inserting them.
Since extensioncablesare veryvulnerable To connectanextensioncable,remove (by breakingthe
to noise, always be sure to keep them 30 to
50 mm away from other electric wiring.
attachments) the fixed protective cover of the cable outlet.
The left side faces toward the main unit.

Wiring terminal dimensions

Mitsubishi recommends using solderless terminals with the

dimensions shown in the figureon the left.
or less
The recommended tightening torque of terminals is 5 to 8
For M3.5 kg.cm.Alwaysmakesureterminalscrewsaresecurely
6.8mm
tightened to prevent malfunctions of the unit.
or less
Do not connect wires to unused (reserved) terminals.

-85-
I
Precautions during installation
Installation environment
Do not to install the unit in environments with excessive dust, oil, smoke, conductive debris,
or corrosive gas.
Do not install the unit where direct vibration or shock may be applied.
Do not install the unit where it may be exposed to high-temperature, dewing, wind, or rain.
Installation work
When doing threading or wiring, always be sure no chips, pieces of wiring or other foreign mat-
ter falls inside the unit.
After installation, remove the dust-proof sheet (outside the unit) to prevent overheating during
actual operations.
Always be sure to keep the unit at least 50 mm from any other equipment or structure.
Mitsubishi recommends keeping the unit as far away as possible from any high-voltage equip-

jWiringworkj
ment or power equipment.

Do not run the 1/0 signal line of the PGU through the same cable sheath as power drive lines
or high output lines.
Pages 113 to 122 give details about wiring between the PGU, the drive unit, and the motor.
The signal lines should be of length less than 2 to 3 m. Mitsubishi recommends that shielded
twisted pair wires be used.
4

-86-
6.2 Connectina
Terminals

6.2.1 Power circuitconfigurationandspecifications

The configuration and specifications of the power circuit built in the FX-1GM PGU areas follows:

-
I
2 5 w 3A For output
Power supply 1 I
' L 5v 5v + ---* Service
f -5v - + Powersupply

h G q 7-54
> N COM6 For I/O

1FX-1GM PGU
input
I '-
DCDCFor
converter
I IF
I
Common
terminal

I - Powervoltage: 85 to 264 VAC, 52/60Hz

Programmable I Power consumption: 30 VA or less
controller
base , Instantaneous
power
interruption
time:
I Operations
continue
under
instantaneous
power
interruptions of 20 msec or less.
Class 3
grounding - supply:5
*power
Service VDUO.1 A isolated type

When using an FX-1 GM as a stand-alone unit, connect the SG terminal to the terminal for
grounding purposes.
Connect the SG terminals to each other on the main unit of the programmable controller,
extension units, and extension blocks.

r
Precautions during connection
A C power supply
100 to 240 VAC (+lo%, -15%) may be used as the power supply. Remember that incorrect
connection of power lines to the input terminal of the PGU can damage the PGU.
Always switch the power to the programmable controller together with the PGU.
I f the power is interrupted for more than 20 msec, or if the voltage drops excessively, the
PGU will stop and the outputs will be turned OFF at the same time.
Use a wire greater than 2 mm2 for the power line to prevent excessive voltage drops.
lGrounding1
Connect the ground terminal of the PGU to that of the programmable controller, and execute
class-3 grounding (less than 10052) on the programmable controller side.
In this case, do not attempt to execute grounding commonly with any high-tension system.
(Where executing grounding is difficult, the unit may be used without any grounding.)
Mitsubishi recommends not executing grounding commonly with the drive unit or any high-ten-
sion svstem.
Service power supply
The power supply is intended for driving positioning control signals to/from the PGU if the
drive unit does not incorporate a 5V power supply.
When an overload exceeding 0.1 A occurs, the voltage is automatically dropped, to prevent
damage to the unit.

- a7 -
6.2.2 Drive
unit
connections
For the following 2 connection diagrams between the PGU and the DRU drive units, both the FX-
1 GM and pages 113 to 122 will apply as they are the same except for the label names of 2 ter-
minals. (see diagrams.)
PGU DRU
Input response 3 msec

Used when the DRUis not

I
I I I

Generally use shielded twistedpair wire

for wiring between the PGU and DRU,
and execute wiring within 2 to 3 m.
Execute shielding at theDRU side to
the shield terminal.

-88-
6.2.3 Connection of general-purpose input terminals

LpF;fl
Input specifications
PGU
I
I I
Internal
I
power supply I
for control
t I
'

7rnA 3.3kR I
I - . - . - . - .I
I

Input terminal:
By connecting the input terminal to COM3 terminal with a no-voltage contact or an NPN open
collector transistor, the input ON state is established and the input indicator LED is lit.
Input circuit:
The primary circuit of the input is insulated from its secondary circuit by the photo-coupler, and
to avoid mis-triggering caused
the secondary circuit is provided with a C-R filter which is intended
by chattering of the input contact or noise from the input line.
Because of this, there is a response lag of approx. 3 msec for both ON to OFF and OFF to ON
transitions. (response lag of 0.5 msec for DOG input)
Input sensitivity:
The input sensitivity current of the PGU is 1.5 to 3.4 mA.
Always be sure to allow an input current of more than 4mA for the input to turn ON safely, and
less than 1mA to allow it to go OFF with proper noise immunity.

Input connection example

When the forward (reverse) limit switch is turned OFF, the forward (reverse) pulse generation stops.
If the connection of the pulse generation is incorrectly made, operations often cannot be started nor
stopped.
Home Near-point Backward Forward General-purpose
signal
Start
Stop
Manual
return Forward Reverse limit limit input

__ ~.

I
24V 2%

- ~ ~-~ - -
~~ ~ ~
- -~. ~
FX-1GM PGU

For the connection of digital switch to the general-purpose inputs ( x 0 to x3), see Pages 31
and 123.

-89-
6.2.4 Connection of general-purposeoutputterminals
Output specifications

I. - . - i n ~ r . n ~ p o w e r - .- . - . - . - . - . -. -. - .-.-.
supply for control
I
I COM3

COM6 - External power supply(5to 24 VDC)

24V
I
5w I
I
OUT : A or
Load (0.3more)

PGU I

Output terminal:
A terminal common to all outputs is used.
Use a smooth power supply of 5 to 24V DC for the external power supply for load driving.
Circuit insulation:
The circuit built in the PGU is isolated from the output transistor with a photo-coupler, however,
thetransistorbasecurrentissupplied by thebuilt-in 24V DC powersupplyusedforthe
general-purpose inputs.
Operation lights:
The output LED indicator is arranged in the photo-coupler drive circuit.
The output transistor is turned ON when the LED is turned ON,
Response time:
The switching time from ON to OFF and OFF to ON is less than 1 msec.
Output current:
It is possible to flow a max. of 0.3A current per 1 output point.
Output connection example

' -Fx-1GM PGU- Ipossible

It is to connect
as
such
loads
relays, solenoid valves, etc. to the
I I. general-purpose outputs (YO to Y 6 ) .
'

5c 5ov
I I
I
. 1
' Mitsubishi recommends inserting a 2 A
I.-[ COM6/ Y o I Y I I Y 2 I Y 3 I y 4 1 Y 5 I ROY ].-.A
1 fuse every 4 points to protect the transis-
tor fromshort-circuitloads.
Y6
<' <' <>

-
r-
DC
5-24v T

For the connection of digital switch to the general-purpose inputs (X0 to X3), see pages 31
and 123.

