MODEL 1.

MULTI-AXIS SERVO SYSTEM USING AC SERVO MOTORS

AND THE MOTION CONTROL MODULE

1.1. Contents

✓ AC servo motors and their drivers

✓ PLC Mitsubishi programming
✓ Motion control module FX3U-20SSC-H
✓ Linear and circular interpolations

1.2 Introduction to device

1.2.1. Hardware system

Fig. 1.1: 3-axis servo system using the Mitsubishi modules

1
 01

07

02
03

06

04 05

Fig. 1.2: The controller of the system

Components in the model

01: Main CB

02: PLC Mitsubishi (FX3U-32M)

03: Module FX3U-20SSC-H

04, 05: Servo Drivers (MR-J3-□B)

06: Relays

07: Power supply 24VDC, 10A

1.2.2. Motion control module FX3U-20SSC-H

Introduction

FX3U-20SSC-H is a special function block that controls position, speed of AC servo

motors via SSCNETIII cable; compatible with AC Servo MR-J3- □B. It can control up to
2 AC servo motors with line and circular interpolations.

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 Technical specifications*:

▪ Number of control axis: 2 axes

▪ Applicable PLC: FX3U/FX3UC
▪ Connectable servo amplifiers:
MELSERVO J3-□B, J3W-□B, J3-
□BS
▪ Long distance cord length: up to
50m
▪ Servo bus: SSCNET III
Fig. 1.3: Module FX3U-20SSC-H

* Look up the manual for the detail configuration

Fig. 1.4: Layout and connections of FX3U-20SSC-H

External dimensions and part names

[1] Direct mounting hole: 2 holes of Ø4.5 (0.18") (mounting screw: M4 screw)

[2] Status LEDs

[3] POWER LED (green)

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 [4] Extension cable

[5] Input connector

[6] Top cover

[7] Power supply connector

[8] DIN rail mounting groove [DIN rail: DIN46277 35 mm (1.38”) wide]

[9] Name plate

[10] DIN rail mounting hook

[11] SSCNET III connector

Power and Status LED

Table 2.1: Power and Status LED on FX3U-20SSC-H

LED display Color Status Description

Power is not being supplied from the

OFF
external power supply or the PLC
POWER Green
Power is being supplied from the external
ON
power supply or the PLC

Error is occurring or positioning is being

OFF
X-READY executed on the X/Y axis
Green
Y-READY Various operation commands are
ON
acceptable on the X/Y axis

OFF X/Y axis is operating normally

X-ERROR
Red Flicker Error is occurring on the X/Y axis
Y-ERROR
ON CPU error is occurring on the X/Y axis

X-START Red OFF Start input OFF

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 Y-START ON Start input ON

X-DOG OFF DOG input OFF

Red
Y-DOG ON DOG input ON

X-INT0 OFF Interrupt input OFF

Y-INT0

X-INT1 Red ON Interrupt input ON

Y-INT1

X- ø A OFF Manual pulse generator A-phase input OFF

Red
Y- ø A ON Manual pulse generator A-phase input ON

X- ø B OFF Manual pulse generator B-phase input OFF

Red
Y- ø B ON Manual pulse generator B-phase input ON

Connection with PLC

FX3U-20SSC-H is connected with PLC by the extension

Fig. 1.5: Connection of FX3U-20SSC-H with PLC

Buffer memory (BFM)

The PLC can access the buffer memory directly, using sequence programs. The 20SSC-
H uses positioning parameters and data in this area to execute the positioning control. The
data types and their applications are described briefly in the following table. For the detail
specifications, please look up the 20SSC-H manual.

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1.2.3. MelServo MR-J3-□B

Introduction

The Mitsubishi MELSERVO-J3 series, the general-purpose AC servo, has further higher
performance and higher functions compared to the current MELSERVO-J2-Super series.

The torque limit with clamping circuit is put on the servo amplifier in order to protect the
power transistor of main circuit from the over current caused by rapid
acceleration/deceleation or overload. In addition, torque limit value can be changed to
desired value in the controller.

The MELSERVO MR-J3 has a USB communication function, which uses an installed
PC to perform parameter setting, monitoring, status monitoring, gain control, and AC servo
via MR Configurator software.

