Contents

Mitsubishi FX5-40SSC-G Motion Module User's Manual PDF

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Summary of Content for Mitsubishi FX5-40SSC-G Motion Module User's Manual PDF

MELSEC iQ-F FX5 Motion Module/ Simple Motion Module User's Manual (Startup)

-FX5-40SSC-G -FX5-80SSC-G -FX5-40SSC-S -FX5-80SSC-S

WHEN USING A SWITCHING HUB WITH CC-LINK IE TSN To connect modules on CC-Link IE TSN, a dedicated TSN switching hub may be required depending on parameter settings or the network topology used. Read the following carefully. Page 64 Switching hub MELSEC iQ-F FX5U Motion Module User's Manual (CC-Link IE TSN)

SAFETY PRECAUTIONS (Read the precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. This manual classifies the safety precautions into two categories: [ WARNING] and [ CAUTION].

Depending on the circumstances, procedures indicated by [ CAUTION] may also cause severe injury. Observe the precautions of both levels because they are important for personal and system safety. Ensure that the end users read this manual and then keep the manual in a safe place for future reference.

WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in minor or moderate injury or property damage.

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[DESIGN PRECAUTIONS] WARNING

Make sure to set up the following safety circuits outside the programmable controller to ensure safe system operation even during external power supply problems or programmable controller failure. Otherwise, malfunctions may cause serious accidents. - Emergency stop circuits, protection circuits, and protective interlock circuits (for conflicting

operations such as forward/reverse rotations or for preventing damage to the equipment such as upper/lower limit positioning) must be configured external to the programmable controller.

- Note that when the CPU module detects an error, such as a watchdog timer error, during self- diagnosis, all outputs are turned off. Also, when an error occurs in an input/output control block, where it cannot be detected by the CPU module, output control may be disabled. External circuits and mechanisms should be designed to ensure safe machinery operation in such a case.

- Note that the output current of the 24 V DC service power supply varies depending on the model and the absence/presence of extension modules. If an overload occurs, the voltage automatically drops, inputs in the programmable controller are disabled, and all outputs are turned off. External circuits and mechanisms should be designed to ensure safe machinery operation in such a case.

- Note that when an error occurs in a relay, triac or transistor of an output circuit, the output might stay on or off. For output signals that may lead to serious accidents, external circuits and mechanisms should be designed to ensure safe machinery operation in such a case.

Construct an interlock circuit in the program so that the whole system always operates on the safe side before executing the control (for data change) of the programmable controller in operation. Read the manual thoroughly and ensure complete safety before executing other controls (program change, parameter change, forced output, and operation status change) to the programmable controller in operation. Improper operation may damage machines or cause accidents.

In an output circuit, when a load current exceeding the current rating or an overcurrent caused by a load short-circuit flows for a long time, it may cause smoke and fire. To prevent this, configure an external safety circuit, such as a fuse.

For the operating status of each station after a communication failure of the network, refer to relevant manuals for the network. Incorrect output or malfunction may result in an accident.

Especially, in the case of a control from an external device to a remote programmable controller, immediate action cannot be taken for a problem on the programmable controller due to a communication failure. Determine the handling method as a system when communication failure occurs along with configuration of interlock circuit on a program, by considering the external equipment and CPU module.

Do not write any data to the "system area" and "write-protect area" of the buffer memory in the module. Executing data writing to the "system area" or "write protect area" may cause malfunction of the programmable controller alarm. For the "system area" or "write-protect area", refer to "List of Buffer Memory Addresses" in MELSEC iQ-F FX5 Motion Module/Simple Motion Module Users Manual (Application) and "Buffer Memory" in MELSEC iQ-F FX5 Motion Module User's Manual (CC- Link IE TSN).

If a communication cable is disconnected, the network may be unstable, resulting in a communication failure of multiple stations. Construct an interlock circuit in the program so that the system always operates on the safe side even if communications fail. Incorrect output or malfunction may result in an accident.