-90-
6.3 BeforeStartinganOperation

6.3.1 Preliminary
checks
Mechanical specifications
Alwaysbesurethatthemechanicalspecificationssuch as loadtorque,loadinertia,accelera-
tion/deceleration times, operation speed, stopping accuracy, etc. are correct.
All these points must be fully checked even if they seem to be complicated, in addition to providing
data for selecting the optimum motor.
Initial settings
Always be sure that each of the parameters in the drive unit and the PGU are compatible.
For instance,doublecheck themode of thepositioncontrolpulse,logicpolarity of eachsignal,
rotating speed/direction of the motor, etc., or allowable pulse error (in-position),
error judgment times,
etc.
Performing correct wiring
Since excessive voltage, power terminal short-circuits in output wiring, etc. can result in serious
accidents, always be sure to check these points carefully before turning ON the power supply.

-91 -
6.3.2 Checks in the MANUAL mode
Power-ON check
When power is supplied to the PGU, the power indication LED on the upper right hand side of the
PGU goes ON.
This LED is so designed as to be turned ON by the built-in power regulator in the PGU.
If the LED fails to go ON when the power supply is connected, a hardware fault such as a broken
fuse caused by the contamination by foreign matter may have occurred.
Please consult your nearest Mitsubishi representative.

UW8 FX-1GM
0-
0R l D Y

Os=
O C W , E
POWER
READY
CPU-E
YITIUBIEH
,
MEM-E
I I I I

Program check
Mitsubishirecommendschecking the programsandparametersstored in the PGU by usingthe
teaching panel (TP).
Wheneitheraparameter or programis changed, it isabsolutelynecessary to check boththe
parameter and program, as they are interrelated.

Program check
....................... . If there is any error, it is necessary to change the program(see the error codes (PEO to
PEE) given on page 108).
Parameter check
::..:,.:..::;
....y:...:.: . . .:.,:.
. . .,,...., If there is any error, it is necessary to change theparameter,(seetheerrorcodes(PE10
to PE18) given on pages 109 and 110).

Always be sure to perform these checks before executing the program.

*
f
Error Detection
When an error code CE1 to CE20 mentioned on pages 108 to 11 0 is detected, the error detect-
ing BFM#3 b6 is operated as given below. (See pages 93 and 94.)

I\ 1 During
positioning
operation
or
stopping 1 Onlyduringstoppingpositioning
in I
CE10: Watchdog timer error CE1 1 to 1 4 , 17: Parameter error
MANUAL LS is ON CE16: Servo end error CE15: Emergency
or AUTO Either code results an emergency stop (Stop completion delay)
during operation. CE20: Servo ready error (DRU failure)

I AUTO only ~
CE1, 2 , 5 to 9: Instruction error
CE3, 4 : Register overflow

-92-
6.4 StartinganOperation
4

6.4.1 Indicators in manual operations

CPU-E LED
If the CPU-E LED is turned ON by turning ON the power supply to the PGU in MANUAL mode, then
a watchdog timer error has occurred.
In this case, check for an unusual noise generating source, conductive foreign matter, etc.
Also, execute class 3 grounding (grounding resistance of less than 10052) by using a wire greater
than 2 mm2.
Should the equipment be affected by noise, try grounding as shown below:

Programmable
controller PGU
other equipment
n

Use wire greater than 2 mm2.

Class 3 Always be sure to keepthe grounding
grounding - away from any high-tension system.

READY indicator
When the READY indicator is turned ON, the manual home position return (ZRN), manual forward
(FRD) and manual reverse (RVS) buttons become valid when the MANUAL input is active.
The LED is normally turned OFF during positioning.
If the MEM-ERROR LED goes ON or flickers when a manual operation is executed, read the error
code in the TEST modeof the TP to investigate the cause of the trouble.

Error codes CE10 to CEX) apply here. They ere explained on pages l
o 9
...
........ .... and 110. (See also page 92.)

The probable causesof such trouble include improper parameter settings, operation of the emergen-
cy limit switches, servo end error (delayed positioning completion), servo delay error (DRU power
OFF to failure), etc.
When an error occurs, press the STOP button to reset the error flag. (Restarting cannot be done
unless, the error flag is reset.)
Execute the necessary parameter setting change, and then the parameter/program
check described
on the previous page.
Even if sucherrorsdonotoccur,Mitsubishirecommendsalwayschecking to besurethatthe
operation direction and speed are correct.

-93-
6.4.2 Checks inthe AUTO mode
MEM-E and ERROR indicators
When the manual inputto the PGU is turnedOFF (AUTO mode), the READY indicator normally goes
ON.
When the START button is pressed in the above state, program execution is started.
If any error occurs during the operation, the MEM-E is turned ON, or the ERROR display flickers
which stops the motor.
In such a case, turn on the manual input to the PGU, which will allow the cause of the error to be
investigated by using the TP.

Error codes CE1 to CE20 apply here and are explained on pages 108 to
110. (See also page 92.)

The cause of this trouble is mainly due to misuse of program instructions.

For instance, if blocks 8 or 9 are designated when only programs 0 to 7 exist, the designated BLK
does not exist and this can also cause this error.
The TP is also used for resetting an error. The STOP button of the PGU, after switching from AUTO
to MANUAL, or BFM#1 b4 of a command from the programmable controller can also be used for
resetting an error.

I/O indicators
Check the input wiring of the PGU by making sure that the input indicators go ON corresponding to
the ON/OFF states of the appropriate input switches.
Also, make sure there are no contact faults in the input switches.
If the load does not turn ON/OFF according to the output indicator, check the output wiring.

Input LED indicators

7

Pulse output/general-purpose LED indicators

Pulse output display

The pulse output is displayed by LED, M, N.
Since it flickers rapidly, it will appear to be turned ON dimly during normal operations.
During acceleration/deceleration, however, the flickering may be briefly visible.

-94-
6.4.3 Motor rotating
direction
The motor rotating direction is determined by the contents of parameters number 11 and number 18, ..

and the wiring orientation between the P G U and the DRU.

Rotating direction

The direction the motor turns when the machine is moved by a forward pulse may also be
changed by the wiring and the machine specifications.
Correct connection of emergency limit switches

Notes: When P A R A number 12 is IO', pulse generation stops when an emergency LS is turned ON.
When P A R A number 12 is " l ' , pulse generation stops when an emergency LS is turned OFF.