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 MELSERVO-J3-□B has absolute position coding with 262144 pulse / loop resolution to
ensure more accurate control over the MELSERVO-J2-Super.

Fig. 1.6: Melservo MR-J3-20B

Structure

Fig. 1.7: Definition code of an AC Servo MR-J3-20B

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 Fig. 1.8: Structure of Melservo MR-J3-20B

01: The 3-digit display, showing the servo status and alarm numbers.

02: Rotary axis setting switch (SW1)

Used to set the axis No. of servo amplifier

03: Test operation select switch (SW2-1)

Used to perform the test operation mode by using MR Configurator;

SW2-2: Spare (be sure to set to the "Down" position)

04: USB communication connector (CN5) (connect to the personal computer)

05: I/O signal connector (CN3)

Used to connect digital I/O signals. Moreover an analog monitor is output

06: SSCNET cable connector (CN1A)

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 Used to connect the servo system controller or the front axis servo amplifier.

07: SSCNET cable connector (CN1B)

Used to connect the rear axis servo amplifier. For the final axis, putting a cap.

08: Encoder connector (CN2)

Used to connect the servo motor encoder.

09: Battery connector (CN4)

Used to connect the battery for absolute position data backup.

10: Charge lamp; lit to indicate that the main circuit is charged. While this lamp is lit,
do not reconnect the cables.

11: Servo motor power connector (CNP3)

12: Control circuit connector (CNP2)

Connect the control circuit power supply/ regenerative option

13: Main circuit power supply connector (CNP1)

Connect the input power supply.

Hardware connection to FX3U-20SSC-H

Fig. 1.9: Connection diagram between Melservo and FX3U-20SSC-H

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 MR-J3-□B servo amplifier directly reads the position data from the encoder. The servo
motor's speed /direction control and positioning accuracy with high precision are achieved
by reading data from the FX3U-20SSC-H module via the SSCNETIII cable. SSCNETIII
significantly improves communication speed and noise resistance by using optical
communication systems.

Selection of control axis

Use the rotary axis setting switch (SW1) to set the control axis number for the servo. If
the same numbers are set to different control axes in a single communication system, the
system will not operater properly. The control axes may be set independently of the
SSCNET cable connection sequence.

Rotary axis setting switch (SW1) SW2 SW2-2: Spare (be sure to
set to the "Down" pos.)

Test operation select switch (SW2-1)

Set the test operation select switch to the "Up"
performing the test operation mode by using
MR Configurator.

Table 1.2: Status table of the switch on MelServo MR-J3-□B

Spare Rotary axis setting switch Description Display

(SW1)

0 Axis No.1 01

Down 1 Axis No.2 02

(Be sure to set to
2 Axis No.3 03
the
"Down" position.) 3 Axis No.4 04

4 Axis No.5 05

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 5 Axis No.6 06

6 Axis No.7 07

7 Axis No.8 08

8 Axis No.9 09

9 Axis No.10 10

A Axis No.11 11

B Axis No.12 12

C Axis No.13 13

D Axis No.14 14

E Axis No.15 15

F Axis No.16 16

Example:

Table 1.3: Set axis number on the model

Hardware
Model Axis Control
SW1 Axis select

MR-J3-☐B, X-axis 0 Axis No.1

MR-J3-☐BS,
Y-axis 1 Axis No.2
MR-J4-☐B

MR-J3W-☐B, X-axis Axis No.1 (A- Axis)

0
MR-J4W2-☐B Y-axis Axis No.2 (B- Axis)

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 Fig. 1.10: Adjust the number of axis on the model

Note: When running JOG on the MR-Configrutor software, set SW1 to 0, SW2-1 to ON.

Servo amplifier display on the Melservo MR-J3-□B

Waiting for servo system controller power to switch ON

(SSCNET communication)

Initial data communication with servo system controller (Initialization

communication)

Ready OFF/servo OFF

Ready ON/servo OFF

Ready ON/Servo ON
Flicker display at occurrence of overload

Flicker display at occurrence of overload warning

Flicker display during controller forced stop

Flicker display during forced stop

Servo system controller power OFF to ON

On the display of a servo amplifier MR-J3-□B, let’s check the communication status with
a controller when the power is ON; check the no. of axis, and diagnose errors when having
alarms.