*1 Products conforming to the UL explosion-proof standard are as follows: Manufactured in October 2017 onwards FX5 CPU module FX5UC-32MT/D, FX5UC-32MT/DSS, FX5UC-64MT/D, FX5UC-64MT/DSS, FX5UC-96MT/D, FX5UC-96MT/DSS FX5 extension module FX5-C16EX/D, FX5-C16EX/DS, FX5-C16EYT/D, FX5-C16EYT/DSS, FX5-C32EX/D, FX5-C32EX/DS, FX5-C32EYT/D, FX5- C32EYT/DSS, FX5-C32ET/D, FX5-C32ET/DSS, FX5-232ADP, FX5-485ADP, FX5-C1PS-5V, FX5-CNV-BUSC, FX5-4AD- ADP, FX5-4DA-ADP

[DESIGN PRECAUTIONS]

[SECURITY PRECAUTIONS]

WARNING [Precautions for using products in a UL/cUL Class , Division 2 environment] Products*1 with the CI., DIV.2 mark on the rating plate are suitable for use in Class , Division 2,

Groups A, B, C and D hazardous locations, or nonhazardous locations only. This mark indicates that the product is certified for use in the Class , Division 2 environment where flammable gases, vapors, or liquids exist under abnormal conditions. When using the products in the Class , Division 2 environment, observe the following conditions to reduce the risk of explosion. - This device is open-type and is to be installed in an enclosed area under suitable environment

which requires a tool or key to open. - Warning - Explosion Hazard - Substitution of any component may impair suitability for Class ,

Division 2. - Warning - Explosion Hazard - Do not disconnect equipment while the circuit is live or unless the

area is known to be free of ignitable concentrations. - Do not open the cover of the CPU module and remove the battery unless the area is known to be

nonhazardous.

CAUTION When an inductive load such as a lamp, heater, or solenoid valve is controlled, a large current

(approximately ten times greater than normal) may flow when the output is turned from off to on. Take proper measures so that the flowing current does not exceed the value corresponding to the maximum load specification of the resistance load.

After the CPU module is powered on or is reset, the time taken to enter the RUN status varies depending on the system configuration, parameter settings, and/or program size. Design circuits so that the entire system will always operate safely, regardless of this variation in time.

Simultaneously turn on and off the power supplies of the CPU module and extension modules. If a long-time power failure or an abnormal voltage drop occurs, the programmable controller stops,

and output is turned off. When the power supply is restored, it will automatically restart (when the RUN/STOP/RESET switch is on RUN side).

WARNING To maintain the security (confidentiality, integrity, and availability) of the programmable controller and

the system against unauthorized access, denial-of-service (DoS) attacks, computer viruses, and other cyberattacks from external devices via the network, take appropriate measures such as firewalls, virtual private networks (VPNs), and antivirus solutions.

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[INSTALLATION PRECAUTIONS]

[INSTALLATION PRECAUTIONS]

WARNING Make sure to cut off all phases of the power supply externally before attempting installation or wiring

work. Failure to do so may cause electric shock or damage to the product. Use the product within the generic environment specifications described in the generic specifications

of the user's manual (Hardware) of the CPU module used. Never use the product in areas with excessive dust, oily smoke, conductive dust, corrosive gas (salt air, Cl2, H2S, SO2, or NO2), flammable gas, or vibration or impacts, or expose it to high temperature, condensation, or rain and wind. If the product is used in such conditions, electric shock, fire, malfunctions, deterioration or damage may occur.

CAUTION Do not touch the conductive parts of the product directly. Doing so may cause device failures or

malfunctions. When drilling screw holes or wiring, make sure that cutting and wiring debris do not enter the

ventilation slits of the programmable controller. Failure to do so may cause fire, equipment failures or malfunctions.

For products supplied together with a dust proof sheet, the sheet should be affixed to the ventilation slits before the installation and wiring work to prevent foreign objects such as chips and wiring debris. However, when the installation work is completed, make sure to remove the sheet to provide adequate ventilation. Failure to do so may cause fire, equipment failures or malfunctions.

Install the product on a flat surface. If the mounting surface is rough, undue force will be applied to the PC board, thereby causing nonconformities.

Install the product securely using a DIN rail or mounting screws. Connect the expansion board and expansion adapter securely to their designated connectors. Loose

connections may cause malfunctions. Make sure to affix the expansion board with tapping screws. Tightening torque should follow the

specifications in the user's manual (Hardware) of the CPU module used. If the screws are tightened outside of the specified torque range, poor connections may cause malfunctions.

Work carefully when using a screwdriver such as installation of the product. Failure to do so may cause damage to the product or accidents.