* Install the LSF and LSR to positions a little away from the normal operating range.

When an emergency LS is actuated, the motor stops running. Manually give a STOP input
to the PGU to reset errors before restarting operations.
(Memo)
To enable servo motor operation, LSF and LSR must be connected to the D R U , and the setting on
the PGU must be normally ON (PARA number 12 "1 ") or OFF (PARA number 12 "0").
In this case, when theD R U is automatically stopped by an actuation of LSF or LSR, the P G U cannot
recognizethestopstate.Therefore,usetheauxiliary LSFand LSR whichoperatebefore LSF or -
LSR operates and are connected t o the PGU for improved operations control.

-95-
6.4.4 Internaloperations of the PGU
The 110 signals are only read/written at certain times and are specified in the following table:
Signal fetching timing

Motor Speed
.
Command pulses generated by the PGU have a time duration expressed by integers in l-psec
units. Therefore, the pulse generation frequency is obtained as follows:
1
f = - x l o 6 (PPS) where n is an integer in the 5 to 50,000 range.
2n
When n = 5, f = 100,000 PPS. When n = 6, f = 83,333 PPS. Any frequency between these is
not available.
I f parameter setting or a speed command designates 90,000 PPS, actual operation is executed
with 83,333 PPS which is the closest available frequency.
When a stepping motor is driven in a high frequency range, there may be abrupt fluctuations in
frequency and the motor may malfunction. The recommended frequency range is 20 kPPS or
less.
d

-96-
 6.5 Maintenance

Maintenance and inspection

The PGU does not have any items such as a battery which can run down or wear out, or result in a
relatively short life time.
In performing the maintenance/inspection, be extremely careful
about the following points along with
the inspection of other equipment.
(1) Always be sure that the inside temperature is not exceptionally high due to an external heating
source or direct sunlight.

(2) Always be sure that excessive dust or conductive debris has not entered into the unit.

(3) Always be sure that the terminals are not loose and are free from rust.

\ I ' '....'

Teaching panel

The teaching panel comes equipped with a lithium battery

which can hold program and parameter data in the event
of a power failure.
If the data is transferred to the EEPROM cassette of the
PGU in advance, then this battery is not required.
Since the battery will be serviceable for approx. 5 years
(free guarantee period: 1 year), consult your nearest Mit-
subishi representative before this time expires.
See page 134 for applicable versions.

& Battery

-97-
The chapters so far have described in detail all areas on the use of the FX-1GM PGU.

This chapter summarizes the main points to allow the design work to be made by quick referencing
of these pages.

The chapter also gives a connection diagram of the stepping motor/servo motor drive unit (of some
makers) to the PGU.

Manuals prepared by the relevant manufacturers give details about connecting the drive unit and
motor.

-98-
7.1.2 Specifications of themain unit
General specifications

0.5 G or less when mounted to a DIN rail. Conforms to JIS C0911.

Performance specifications

- 100 -
7.2 Signals

7.2.1 InpWoutput terminal-related

signals

SVRDY
Servo DRU output ON if no error. Set it to ON if a stepping motor is used.
Servo ready
DRU
SVEND
Servo end
1 Servo DRU output ON after positioning is completed. Set it to ON for stepping motor.
PG U

One-turn (or half-turn) signal of servo motor e.g.7.2"lpulse for stepping motor
Zero-point signal

7 1
FPiPLS Set by PARA No.9.
Forward Dulse Type A: Forward pulse Type B: Reverse pulse
PGU
RPiPLS Set by PARA No.9.
Reverse pulse DkJ Type A: Reverse pulse Type B: Forward pulse
CLR Clears deviation counter when servo motor returns to home position. Not required for stepping

I 1
Clear signal motor.

LsF
Forward limit
K Turns OFF when the forward limit is passed. When PARA No. 12 is 'l', Keep PGU input ON
Machine when the switches
are connected to
Turns OFF whenthereverselimitispassed.WhenPARANo.12is '1'. the DRU side,

Turns ON when a point near the machine home position is passed. Provided in front of the
reverse limit.
ON:Manualoperation(MANUALmode)
Manual operation OFF: AUTO operation (AUTO mode)

START Starts automatic operation when turned ON momentarily. To restart operation after STOP,
Posltioning start START needs to be turned ON again. Same as START signal B F M t l b3 of programmable con-
troller.

i T o p l
Stop signal Operation panel
1
Manual or automatic operation stops when this is momentarily turned ON. START is not ac-
cepted when this is ON. Same as STOP of programmable controller or teaching panel,
I
Machine home PG U Machine home return starts when it is turned ON momentarily Valid in manual
sosition return only.Commandis
also possible from
:WD(X5) Forward operation is enabled when this is ON. 0ne.pulse feed is ex. teaching panel
Wanual forward ecuted for every ON of 0.5 sec or less. under the TEST
WS(X6) Reverse operation is enabled when this is ON, 0ne.pulse feed is ex- mode.
ecuted for every ON of 0 5 sec or less.
KO to x 3 Block or position data designation, general.purpose control input, etc.
3enerai.purpose input
YO to Y5 PG U
Turned ON/OFF by program stored in PGU
1
3EADY (Y6) Machine
General.purpose output or READY (waiting for START), depending on PARA No.16.

PGU panel indicators

1 :o: POWER
powerwhen ONI Turned is PGU to the ON. I
~ 1
0: READY I Turned ON when a process
a START command)
is completed. Affected by WAIT and END instructions. (when waiting for