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1.2.4. SSCNET III cable

Fig. 2.11: SSCNET III cable

SSCNET III cable uses optical communication, two-way communication with high
transfer rate. This is a specialized cable that can be connected and disconnected easily,
because using optical communication method should be capable of high interference.

With a transfer rate of up to 150 Mbps, the SSCNET III cable can handle up to three
times faster than traditional transmission methods.

Note when using cable SSCNET III:

✓ Do not let the SSCNET III cable near the main cable, power lines, and installation
standards 100mm (3.94") away from the large power lines, which can cause
excitation or interference wave.

✓ When removing the SSCNET III cable from the FX3U-20SSC-H port, be sure to
attach the protection caps to the cable connectors.

✓ Do not remove the SSCNET III cable from its port while not disconnecting the
FX3U-20SSC-H or Melservo MR-J3-20B power supply. Do not look directly at
the optical fiber head or SSCNET III port, as doing so can cause eye damage.

✓ When handling the SSCNET III cable, do not let them be bumped, side pressure,
excessive tension. Do not allow oils, solvents near the SSCNET III connector.

✓ Do not remove the protection cap from the FX3U-20SSC-H connector until the
SSCNET III cable is connected. To avoid the dust coming in, this affects the speed
of the cable.

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1.3. Operation of the model

1.3.1 General diagram of the system

Fig. 1.12: Diagram of the control principle of the model

The X-axis and Y-axis operate in two ways: controlled by FX-Configrutor FP

software or PLC programming.

1.3.2 Data transfer process

➢ Power-on data transfer process (A):

✓ The data in the 20SSC-H flash memory is transferred to the buffer memory (BFM).
✓ The servo parameters are transferred to the servo amplifier.
➢ Data transfer between PLC and BFM (B):
✓ Applied instructions such as the MOV, or the FROM/TO instruction are used to
read/write parameters and data between the PLC and buffer memory.
➢ Writing data to the flash memory (C)

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 ✓ Using FX Configurator-FP to modify the buffer memory data including positioning
parameters, servo parameters and table information, then activate a save command
from the buffer memory to the flash memory.

Fig. 1.13: Data transfer process between the modules

➢ Data transfer process between 20SSC and servo amplifier (D)

✓ When servo parameters on the servo amplifier side are modified, the buffer memory
of the 20SSC-H is (by default) automatically updated

1.3.3 FX-Configurator FP software

✓ The user table data are declared on the FX-Configurator FP software and loaded
onto the Mitsubishi FX3U-20SSC-H.
✓ The software is switches to "Test Mode” which has control modes (positioning at 1-
step speed, linear interpolation, X-axis table operation, XY-axis table operation,...)
✓ Select target address 1, operation step 1, click start -> the model will move to the
address you selected via USB to RS422 adapter.
✓ SSCNETIII cables are adopted for data communication with dedicated Melservo
(MR-J3-xB)
Note: This model uses screw-pitch with 5mm screws that means every rotation of
the AC servo will make a displacement of 5mm, and with the dedicated module of
FX3U-20SSC-H, 262144 PLS will make the motor turn a round.

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1.3.4 PLC FX3U-32M

✓ User program written on GX-Developer/Work2 software is loaded into the PLC.

✓ When users press the START button on the control pannel, the table data that the
ones have declared will be extracted from the memory area of the FX3U-20SSC-H,
and control the movements of axes according to given information. SSCNETIII
cables are used for data communication.
✓ We also use PLC to communicate with the FX-Configurator FP software and read
the whole information that input by users such as positions’ coordinates, linear or
circular movements.

1.4. Experiment

1.4.1. FX3U-20SSC-H with FX Configurator-FP

➢ Step 1: Configuration for FX3U-20SSC-H

- When setting up the FX3U-20SSC-H for the first time or beginning a new project, it is
recommended to clear the servo parameters, positioning parameters and table
information, and then write the desired settings (as needed by the user application) to
the controller.
- The purpose of this section is to define basic settings for the initial testing of the FX 3U-
20SSC-H using the FX Configurator-FP software. Using FX-Configurator FP to
configure the system as follows:
1) Turn on the power

Confirm that the hardware is set up correctly and the PLC is in STOP mode. Turn
the power ON. (Both of the servos should display ‘Ab’ when the power is turned
ON for the very first time.)