Connect the extension cables, peripheral cables, input/output cables and battery connecting cable securely to their designated connectors. Loose connections may cause malfunctions.

When using an SD memory card, insert it into the SD memory card slot. Check that it is inserted completely. Poor contact may cause malfunction.

Turn off the power to the programmable controller before attaching or detaching the following devices. Failure to do so may cause equipment failures or malfunctions. - Peripheral devices, expansion board, expansion adapter, and connector conversion adapter - Extension modules, bus conversion module, and connector conversion module - Battery

Hold the connector part of the Ethernet cable and perform installation or removal in a straight direction. If the cable is pulled out while connected to the module, it may cause damage to the module or the cable, or may cause a malfunction due to poor connector contact.

[WIRING PRECAUTIONS] WARNING

Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to do so may cause electric shock or damage to the product.

Make sure to attach the terminal cover, provided as an accessory, before turning on the power or initiating operation after installation or wiring work. Failure to do so may cause electric shock.

The temperature rating of the cable should be 80 or more. It may differ depending on the extension devices. For details, refer to the user's manual of the extension devices used.

Make sure to wire the screw terminal block in accordance with the following precautions. Failure to do so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions, or damage to the product. - The disposal size of the cable end should follow the dimensions described in the user's manual

(Hardware) of the CPU module used. - Tightening torque should follow the specifications in the user's manual (Hardware) of the CPU

module used. - Tighten the screws using a Phillips-head screwdriver No.2 (shaft diameter 6 mm (0.24") or less).

Ensure that the screwdriver does not touch the partition part of the terminal block. Make sure to properly wire to the terminal block (European type) in accordance with the following

precautions. Failure to do so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions, or damage to the product. - The disposal size of the cable end should follow the dimensions described in the user's manual

(Hardware) of the CPU module used. - Tightening torque should follow the specifications in the user's manual (Hardware) of the CPU

module used. - Twist the ends of stranded wires and ensure that there are no loose wires. - Do not solder-plate the electric wire ends. - Do not connect more than the specified number of wires or electric wires of unspecified size. - Affix the electric wires so that neither the terminal block nor the connected parts are directly

stressed. Make sure to properly wire to the spring clamp terminal block in accordance with the following

precautions. Failure to do so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions, or damage to the product. - The disposal size of the cable end should follow the dimensions described in the user's manual

(Hardware) of the CPU module used. - Twist the ends of stranded wires and ensure that there are no loose wires. - Do not solder-plate the electric wire ends. - Do not connect more than the specified number of wires or electric wires of unspecified size. - Affix the electric wires so that neither the terminal block nor the connected parts are directly

stressed.

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[WIRING PRECAUTIONS] CAUTION

Do not supply power externally to the [24 +] and [24 V] terminals (24 V DC service power supply) on the CPU module or extension modules. Doing so may damage the product. Note that power may be supplied even when an electronic load which equips with an internal bias power supply is connected.

Perform class D grounding (grounding resistance: 100 or less) of the grounding terminal on the CPU module and extension modules with a wire 2 or thicker. Do not use common grounding with heavy electrical systems. For details, refer to the user's manual (Hardware) of the CPU module used.

Connect the power supply wiring to the dedicated terminals described in the user's manual (Hardware) of the CPU module used. If an AC power supply is connected to a DC input/output terminal or DC power supply terminal, the programmable controller will burn out.

Do not wire vacant terminals externally. Doing so may damage the product. Install module so that excessive force will not be applied to terminal blocks, power connectors, I/O

connectors, communication connectors, or communication cables. Failure to do so may result in wire damage/breakage or programmable controller failure.

Make sure to observe the following precautions to prevent any damage to the machinery or accidents due to malfunction of the programmable controller caused by abnormal data written to the programmable controller due to the effects of noise. - Do not bundle the power line, control line and communication cables together with or lay them

close to the main circuit, high-voltage line, load line or power line. As a guideline, lay the power line, control line and communication cables at least 100 mm (3.94") away from the main circuit, high-voltage line, load line or power line.

- Ground the shield of the shield wire or shielded cable at one point on the programmable controller. However, do not use common grounding with heavy electrical systems.

- Ground the shield of the analog I/O wire at one point on the signal receiving side. However, do not use common grounding with heavy electrical systems.