1 1
0: CPU-E I TurnedONwhenCPU 1
~~~ ~~ ~~ ~ ~ ~

a erroroccurs.(watchdogtimererror: 0.3 to 400 msec)

I :@I MEM-E
ERROR 1 Turned ON when there is a programiparameter abnormality or parity error. Flashes when there is an
emeraencv stoD (LSF, LSR oDerationl. servo readv error, servo end error, etc.

- 101 -
7.2.2 Programmable
controller-related
signals
When the power to the PGU is turned OFF, all data is cleared.

Detcrlptlon

- I I I I I I 1 I 1 I I I I I I
BFM
b15 b14 b13 b12 bll b10 b9 b8 b7 b6 b5 b4 b3 b2 bl bO
#O

-
Block desianation 10 to 99)
Multi. Continuous
#1 - - - - - - - axis
synch
Output Input
!;ye
transler transler Start
Mutfi-
sris
dog vakd aync Step Loop
- - - M126
-
#2 M121 M122
M120 M123 M124 M125 Y444 M127 Y442 Y441
Y443 Y440
Remain.
#3 - - - - - SET WAIT WAF Made Error in9 - iT :2k
--
M M MO ON detection
READY drwr MANUAL
wail
114 M116 M117M115 M114 M112 M111
M113 M110 - - - - M100 M101 M102 M1
#5 M codes 0 to 77 (see page 20.)
#6 Lower bit

-
C I
Current PGU value (converted to pulses)
#7 Higher bit
#8 Execution step number (0 to 1,999)
Current values, execution step numbers, and execution
-
-
+ #9 Execution block number (0 to 99)
block numbers of the PGU are automatically written to -
# I 0 Lower bit these areas. State of these areas can be monitored by
Setting value register 70

-
# I 1 Higher bit the programmable controller. -
#12 Lower bit
Setting value register 71
# I 3 Higher bit
1
# I 4 Lower bit
-+
I
# I 5 Higher bit
Setting value register 72

Setting value register 73

SPD X*..... Speed designation

W T P . . . . . Absolute address
W T Kf*..... Relative address
RPT X*..... Repeat command
Applicable numeric value ranges vary according to each
instruction. However, the range of positive values of 0 to
Setting value register 77 999,999is applicable.

- 11 #30 ]Type code: 5,010 (FX.lGM's used number) This is written automatically when the power is turned ON.
1
#31 Unusable

Notes: See page 19 for BFM#l, and pages 21 and 125 for BFM#3.
(1) BFM#l, b6 = ON (Inputtransfer)
The ON/OFF states of the input terminals (A to L, X0 to X3) of the PGU are written to BFM#27.
By reading the state using the programmable controller, they can be used for input monitoring
or as extension inputs for the programmable controller.
(2) BFM#l, b7 = ON (Outputtransfer)
The ON/OFF states of BFM#26 areoutput to YO to Y6 of the PGU. Since they are already used
in the programs in the PGU, SET YO to Y6 instructions cannot be used in the PGU. Also, the
PGU's digital switch setting cannot be read.
(3) BFM#2, #4: Seepage 28.

(4) See page 134 for the applicable versions of programmable controllers.

- 102 -
7.3 Instructions

Instructions and their elements and data

0 to 99 BCD Designated from the programmable controller

0 to 9 or 0 to 99 Designated from the PGU digital switch
BC D
Use at the end of each program block. Wait-
ing for start input. The final END instruction
None Not necessary is executed at power ON. The READY output
state is ON.

Normally-open contact

t
Start of the logical
operation

t1
0 to 6 (PGU
general-purpose Normally-closed contact
input) I

0 to 6 (PGU
general-purpose Normally-open contact
output) Connection of
series contact
440 to 444 Normally-closed contact
(from the
programmable
controller)
100 to 127
Parallel connection of a normall
Algebraic addition of ADR and &?
o en contact

Parallel connection of normally-closed contact

Series connection of logical blocks

42 None Not necessary
Parallel connection of logical blocks

0 to 6 PGU general-purpose output holding operation

100 to 127 General aux. relay

0 to 77 Generation of M-code output

Setting of the current position address to the

Not necessary setting value of this instruction

Change of the current position address to the

0 to 999,999 setting value of this instruction

M: 110 to 127 Reset of aux. relay or general-purpose output

Y: 0 to 6

- 103-

..
 CJ, CJN, JMP, CALL jump destination.

Jump to the designated label if condition logic

is ON.

0 to 255 (label
Jump to the designated label if condition logic
No. must not be is OFF.
used repeatedly)

Jump to the designated label unconditionally

Subroutine call. Jumps unconditionally to the

designated label. Return to ori inal call in-
struction when RET is executejto continue
None Not necessary from the succeeding step.

1 to 9,999 Direct designation

1 to 6 . 5 4 3 Programs between RPT

and RPE instructions
70 to 77 are repeated 1 to 9,999
times.

None Not necessary

0 to 6 pose
input
DRV * instruction,
a

440 to 444
controller

0 to 6
PGU general-pur-
After an input is turned
ON, driving is discon-
tinued and execution is
440 to 444
controller

0 to 6 PGU general-pur- After an input is turned

pose Input ON, operation is ex-
ecuted at the speed
Command from designated after a VCH
440 to 444 the programmable instruction.
controller

0 to 999,999 Relative address instruction

0 to 999,999 Absolute address instruction

1 to 654,321 Digital switch

Relative address:
70 to 77 BFM # 1 0 to # 2 5 0 to 999,999
1 to 654.321 Digital switch Absolute address:
70 to 77 BFM # l o to #25 to 999t999

- 104-
- 105-
7.4 Parameters

Initial parameter settings

System unit
settina l o l - 2 1 -
I I
I
Number of

L
+. Invalid
65,535 PLSIREV
rotation
motor I I lto
Movement
amount for 1 or
10 motor rota- Invalid
tions

1
I I

1 mm 1 o3
0 1 dea
I 1
O PLS

I
0.1 inzh
Minimum
command
unit 1 I -..i m......
n m 0.1 mm
(max. number 1 102 0.1 deg
0.1 deg PLS
of digits: 6) 0.01 inch
(max. current
value register 0.01 mm
range 0.01 deg 2 0.01 deg

I
22,147,483,647 0.001 inch 0.001 inch
pulses)
0.001 mm 0.001 mm
0.001 deg 3 loo 3 0.001 deg

I 1
PLS

1 I
0.0001 inch 0.0001 inch

Max.
speed 123,bO,O 10 to 10to
100,000 100,000

0101
cmlmin
Manual JOG

1
speed 153,000

1 0 to 10,000

1
Bias speed 15,300 10,000

Oto PLS
65,535

Acceleration/
deceleration
time 1 50 to 5,000 msec
Timebetweenthebiasspeed
to all oDerations.