2) Load the software

Open FX Configurator-FP from the Start menu [Start] → [MELSOFT Application]

→ [FX Configurator-FP] or from the Tools menu of GX Developer [Tools] → [FX
special function utility] → [FX Configurator-FP] and create a New file by clicking

on in the Toolbar.

3) Expend the tree of folders in the [File data list] panel on the left-hand side by double
clicking on [Unset file], [Edit], and [Monitor].
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4) Verify communication

Go to [Online] → [Connection setup] → [Comm. Test]. Verify that the devices are
communicating properly.

Fig. 1.14: Connection setup with FX3U-20SSC-H

5) Initialize the module

Fig. 1.15: Initialize the module

Go to [Online] → [Initialize module]. Select all servo parameters, positioning

parameters and table information and place a check mark in [Flash ROM write].
Click the OK button and proceed with selecting ‘Yes’ and then ‘OK’.
This overwrites all data in the FX3U- 20SSC-H buffer memory and Flash ROM with
the default.
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6) Set the positioning parameters

Double click on [Positioning parameters] in the [File data list] panel on the left-hand
side to modify the positioning parameters.

Change the following items from the [Item] column:

Fig. 1.16: Positioning parameters

𝟏
(Note: Maximum speed = VAC servo x 262144 x = 3000 x262144:60 = 13107200)
𝟔𝟎

7) Set the servo parameters

Assuming a forced stop switch is not used with the MR-J3-B servos, double click
on [Servo parameters] in the [File data list] panel on the left-hand side to modify the
servo parameters.

Set the following items from the [Kind] column for both the X- and Y- axes:

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 Fig. 1.17: Servo parameters

8) Write the servo and positioning parameters

Write the servo parameters and positioning parameters to the FX3U-20SSC-H

by pressing the ‘Write to module’ button or by using [Online] → [Write to module
(Ctrl+T)]. Select only the servo and positioning parameters and put a check mark
in the [Flash ROM write] box as shown below. The servos may lose
communication since a power reset is needed.

Fig. 1.18: Write parameters to module

9) Reset the power

Reboot the power to the system to enable communication to the MR-J3 servos. This

can be done with a hard boot, or by pressing the ‘System reset’ button. Once
communication is established, the servos will read ‘d01’ and ‘d02’. If
communication is not established, check the servo hardware and servo parameters
again.

➢ Step 2: Using TEST MODE

Verify that the PLC is in STOP mode before proceeding with this section.

To enter TEST MODE, press the ‘Test On/Off’ button in the Test toolbar or go to
[Online] →[Test] → [Test On/Off]. Select ‘Yes’ and then ‘OK’.

Open up the X- and Y- axis Operation test windows by clicking on the two buttons:

and .
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➢ Step 3: JOG operation, X-axis

In the [X-axis Operation test] window, click on the [JOG/MPG] tab. Click and hold down
the FWD JOG button. Try changing the JOG speed and JOG instruction evaluation time.

(For more information on the JOG instruction evaluation time, refer to Chapter
8.2.1 in the FX3U-20SSC-H User’s Manual (JY997D21301E))

If positioning does not begin, verify that Positioning and Servo parameters are set for
the X- and Y- axes as described in (6) and (7) of Step 1.

➢ Step 4: Setting the zero point

When the zero-point is set, the current address data gets set to the zero-point value. This
is accomplished by directly changing the current address to 0 (or some other address), or by
activating the zero return command in the data-set type OPR mode.

Click on the X-axis and Y-axis [OPR] tabs and then click the [REQ. OPR] button and
select ‘Yes’ anh ‘OK’.

Fig. 1.19: Setting the zero point

➢ Step 5: Positioning patterns, X-axis

By default, the FX3U-20SSC-H is set to absolute positioning. If you want to place a

relative position, use a table program (declared on FX-Configrutor FP software) or PLC
program to specify [Incremental mode]. The following are some of the control modes on the
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FX-Configrutor FP software

Positioning at 1-step speed

✓ Set the zero-point according to Step 4: Setting the Zero Point above if you haven’t
already done so.
✓ Click on the [Position start] tab and select [Positioning at 1-step speed] in the X-
axis Pattern drop-down menu. Set the following X-axis information:

Target address 1: 5,000,000 PLS

Operation speed 1: 1,000,000 Hz

✓ Click on the [Start] button and observe the motor. Click ‘Yes’ and ‘OK’.
✓ If positioning does not begin, verify that Positioning and Servo parameters are
set for the X and Y axes as described in (6) and (7) of Step 1.