[STARTUP AND MAINTENANCE PRECAUTIONS]

[STARTUP AND MAINTENANCE PRECAUTIONS]

WARNING Do not touch any terminal while the programmable controllers power is on. Doing so may cause

electric shock or malfunctions. Before cleaning or retightening terminals, cut off all phases of the power supply externally. Failure to

do so in the power ON status may cause electric shock. Before modifying the program, performing forced output, or running or stopping the programmable

controller while the system is running, read through this manual carefully, and ensure complete safety. An operation error may damage the machinery or cause accidents.

Do not change the program in the programmable controller from two or more peripherals at the same time. (such as from an engineering tool and a GOT) Doing so may cause destruction or malfunction of the programmable controller program.

Use the battery for memory backup in conformance to the user's manual (Hardware) of the CPU module used. - Use the battery for the specified purpose only. - Connect the battery correctly. - Do not charge, disassemble, heat, put in fire, short-circuit, connect reversely, solder, swallow, or

burn the battery, or apply excessive forces (vibration, impact, drop, etc.) to the battery. - Do not store or use the battery at high temperatures or expose to direct sunlight. - Do not expose to water, bring near fire or touch liquid leakage or other contents directly. - When replacing the battery, make sure to use our specified product (FX3U-32BL). - When a battery error occurs ("BAT" LED is lit in red), follow the description in the user's manual

(Hardware) of the CPU module used. Incorrect handling of the battery may cause heat excessive generation, bursting, ignition, liquid leakage or deformation, and lead to injury, fire or failures and malfunction of facilities and other equipment.

CAUTION Do not disassemble or modify the programmable controller. Doing so may cause fire, equipment

failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative.

After the first use of the SD memory card, do not insert/remove the memory card more than 500 times. Doing so 500 times or more may cause malfunction.

Turn off the power to the programmable controller before connecting or disconnecting any extension cable. Failure to do so may cause equipment failures or malfunctions.

Turn off the power to the programmable controller before attaching or detaching the following devices. Failure to do so may cause equipment failures or malfunctions. - Peripheral devices, expansion board, expansion adapter, and connector conversion adapter - Extension modules, bus conversion module, and connector conversion module - Battery

Do not use the chemicals for cleaning. If there is the possibility of touching the programmable controller inside a control panel in

maintenance, make sure to discharge to avoid the influence of static electricity. Since there are risks such as burn injuries, please do not touch the surface of the equipment with bare

hands when it is operating in an environment which exceeds ambient temperature of 50.

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[OPERATION PRECAUTIONS]

[DISPOSAL PRECAUTIONS]

[TRANSPORTATION PRECAUTIONS]

CAUTION Construct an interlock circuit in the program so that the whole system always operates on the safe

side before executing the control (for data change) of the programmable controller in operation. Read the manual thoroughly and ensure complete safety before executing other controls (program change, parameter change, forced output, and operation status change) to the programmable controller in operation. Improper operation may damage machines or cause accidents.

CAUTION When disposing of this product, treat it as industrial waste. When disposing of batteries, separate them from other waste according to local regulations. (For

details on the Battery Directive in EU countries, refer to the user's manual (Hardware) of the CPU module used.)

CAUTION When transporting the programmable controller with the optional battery, turn on the programmable

controller before shipment, confirm that the battery mode is set using a parameter and the BAT LED is off, and check the battery life. If the programmable controller is transported with the BAT LED ON or the battery exhausted, the battery-backed data may be unstable during transportation.

The programmable controller is a precision instrument. During transportation, avoid impacts larger than those specified in the general specifications by using dedicated packaging boxes and shock- absorbing palettes. Failure to do so may cause failures in the programmable controller. After transportation, verify operation of the programmable controller and check for damage of the mounting part, etc. For details on the general specifications, refer to the user's manual (Hardware) of the CPU module used.

When transporting lithium batteries, follow required transportation regulations. (For details on the regulated products, refer to the user's manual (Hardware) of the CPU module used.)

The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant used for disinfection and pest control of wood packaging materials, may cause failure of the product. Prevent the entry of fumigant residues into the product or consider other methods (such as heat treatment) instead of fumigation. The disinfection and pest control measures must be applied to unprocessed raw wood.