(No.6) andmax.speed NO.^), gradientiscommon

Note: lnitial parametersettingcanbechangedtothat for servo motors or stepping motors by

following the procedures on page 124.

- 106-
 Setting '0: B-type : PLS + SIGN (rotating direction)
Setting '1 h y p e { : Forward + reverse pulses

I
~

10
(26) Pulse
logic Setting '0' (positive logic): Low to High trigger
Setting '1 ' (negative logic): High to Low trigger
Setting of rota. Setting '0' (increase): Current value increases with a forward pulse
tion direction Setting '1' (decrease): Current value decreases with a forward pulse
Setting '0' (N0):Switch ON for error
Setting '1' (NC): Switch OFF for error

13 (24) I Error judgment

time 0 to 5,000 msec

Block
designation
(27)

Position bias

~~

RDY output Setting '0': PGU RDY output valid (Y6 terminal)
Setting '1 PGU general-purpose output Y6 valid
(Y6) setting
I:

Settina '2': During digital switch reading Y6 active (BLK, EXT)

17
(27) I STOP
mode
Setting '0:: STOPcommandinvalid(duringAUTO)
Setting '1 : Temporarystop.ContinuewithSTART.
Setting '2': To the next step after STOP. (Remaining distance ignored
Setting '3': To the END step after STOP. (Remaining distance ignore d)
Home return Setting '0:: Address increase
direction Setting '1 : Address decrease

Depends Depends Depends

-999,999 on the -999,999 on the -999,999 on the
address to +999,999 setting of to +999,999 setting of to +999,999 setting of
PARA No.3. PARA No.3. PARA No.3.
1 to 10 to 10 to
return speed 153,000 cmlmin 100,000 100,000
1 Odeglmin PLS/sec PLSIsec
1 to inch/min 10 to 10 to
153,000 10,000 10,000

0 to 255 times

J
I
Setting '0' or '2': DOG input from OFF to ON
Setting '1 9 or '3:: DOGinputfromON to OFF count starts,
Setting '0' or '1 : Turns OFF when switched
23
(25)
Count
start
logic from AUTO to MANUAL. Home position completion M101
from AUTO
Setting'2'or'3':Nochanewhenswitched
to MANUAL.

- 107-
7.5 Error CodesChecking

- 108 -
7.5.2 Parameter checks

designation
PARA-15 Excessive compensation
MEM-E
Position 0 to 265,535 range ON
bias Other than shown at left Max. 6 5 , 5 3 5 (pulse conversion)
PARA-16 0, 1, 2 If PARA-16 is set to '0" or '2',
-
- RST Y6 and SET Y 6 are ignored.
PARA-17 0,1 , 2 , 3
PARA-18
- -

I
Home 0.1 -
return
. . .......
.. . ..... ....
I PARA-19 I .... ,

I
&
ni;g value register over.
PJEM-E
Home P s i -
tion ad-
o to 2999,999

- k . i. .. @ J ~ j
d.r e.s.s.
Beyond 2 2 , 1 4 7 , 4 8 3 , 6 4 7
.. . ,
, , ...
1 to 153,000/
PARA-20 machine system
Home 1 0 to 100,000/ Auto default to less than max.
return motor system (1) Other than shown at left value. (PARA No.4)
sDeed 1 0 to 1 oo.ooo/ (2) PARA.20 > PARA.4
I ' I composite system

- 109 -
 I
svstem I comDosite I I I
PARA-22
Down
counts to Q to 255 - - -
home
.................
PARA-23
Count Q, 1, 2, 3 - & SVRDY error ERROR
Servo DRU error FLASH
start logic SVRDY signal is not ON.

Error detection signal BFM #3b6 is operated when errors (CE1 to CE20) occur. (See page 91 .)
In this case, give a STOPcommand in the MANUAL mode or TEST mode of the TP to reset the error flags.

- 110-
 _ _ _ _ _ _ ~
~ ~ ~
~ ~ ~

7.6 Teaching
Panel
Operations

7.6.1 PROG and PARA modes

Program
? I

u
I
I
...... I
I
I
I
I
I

U
RangedOto1,999

I- Range of 0 to 1,999

Deletion of 1 instruction

U
RangedOlo1,999 Deletionof dispbyed lnstrudlon

Section delete fromA to B

Error code (see page 108)

Parameter

Error code (see page 109, 1 10)

-111 -

..
7.6.2 CPUandCMTmodes
CPU mode

0: Machine home k&natim of 0 to 1999 Teechi@rewriting d ADR,

position return NOP imtrudm (nde)
t

3: Current value
rewriting I I I

Note: Turn off memory protect switchof PGU during Stop in MANU,to re-write parameter or instruction.
In this case, TP and PGU are re-written simultaneously. (See page 129.)
4: Error dirolav and
rea
" II r
I
1
I

I 1
Rewritii Ihe wnent vakre regster (CLa)

I Errw diaplay (error d e : page 108,109,)

Feed rate Fbtd Imgth f w d

0 to +999,939

CMT mode
RecordlngfromthoTPtotheCMT Playback from the CMT to the TP

Exmion Exewtion
Vnilication between the CMT and lhe TP

-112-
Reading Reference Parameters
The following two kinds of reference parameters are written to the system ROM of the F2-30TP:
Use the following key operation to read any of the parameters to the RAM of the Fz-SOTP, andmodify
them to transfer them to the FX-1GM.

1 : Servo motor setting reference parameter

2 : Stepping motor setting reference parameter

o I
system
setting
Unit I 1 I 1 I system
unit
Motor
pulse
1 Pulse rate 2,000 500 PLS/REV In-
valid
2 Feed rate 2,000 2,000 pm/REV, mdeg/REV, 10” minch/REV
3 Min. setting unit 2 2 10 PLS (ADR K1OO or 1,000 PLS)
4 Max. speed 100,000 5,000 PLS/sec
5 1 Manual JOG speed 1 10,000 1 1,000 I PLA/sec
6 Bias speed 0 250 PLSisec
7 Backlash compensation 0 PLS

1
0
Acceleration/deceleration
1,000

9 Pulse output mode 1 1 A-type

10 Pulse logic 1 Negative logic

I I
1
Current value is increased with forward
11 Rotation
direction
setting 0 0 pulse.
12 Ultimate LS logic 1 1 Normally closed
13 5,000 msec

1
Error judgment time 5,000
Block designation by the programmable
14 Block
designation 3
I I 1
3 1I controller
15 Position bias 0 0 PLS
16 1output
RDY
Setting
of I 0 I 0 I PGU output
RDY
valid
17 STOP mode 1 1 STOP command valid
18 Home return direction 1 1 Address decrease

19 Iposition
address
Home I 0 I 0 I PLS

2o i Home position return

speed
I 50,000

21 1
speed
Creep 1 1,000 I 500 1 PLS/sec
22 I counts
Down to home 1 10 I loo I Times
23 1logic
Count
start I 0 I 0 I DOG input OFF - ON
Note: Reference parameters of [I] are transferred into the RAM of the F2-3OTP before shipping.

- 124 -
 READY Signals and START Commands
in thePGU operate inthe following
READY signals (the wait state for START commands) generated
equivalent circuit.
[START commands are not accepted if a READY signal is not ON.]
MANUAL
Manual
operation
detection
Error
IY IY
AI AI
#3, b6
Block MANUAL b5 #3,
START in ut from the PGU