Fig. 1.20: Positioning at 1-step speed, X-axis

Positioning at 2-step speed
✓ Select [Positioning at 2-step speed] in the X-axis Pattern drop-down menu of the
[Position start] tab. Set the following X-axis information:

Target address 1: -2,000,000 PLS

Operation speed 1: 2,000,000 Hz

Target address 2: 0 PLS

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 Operation speed 2: 1,000,000 Hz

✓ Click on the [Start] button and observe the motor. Click ‘Yes’ and ‘OK’.

Fig. 1.21: Positioning at 2-step speed, X-axis

Variable speed operation

✓ Select [Variable speed operation] in the X-axis Pattern drop-down menu of the
[Position start] tab. Set the following X-axis information:

Operation speed 1: 5,000,000 Hz

✓ Click on the [Start] button and then ‘Yes’ and ‘OK’.

✓ Now click on the [Speed CHG] tab to adjust the speed during operation. Try
adjusting the [Speed override] setting by entering the following values into the
[Speed override] box and pressing the [REQ. speed override] button.

3,000 (x0.1%)

500 (x0.1%)

10 (x0.1%)

Note: the speed changes that occur with each setting. Finally, click the [Stop]
button, ‘Yes,’ and ‘OK’.

Linear interpolation
✓ Return the X- and Y- addresses to ‘0’ by setting the zero-point according to Step
4: Setting the Zero Point.
✓ Select [Linear interpolation] in the X-axis Pattern drop-down menu of the
[Position start] tab. Set the following X-axis information:

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 X-axis

Target address 1: 1,000,000 PLS

Operation speed 1: 1,000,000 Hz

Y-axis

Target address 1: 5,000,000 PLS

✓ Click on the [Start] button and observe the motors. Click ‘Yes’ and ‘OK’.
✓ If positioning does not begin, verify that Positioning and Servo parameters are
set for the X and Y axes as described in (6) and (7) of Step 1.
XY-axis table operation
✓ To operate the XY axis table, enter the data in the "XY- axis Table information"
on the FX-Configrutor FP software. And write to the PLC. You can refer to the
example table below

Address Speed Arc center

x:[PLS] fx:[Hz] i:[PLS] Time Jump m
No. Command Code
y:[PLS] fy:[Hz] j:[PLS] [10ms] No. code

Incremental address
0 -1
specification

X-axis positioning at 2,000,000 1,000,000

1 -1
1-step speed

Y-axis positioning at
2 -1
1-step speed 2,000,000 1,000,000

3 XY-axis positioning 5,000,000 1,000,000 -1

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 at 1-step speed -5,000,000 1,000,000

Circular 0 1,500,000 500,000

4 interpolation -1
0 500,000
(CNT,CW)

5 Dwell 30 -1

XY-axis positioning 1,000,000 1,000,000

6 -1
at 2-step speed -1,000,000 1,000,000

XY-axis positioning -1,000,000 1,000,000

7
at 2-step speed
1,000,000 1,000,000

8 Dwell 30 -1

XY-axis positioning 1,000,000 1,000,000

9 -1
at 2-step speed -1,000,000 1,000,000

XY-axis positioning -1,000,000 1,000,000

10
at 2-step speed
1,000,000 1,000,000

11 Dwell 30 -1

12 Circular 0 700,000 500,000 -1

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 interpolation
0 500,000
(CNT,CCW)

13 Dwell 30 -1

XY-axis positioning 1,000,000 1,500,000

14 -1
at 2-step speed
5,000,000 750,000

XY-axis positioning -5,000,000 750,000

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at 2-step speed
-1,000,000 1,500,000

16 Dwell 30 -1

2,000,000 262,144
17 Linear interpolation -1

-2,000,000

18 Dwell 150 -1

20 End

With PLS addresses, the numbers can be very large. To reduce the number size, the

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 Position data magnification item can be changed to “3:x1000 times” in the [Positioning
parameters]. If this is changed with data already entered in a table information
window, the fields with addresses that lay outside the range –2,147,483,648 to
2,147,483,647 will be highlighted in RED, indicating they must be changed.