INTRODUCTION Thank you for purchasing the Mitsubishi Electric MELSEC iQ-F series programmable controllers. This manual describes the functions and programming of the relevant products listed below. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ-F series programmable controller to handle the product correctly. When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it will not cause system control problems. Please make sure that the end users read this manual.

Relevant products FX5-40SSC-S, FX5-80SSC-S, FX5-40SSC-G, FX5-80SSC-G

Symbols used in this manual are shown below. A serial No. is inserted in the "**" mark. [Pr.**]: Symbols indicating positioning parameter or home position return parameter items [Da.**]: Symbols indicating positioning data or block start data items [Md.**]: Symbols indicating monitor data items [Cd.**]: Symbols indicating control data items [FX5-SSC-S]: Symbols indicating compatibility with only FX5-SSC-S [FX5-SSC-G]: Symbols indicating compatibility with only FX5-SSC-G

Regarding use of this product This product has been manufactured as a general-purpose part for general industries, and has not been designed or

manufactured to be incorporated in a device or system used in purposes related to human life. Before using the product for special purposes such as nuclear power, electric power, aerospace, medicine or passenger

movement vehicles, consult Mitsubishi Electric. This product has been manufactured under strict quality control. However when installing the product where major

accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.

Note If in doubt at any stage during the installation of the product, always consult a professional electrical engineer who is

qualified and trained in the local and national standards. If in doubt about the operation or use, please consult the nearest Mitsubishi Electric representative.

Since the examples indicated by this manual, technical bulletin, catalog, etc. are used as a reference, please use it after confirming the function and safety of the equipment and system. Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples.

This manual content, specification etc. may be changed, without a notice, for improvement. The information in this manual has been carefully checked and is believed to be accurate; however, if you notice a doubtful

point, an error, etc., please contact the nearest Mitsubishi Electric representative. When doing so, please provide the manual number given at the end of this manual.

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CONTENTS WHEN USING A SWITCHING HUB WITH CC-LINK IE TSN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12 TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13 GENERIC TERMS AND ABBREVIATIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14 PERIPHERALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

CHAPTER 1 PART NAMES 17 1.1 LED Display Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

CHAPTER 2 SPECIFICATIONS 21 2.1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.2 Power Supply Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.3 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2.4 Specifications of Interfaces with External Devices [FX5-SSC-S] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Electrical specifications of input signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 2.5 External Circuit Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

CHAPTER 3 FUNCTION LIST 42 3.1 Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Main functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Sub functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Common functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

3.2 Combination of Main Functions and Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 3.3 Network Function List [FX5-SSC-G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

CHAPTER 4 PROCEDURES BEFORE OPERATIONS 55

CHAPTER 5 WIRING 57 5.1 Wiring [FX5-SSC-S] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 5.2 Wiring [FX5-SSC-G]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Wiring for CC-Link IE TSN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

5.3 Power supply wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 5.4 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 5.5 External Input Connection Connector [FX5-SSC-S]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Signal layout for external input connection connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 List of input signal details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Interface internal circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

APPENDICES 72 Appendix 1 Component List [FX5-SSC-S] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Reference product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 Appendix 2 Component List [FX5-SSC-G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 Appendix 3 Connection with External Devices [FX5-SSC-S] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

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N TE

N TS

External input signal cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 Appendix 4 How to Check the SERIAL No. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Appendix 5 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Appendix 6 Standard Compliant Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Models compliant with UL and cUL standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 EC Directive (CE marking) compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 Measures to comply with the EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 Precautions for compliance with the EC Directive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Compliance with UKCA marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Appendix 7 Open Source Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 Appendix 8 Operation Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Operation example [FX5-SSC-S] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 Program Examples Using Labels [FX5-SSC-S] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Program Examples Using Buffer Memory [FX5-SSC-S] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Appendix 9 Setting Example for Motion Modules (FX5-SSC-G) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

INDEX 116

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

11

12

RELEVANT MANUALS

This manual does not include detailed information on the following: General specifications Available CPU modules and the number of mountable modules Installation For details, refer to the following. MELSEC iQ-F FX5S/FX5UJ/FX5U/FX5UC User's Manual (Hardware)

e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: Required information can be cross-searched in multiple manuals. Other manuals can be accessed from the links in the manual. The hardware specifications of each part can be found from the product figures. Pages that users often browse can be bookmarked. Sample programs can be copied to an engineering tool.