#3,bl or STARfcommandfrom a
Synchronizing wait programmable controller

i
Automatic operationstart
OFF
4
1
WAIT (M 0) START command OFF
OFF

II
#3, b 9
#3, b7 *
MANUAL
(M
WAIT 0)
Aux. devices are drivenb
the programmable controier;
the Mcode OFF command
BFM
and
OFF areb5
#1, also
OFF driven.

SET MXX
A+
# 3 , b 10

I 1 PGUexecutedanENDinstructionandisin Any other

I I
bo end state.
wait
the
MANUAL input of the PGU is OFF.
bl MANUAL MANUAL
input of the
PGU is ON.
(AUTO mode)

I b2

I b 3
Synchroniz-
ing wait

- I
The wait state before execution of DRV or
DRVC instruction in multi-axis synchronizing
mode (BFM #1, b2 = ON).
I
by a START command or DOG input
ON (BFM # 1 ,b8 = ON),

I b4 Remaining
drive
wait
Temporary
remainina
drive
stop
mode
(PARA No. 17
is '1 '.) the
in by a START command,

b5 READY As shown by the equivalent circuit above.

b6 Error OFF by a STOP command in the MANUAL
Error code CE1 to CE20 is operated.
detection mode.

I b7 M codeON As shown
bythe
equivalent
circuit

When a WAIT instruction

above.

or WAIT MO
When an M code OFF command
(BFM # l , b5) is turned ON.
When an M code OFF command or a START
b8 WAIT M O
instruction is executed command is turned ON

b9
WAIT M When a WAIT M1 to M77 instruction is
When an M code OFF command is turned ON

I
executed

b10 SETM When a SET MO to M77 instruction is

executed 1 When an M code OFF command is turned ON

- I25 -
Supplement Related to Instructions
(1) Combinations of drive instructions and address instructions

Shortestdistance
ADR K and ADR -are regarded as ADR +.
movement drive ADR + DRV ROT ' Page 38
L I 1 4

Absolute drive
ADR (1) ADR Kand W T K are regarded as ADR +. DRV ROT
EXT * DRV ABS 2 to 9,999
Page 37
I I I I

Relative drive
ADR K (2) ADR * and W T are regarded as ADR K and
EXT K
L DRV * Page 36
EXT K respectively.
1 c c
(2)
interrupt INT X
Remaining
drive INT Page 41 Page 40 VCH Y
Multi-stage and fixed-speed
Interrupt stop
ADR K operation
c c DRV
EXT K
Page 41
ADR * c
EXT r
I I I I I I

Multi-stagespeed
positioning ADR * (1 1
+ DRVC ABS c
EXT ADR K
NOP Page 39
ADR K (2) EXT K
c DRVC t c
EXT K

t
(2) Handling of sequenceinstructions

Instructions driven by contact instructions such

CJ, CJN as LD and LDI are called "coil instructions".
AND
ANB SET Y
ANI
4 RST Y When it is necessary to drive a coil instruction
OR
LDI ORB SET M unconditionally, use LD MlOO (ON all the time
OR1 during automatic operations).
WAIT M

S E T * , SET RAD, NOP, END

I
cul Instructionswhichoperateindependently of
a c
-+ CALL, RET, RPT, RPE :g the contact instruction are called "independent
LAB, JMP, SPD, TMR
0 0
Q 3
instructions".
ADR, EXT, INT, VCH $-C .-5C
~

ELK
After executing instructions such as BLK, DRV,
DRVC, CJ, and CJN,it is also possible to drive
coil instructions such as SET Y , RST Y , SET
M, and WAIT M directly without using an LD
MlOO instruction.

- 126 -
 2-Axis Operations
This section following gives an example of a 2-axis operation when two FX-1 GM units are connected -
to 1 FX series programmable controller.

To make holes at the 4 positions shown on the right:

Operation proceeds in the directions indi-
cated by the arrows, and holes are made V

at points (2),(3),(4), and ( 5 ) . (Interpola-

tion is not provided.)
M codes are designated for X-axis move-
mentsonly. WAIT instructionsareused
for Y-axis movements. Y-axis READY sig-
nals are used by the programmable con-
troller as theconditions for aux.device
actuation.
By making programs on the FX-1GM com-
mon to the X and Y axes (using the same
stepnumbers), it iseasy towatchthe
programs on the screen. This also makes
thesequenceprograms of the program-
mable controller simple.

(Programming on the PGU side)

Unit No. 0 (X axis) Unit No. 1 (Y axis)
-
i.................................................
i i i i
.........................................................................
..................
~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~ ~
0 BLK K 0
Home position
M LD lo’
1
return completion
2 CJ 254 K

-
3 DRV ZRN
4 SET ~-
RAD 254
LAB 5 254 K

(1)
(1 1 ADR
ADR
DRV (2) ABS
ABS
DRV 9 (2) WAIT
10
ON
M220 1 MWAIT
10
11 I ADR I + I 100 I NOP is also
usable.

(3) 12 ABS DRV NOP is also

(3) 12 DRV ABS
13 I WAIT 1 M I M220
1ON
usable.
13 1 WAIT I
6oo NOP is also
usable. 14 I ADR I + 1 500
NOP is also (4) 15 DRV ABS
(4) usable. 16 WAIT
16 I WAIT 1 M I 1 M220 ON
+ NOP is also
17 I ADR 1 + 1 200
17 ADR 500
usable.
18
19
I DRV
I WAIT 1
1 ABS
M
1
1 M220
1ON
1 (5) 18 ABS DRV
NOP is also
usable.

(1) 20 I DRV I RAD I J

19 WAIT

21 1 END 1 I I (1) 20 DRV RAD

21 END

- 127 -
 (Programming on the programmable controller side)
Block K0 designation
FNC M8000 79
RUN monitor
+I T O K O K O KKO 1 (Special unit No. 0)

- T O K O KK O1 I K 1 (Special unit No. 1)

M8000 RUN b2
monitor b3 b4 1 b5BFM#b6 b7 bl bo
PGU No. 0 and M code Multi-axis . Continue
Output Input Start
modeNo.1units Stop

AIL8
transfer transfer OFF Loop Step
4 ing
M8000
IV
I
Programmable
M207 M206 M205 M202
M203
M204 M201 M200 * 3
A' M202 controller

I
b2 b3 b4 3b5 BFM#
b6 b7 bl bo

1 1

--
M8000 Remaining -
IL M code Error READY
AI I O N 1 drive wait Sync wait jMANUAL B;:C,~
M8000 No, 0 unitto PC M217 M216 M215 M214 M213 M211
M212 M210 * 1
-+I No. 1to
unit PC M257 M256 M255 M254 M253 M252 M251 M250 * 2
W
xool stop
-+I
78 FNC M8000
BFM
No.#3 (unit 0) - (M217 to above
M210) 1

BFM #3 (unit No. 1) + (M257 to M250) * 2 above

(M207 to M200) - BFM #1 (unit No. 0) 3 above

(M207 to M200) -+ BFM #1 (unit No. 1) 3 above

M-code read
BFM #5 (unit No. 0) - (M227 to M220)
M220 M217
Drill down

M-code OFF command

55 M215 M250 M210 X003 M251

L detection Drill Error

upper Block end
I
rY
IV
/(I AI
Y
/r'
IY

+ 'limitT O X O T ~ ? N ~ . 1 No. 0 No. 1 No. 0 No. 1

See page 134 for applicable programmable controllers.

Lower Upper
I
Start
T
Stop
T
-
limit
T
-
limit
T
M-code ON M-codeOFFcommandcancel
i V
/I RST M205
M217

1- END Programmable controller