After entering the above table, click on the button or use [Online] →[Write
to module (Ctrl+T)]. Remove checkmarks from [Positioning parameters] and [Servo
parameters] and put a checkmark in [Table information]. Unselect the [X-axis] and [Y-
axis], put a checkmark in [XY- axis], and modify the table number range (table rows)
to 0 – 25. This will decrease the download time to the FX3U-20SSC-H. Unselect the
[Flash ROM write] checkbox, click ‘OK’ and then ‘OK’ again.

Fig. 1.22: Write information stable to PLC

Select [XY-axis table operation] in the X-axis Pattern drop-down menu of the
[Position start] tab. Set the [Table operation start No.] as desired (0 in this example)
and begin positioning by pressing the [Start] button, ‘Yes,’ and ‘OK’.

If positioning does not begin, verify that Positioning and Servo parameters are set
for the X and Y axes as described in (6) and (7) of Step 1.

➢ Step 6: Using Monitor Model

- To use operation monitor during positioning, first enable the XY-operation Table
pattern in TEST MODE and begin its operation by following Section XY-axis table
operation above. Do not stop the operation. Instead, click on the Close button to
exit the X-axis Operation test window.
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 Press the ‘Test On/Off’ button in the Test toolbar and click ‘Yes’ to turn TEST
MODE off. Double-click on [Operation monitor] in the [File data list] panel on the left-
hand side. Click on the [Monitor Start] button and experiment with the [X-axis Operation
status] and [Y-axis Operation status] buttons to monitor axis control data such as target
addresses and operation speeds and servo status. By clicking on the [Signal] button, the
FX3U-20SSC-H monitor data can be displayed for useful feedback. The Operation Monitor
is also helpful for determining positioning errors.

Fig. 1.23: Operation Monitor

1.4.2. FX3U-20SSC-H with GX Developer/Work2.

➢ Step 1: Creat a new Project

✓ Open GX-Developer by clicking [Start] → [GX-Developer] or double-clicking on
the GX-Developer software icon on the desktop. Click on display GX-
Developer software or press “Ctrl+N”

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 Fig. 1.24: Choose PLC series (FX3U)

✓ Select “FXCPU” in the item “PLC series”. Then select “FX3U(C)” in the item
“PLC Type”
✓ Check ‘Ladder’, choose setup project name then enter the project name, after that
choose address of the folder you want to save this project. Then press Creat new

Fig. 1.25: Create a new project on GX-Developer

➢ Step 2: PLC programming
✓ This is a sample program written on the GX-Developer software using: Start (X000),
Stop (X001), Reset error (X007), Return Zero 0 (X010).
✓ When press Start: The data information that you installed on the desk will be read
from FX3U-20SSC-H, via SSCNETIII cable, transfer to Melservo MR-J3-20B; the

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 control signal from encoder returned makes the AC servo rotate → The machine
moves to the installed position on the FX-Configrutor-FP configuration.

Table 1.5: PLC address assignments

Address Device name Remark

X000 Start NO

X001 Stop NC

X002 Forward rotation limit (X-axis) NO

X003 Reverse rotaion limit (X-axis) NO

X004 Forward rotation limit (Y-axis) NO

X005 Reverse rotaion limit (Y-axis) NO

X006 X-axis JOG (+) NO

X007 Reset Error NO

X010 Return Zero 0 NO

X011 X-axis JOG (-) NO

X012 Y-axis JOG (+) NO

X015 Y-axis JOG (-) NO

D0 X-axis current address

D100 Y-axis current address

U0\G28 X-axis status information BFM#

U0\G128 Y-axis status information BFM#

M9 Table operation

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M24 Position, parameter anable Enable the X-
command axis JOG speed

M124 Position, parameter anable Enable the Y-

command axis JOG speed

U0\G14012 BFM# (JOG speed) X-axis

(BFM#14012,
#14013)

U0\G14212 BFM# (JOG speed) Y-axis

(BFM#14212,
#14213)

M4 X-axis JOD(+) operation is being

performed

M5 X-axis JOD(-) operation is being

performed

M6 X-axis zero return

M104 Y-axis JOD(+) operation is being

performed

M105 Y-axis JOD(-) operation is being

performed

M106 Y-axis zero return

U0\G521 Table operation start No. X-axis

U0\G621 Table operation start No. Y-axis

U0\G519 Opertion command 2 X-axis

U0\G619 Opertion command 2 Y-axis

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PLC program

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32
33
 Note that the M8000 is always ON when the PLC is running

➢ Step 3: Select the PLC connection method

✓ Go online → Transfer Setup → Serial USB. A PC side I/F serial setting will
appear, select the COM port and data transfer speed..