To controleachaxisindependently,providean
aux. relay for 8FM #1
I
COMl YO00 YO01 YO02 YO03 I 1
No. 0 No. 1
<> Drill down for X axis for Y axis

- 128-
Teaching in the Automatic Step Operation Mode
Using the signal step flag M103 (see page 28), position constants can be changed more easily when -
READY is ON while trial-running the program even during automatic operations. This feature had
been availablein theTEST mode whenMANUAL input was ON (manual operation). Use the following
procedure:
[Applicable versions: F2-30TP ROM version V1.2 (October, 1988 and after)]
(Operating examples)
First, switch the PGU to RUN and set the TP to monitor:

Change i o the TEST mode:

.....
1
- A D R
0
t 1
3
0
0
0
0
0
0
0
- Current position

JOG operation:

- A D R
0
t
3 0 3 0 position
3 0 0 0 ,
Current -
I
I

Change the program constant to that of the current pooition:

- A D R
0
t
3
3
o 3
0 3 0
o I4
4
position
I
Current

Pressing the GO key increases the step number by 1. The ADR K instruction,
to an ADR * instruction.
which is used to confirm overwriting, switches

Return to the MNT mode:

1 0
- A D R t 1
3
0
0
0
3
0
0
0
- Current position

Hereafter, pulsing the start input will advance the program execution to the next step.

Note: Remember that this the TEST mode is while the PGU is in AUTO mode.
Hence, the outputs YO to Y6 may become ON; in addition manual DRV ZRN and fixed length
feed on the TP are invalid.

- 129 -

.. -.
M-Code Data Handling
I
PGU program Sequence program
I WAIT
M53
1
FROM I I I I
1
KO K3 K2M210 K1
I(1) Execution PGU
I(2) BFM# 3 b 7--. M217 128 64 (32) (16) 8 (4) 2 (1)

BFM#5
b7 b6 b5 b4 b3 b2 bl bO
FROM I KO K5 I K2M220
BFM# 5 --. K2M220
I
i
1 K1
.
-I]
0 1 0 1 1 1 / 0 1 1 1 0 ] 1 I ON I
128 64 (32) (16) 8 (4) 2 (1)

BFM# 3 b 7 ON
(M-code ON signal)
M353

BFM# 3 b 7 OFF completion

(M-code ON signal) M-code OFF command sensor
actuated. operates.
START command
PGU terminal
input
or BFM #1 b3 )
5
1 When a SET M53 or WAIT
M53 instructionis used in
8
2
4 TO I KO I K1 I K2M200 I
A
K1 I
the LOOP or CONT mode, y .
I
1- -
a START command is not
I

RST I M205 I
IL
necessary, A
M-code ON M-code OFF command

(Differences between WAIT M and SET M instructions (See pages 19,20,35,43))

M-code ON signal is OFF. When a WAIT When a START com-

Then, M-code data (BFM MO or WAIT M mand is given, the M-
WAIT (M 0) #5) is generated and the instruction is code ON signal is
I
c
M-code ON signal turns executed, the turned OFF automat- PGU mode
ON. READY signal ically in the PGU.
After the aux. device turns ON and
operation is completed, the START After the M-code ON
signalisturnedOFF, STEP mode
unless the M-code O N command wait +

signal is turned OFF by state is set. give a START com-

WAIT MXX an M-code OFF com- (AFTER mode) mand.
mand (BFM #1 b5) etc.,
xx = 01 to 77
the next WAIT MO, WAIT
When an M-code
Octal number OFF command is
M , or SET M instruction turned ON,the opera- +- LOOP mode
is not executed, and the tion starts automat- I
wait state remains ON. ically.
(M-code ON signal OFF
wait state) The READY signal does not turn ON,
and the operation goes to the next step CONT mode
SET MXX without a START command.
(WITH mode)
xx
4-
= 00 to 77 However, if a WAIT MO, WAIT M , or
Octal number SET M instruction exists in the next
step, the wait state is set until the M-
code ON signal is turned OFF.

- 130-
Unit Systems for Parameters

I
I 1 I I
PARA No. 0 ‘1 PARA No. 0 ‘2’ PARA No. 0 ‘0’
Motor
system units Composite system units Machine system units

I PARA NO. 1 Pulse rate

designates the numberof pulses
per motor rotation tobe generated
by the PGU.
Not related to pulse rate
A and feed rate B. PARA No. 2 Feed rate

B = 1 to 999,999 KmlREV Feedrate B p m , mdeg or 10 .4

inches per motor revolutionis
mdeg/RN calculated bv the user. The unit
10’4inch/REV system selected here is usedfor
the following calculations.

I
I I
Movement amounts Movement amounts

PARA No. 7 Backlash compensation PARA No. 7 Backlash compensation

0 to 65,535 PLS 0 to 65,535 pn Unit of p m . mdeg, or 10 -4 inch is
mdeg used in accordancewith the selec-
tion of feed rate B.
10”minch

PARA No. 15 Movement distance PARA No. 15 Movement distance

compensation compensation
0 to &5,535 PLS 0 to *65,535 pm Same as above
mdeg
10”minch

I
1

Command units Command units

PARA No. 3 For ADR instructions PARA No. 3 For ADR instructions
‘0‘ : 1o3 PLS ‘0’: 1 mm 1 deg 0.1inch
‘19 : lo’ pLs +- ADR K100 ‘1’ : O.lmm 0.ldeg inch 0.01
92‘ :
‘3’:
10’ PLS
100 PLS
makes 10,000 ‘2‘ : mm
0.01 0.01deg O.Ool inch 01
Unit p m . mdeg,
pLs. ‘3’: 0.001mm
0.001deg 0:0001 inch or 10‘ inch is
used inaccord-
Home position address ance with to the
Home position address selection of feed
0 to *999,999 rate B.

I
0 to *999,999

I
L
Command unit isas designated by
PARA No. 3.
1
Command unit is designatedby PARA No. 3

1
SpeedcommandsSpeedcommands
c
Speed commands
I
c
PARA No. 4 Max.speed PARA No. 4 Max.speed
Units
10 to 100,000PLSIsec *1 1 to 153,000
I
PARA No. 5 Manual JOG speed PARA No. 5 Manual JOG speed
cmlmin
10 to 100,000 PLSIsec *1 1to 153,000
04
Unit p m . mdeg,
PARA No. 6 Bias speed PARA No. 6 Bias speed or 10’ inch is
used in accord-
0 to 100,000 PLSIsec T2 0 to 15,300 ance with the
selection of feed
PARA No. 20 Home position return speed rate 0 .
10 to 100,000PLS/Sec
Command value m u s l
PARA No. 21 Creep speed . . be equal to o( 185s
than that o h & by
10 to 10,000 PLSIsec T2 1 to 15,300 t h e fdlavhg lwmuk

- 131 -
Outline of FROM/TO Instructions
Communications between an FX series programmable controller and an FX-1 GM PGU are controlled
by the FROM/TO instructions of the programmable controller. (See page134 for applicable program-
mable controllers.)

r M pro FROM I
K 2
ml
K 6 I
rn2
Dl20 I K 4 I
n
I
EFM read
-
ReadcommandReadingfromspecialunit No. 2 BFM Y6 to #9
4 word data is transferred
to programmable controllers D l 2 0 to D l 23.

ml : Specialunitnumber or blocknumber
Units such as an FX-1GM, FX-4AD, FX-2AD-PT, FX9DA, and FX-1 HC are numbered
No. 0 to No. 7, beginning with the one nearest the main unit.
m2 : Head designating number (m2= KO to K31) of BFM
m: Head element number of the destination of transfer. T, C, D, KnY, KnM, KnS, V, and
Z can be designated.
(Index registersV and Z can be used for qualificationof element numbers.)

(
n Number of transferpointsinunits of 1 wordwith16-bitinstructions.n = K1 to K32
In units of 2 words with 32-bit instructions. n = K1 to K16

r M 6 0 ' 1
TO I
rnl
K 2 I
m2
KO 1 Dl12 I
n
K 1

EFM write Write Writing from the

programmable
controller's D l 12 to special
unit
BFM
No.
2 #O.
m l , m2, n : Same as above.
: Head element number of the source of transfer. T,C, D, KnX, KnY, KnM, KnS, V, Z, K, and H
can be designated. (Index registersV and Z can be used for qualificationof element numbers.)

Notes:
(1) Puttingmakes a 32-bitinstruction,andputtingmakesapulseexecutioninstruction.
Each instruction can be used in4 combinations.
(2) When X0 10 or X0 1 I is OFF, transfer is not executed, and the data in the destination does
not change. When a pulse execution instruction is used, transfer is executed only when
the instruction drive input state is switched fromOFF to ON.

- 132 -
Responses of Each Signal
The responses of each signal of an FX-1GM are described using the programming example given
below.
(Programming example:)

0 BLK K 0
I Parameters
No. 4 Max. speed: 500 PPS
I
I

1 ADR K 10 10 pulses
output.
are No. 5 Bias speed: 500 PPS
Others
Waits for an M-code OFF
signal from the program- Used in combination with a programmable controller.
mable
controller. The SV END signal
is always kept ON.

M-code OFF
WAlr Mi command
Inputfilter BLK PDR DRV
< -
Pukeoutput
~

-
wait DRV
-1mr - ~
PuhOutpUt
- END
1m 20 ms 1ms 20 mr 1 ms
h r Ilmrlm

START command (START) -Inputfilter

+Imsec o( mwe

n
(bdh ON and OFF) 1 2 9 1 0 1 2 0 1 0

ct<2
Pulse output (FP) r
... ...
r=

Pulse output (FP)-code ON (on PGU)

(BFM #3b7)
Command is given from the PC after the
M-code OFF (on PC)
(BFM #1 b5)
aux. device operationis completed.
-
I
r
READY (Y6) *&&+t cycle PC's operation
1 I
I
I I I

input Filter Times

PGO 1 ws
DOG 0.5 msec

I than the
Other above 1 3 msec I

- 135-
Timing for Fetching from an External Digital Switch
PARA No. 18 is used to designate the home position return direction. Thisis also used for selecting
of 8 msec/digit or 64
the timing for fetching the signals from an external digital switch. Either timing
msec/digit can be selected by using an F2-30TP (version V1.3 or after).

Setting '0' increases.

address
Current 8 mseddigit
Setting ' 1 ' Current
address
decreases.
Setting
rnsecldigit
'2' increases.
64
address
Current

-
Setting '3' Current
address
decreases.

ThefollowingshowstheexternaldigitalswitchinputtimingwhenthePARA No. 14(block

designation) setting is "2";

ams *I

PGU Y4 (1st digit)

PGU Y5 (2nd digit)

t 4

PGU X0 to X3 (data
input) 1st digit
2nddata digit data

*1: 8msecwhen PARA No. 18 is '0' or 'l',

and 64 msecwhen it is '2' or '3',
'2: input filter timing

The same timing is used for data fetching from an external digital switch when an SPD, EXT, or
RPT instruction is used.
Usually a timing of 8 msec/digit is selected for fetching data from an external digital switch.

When output data of a programmable controllerother than the FX series is fetched through the input
channels of the PGU, as shown below, and if the response of the programmable controller is slow,
select 64 msec/digit to improve the timing of the I/O operations between the two.

When X10 is ON, the 1st digit of data is output

to Y10 to Y13.
When X1 1 is ON, the 2nd digit of data is output
to vi0 to Y13.
After X10 or X1 1 is turned ON, data has to be
output within 61 msec (64 msec - input filter 3
msec).

(a)

- 136 -
When Making Connections Using Extension Cables
Special units and blocks such as pulse output units, analog input blocks, analog output blocks, and
high-speed counter blocks which are operated by FROMnO instructions can be connected directly
t o the main unitof an FX series programmable controlleror to the right sideof other extension blocks
or units. Up to 8 special units and blocks can be connected to 1 main unit, and they are numbered
as Numbers 0 to 7 beginning with the one nearest the main unit.

To connect an extension cableto an FX-1GM pulse output unit, open the panel cover (1) and remove

I
(by breaking the attachments) the fixed protective
cover (2) of the cable outlet on the left sideof the
FX-1GM pulse output unit. Open the connector cover (3) on the extension unit or block, and then
connect the extension cable.

I YlTSUBlSHl I

Break the 3 plasti4attachments (marked *)

lml
Thereisaprojectionontheextensioncable
connector to ensure it is correctly inserted. Fit
this projection in the opening on the left side of
the extension connector when connecting the Opening
cable. I Extension
connector

I - I

- 137-
MEMO
REVISIONS

MANUAL NUMBER REVISION

JY992D36201A -irst edition
 h

or responsible for any

Under no circumstances will Mitsubishi Electric be liable
consequential damage that may arise as a result of the installation or use of this
rz-
i
equipment.
All examples and diagrams shown in this manual are intended only as an to aid
understanding the text, not to guarantee operation. Mitsubishi Electric will accept no
responsibility for actual use of the product based on these illustrative examples.
-4

Owing to the very great variety in possible applications of this equipment, you
.- to its suitability for your specific application.
must satisfy yourself as

i
 i

A MITSUBISHI
ELECTRIC
CORPORATION I

640.
!
HEAD OFFICE: MlTSUBlSHl DENKl BLDG MARUNOUCHI TOKYO 100 TELEX: J24532 CABLE MELCOTOKYO
HlMEJl WORKS: CHIYODA CHO, HIMEJI. JAPAN

r r
3
Effective MAR. 1993 i

JY992D36201A Specifications are subject

HI-16-100-A(9303) (SEN) @ t o change without notice.