Fig. 1.26: PC side I/F serial setting

➢ Step 4: Write a program to PLC

✓ Click online→ chose Write to PLC. Write to PLC will appear, tick main. Press
Exucute → Yes → OK. Then click Close

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 Fig. 1.27: Write a program to PLC

➢ Step 5: Use device comment to set up input and output addresses

Fig. 1.28: Set up input and output addresses

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An example of the interpolation results

Figure 1.29: The 2 axis interpolation result

1.5. Calculating BLU

Enter the position and frequency values of some points, measure the distance traveled on
the model's table and fill in the following table:

Position and frequency Measure the distance BLU

No.
(PLS; Hz) traveled (mm)

1 200,000PLS; 1000000Hz

2 500,000PLS; 1000000Hz

3 600,000PLS; 1000000Hz

4 700,000PLS; 1000000Hz

5 900,000PLS; 1000000Hz

6 1,000,000PLS; 1000000Hz

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 7 1,200,000PLS; 1000000Hz

8 1,500,000PLS; 1000000Hz

9 2,000,000PLS; 1000000Hz

10 2,500,000PLS; 1000000Hz

Plot and comment on the results from the data obtained in exe. 1

Displacement (mm)

PLS

(With 262144 PLS will make AC servo turn 1 round. All vitmes have a screw pitch of
0.5mm)

1.6 Programming PLC to interpolate figures

Students have to draw some following figures by two methods (manual control on FX-
Configrutor-FP software and programming on GX-Developer/Work2).

The obtained results (figures, data tables, PLC code) have to be included in the report.

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a.

b.

c.

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d.

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e.

f.

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 APPENDIX.

1. Device number list of FX3U/FX3UC

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1.1 I/O relays [X, Y]

1.2 Auxiliary relays [M]

*2. This area is not latched (battery backed). It can be changed to a latched (battery backed)
area by setting the parameters.
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*3. This area is latched (battery backed). It can be changed to a non-latched (non-battery-
backed) area by setting the parameters.

*4. The characteristics of latch (battery backup) cannot be changed in the parameters.

1.3 Timer [T]

*4. In FX3U/FX3UC PLCs, retentive type timers are backed up by the battery.

Example:

1.4 Data Register and File Register [D]

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*1. Data registers D1000 and later can be used as file registers in units of 500 points by
setting parameters.

*3. This area is not latched (battery backed). It can be changed to the latched (battery backed)
area by setting parameters.

*4. This area is latched (battery backed). It can be changed to the non-latched (non-battery-
backed) area by setting parameters.

*5. The latch (battery backup) characteristics cannot be changed using parameters.

1.5 Index Register [V and Z]

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Example:

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2. Numeric Values Handled in PLC
2.1 Types of numeric values

2.2 Types of constant values

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2.3 Specification of Digits for Bit devices (Kn[]***)
The number of digits Kn indicates 4-bit units (digits), for example: K1 to K4 are used
for 16-bit data, K1 to K8 are used for 32-bit data

Example: K2M0 indicates two-digits data (a byte) expressed by M0 to M7

K4M20 indicates 4-digits data (a word) expressed by M20 to M35

2.4 Direct Specification of Buffer Memory (U[]\G[])

A buffer memory (BFM) of a special function units/blocks can be specified directly.
BFM is 16-bit or 32-bit word data, and is mainly used for operands in applied instructions.
For specifying a BFM, specify the unit number (U) of a special function units/blocks and
the BFM number (\G) consecutively.
Example: U0\G0 ... Indicates the BFM #0 in the special function units/blocks whose
unit number is 0.) Indexing is available for BFM numbers.

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 The specification range is as follows:

References

1. Mitsubishi Electric, FX3x Series Programmable Controller – Programming Manual:

Basic and Applied Instruction Manual.

2. Mitsubishi Electric, FX3U-20SSC-H User’s Manual.

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