Manual name [manual number] Description Available form MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual(Startup) (This manual) [IB-0300251ENG]

Specifications, procedures before operation, system configuration, wiring, and operation examples of the Motion Module/Simple Motion module

Print book

e-Manual PDF

MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application) [IB0300253ENG]

Functions, input/output signals, buffer memories, parameter settings, programming, and troubleshooting of the Motion Module/Simple Motion module

Print book

e-Manual PDF

MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Advanced Synchronous Control) [IB-0300255ENG]

Functions and programming for the synchronous control of the Motion Module/Simple Motion module

Print book

e-Manual PDF

MELSEC iQ-F FX5 Motion Module User's Manual (CC-Link IE TSN) [IB-0300568ENG]

Functions, parameter settings, troubleshooting, and buffer memories of the CC-Link IE TSN network

Print book

e-Manual PDF

MELSEC iQ-F FX5 Motion Module/Simple Motion Module Function Block Reference [BCN-B62005-719]

Specifications, functions, and input/output labels of function blocks for the Motion Module/Simple Motion module.

e-Manual PDF

TERMS Unless otherwise specified, this manual uses the following terms.

*1 SSCNET: Servo System Controller NETwork

Term Description 4-axis module Another term for FX5-40SSC-S and FX5-40SSC-G

8-axis module Another term for FX5-80SSC-S and FX5-80SSC-G

Axis A target for motion control

Buffer memory A memory in an intelligent function module, where data (such as setting values and monitoring values) are stored. When using the CPU module, the memory is indicated for storing data (such as setting values and monitored values) of the Ethernet function and data used for data communication of the multiple CPU function.

Cyclic transmission A function by which data are periodically exchanged among stations on the same network using a link device

Device A device (X, Y, M, D, or others) in a CPU module

Global label A label that is enabled for all program data when creating multiple program data in the project. There are two types of global labels: module label that is automatically generated by GX Works3 and label that can be created for the any of the specified devices.

GX Works3 The product name of the software package for the MELSEC programmable controllers ([FX5-SSC-S] version 1.007H or later, and [FX5-SSC-G] version 1.072A or later)

Intelligent module A module such as the Simple Motion module/Motion module in the MELSEC iQ-F series that contains functions other than I/O functions

Label A label that represents a device in a given character string

Module label A label that represents one of memory areas (I/O signals and buffer memory areas) specific to each module in a given character string. GX Works3 automatically generates this label, which can be used as a global label.

MR Configurator2 The product name of the setup software for the servo amplifier ([FX5-SSC-S] version 1.34L or later, and [FX5-SSC-G] version 1.120A or later)

MR-J3(W)-B MR-J3-_B_(-RJ)/MR-J3W-_B Servo amplifier series

MR-J4(B)-RJ MR-J4-_B_-RJ Servo amplifier series

MR-J4(W)-B MR-J4-_B_(-RJ)/MR-J4W_-_B Servo amplifier series

MR-J5(W)-G MR-J5-_G_(-RJ)/MR-J5W_-_G/MR-J5D_-_G_ Servo amplifier series

MR-JE-B(F) MR-JE-_B(F) Servo amplifier series

MR-JET-G MR-JET-_G Servo amplifier series

Safety main module Different name for FX5-SF-MU4T5

SSCNET*1 High speed synchronous communication network between Simple Motion module and servo amplifier

SSCNET/H*1

Transient transmission A function used to perform communication with another station when requested by a dedicated instruction or from the engineering tool.

13

14

GENERIC TERMS AND ABBREVIATIONS Unless otherwise specified, this manual uses the following generic terms and abbreviations.

Generic term/abbreviation Description CPU module An abbreviation for the MELSEC iQ-F series CPU module

Data link A generic term for a cyclic transmission and a transient transmission

Drive unit A generic term for motor drive devices such as a servo amplifier

Engineering tool A generic term for GX Works3 and MR Configurator2

FX5-SSC-G A generic term for the FX5-40SSC-G and FX5-80SSC-G Motion module

FX5-SSC-S A generic term for the FX5-40SSC-S and FX5-80SSC-S Simple Motion module

Motion module An abbreviation for the MELSEC iQ-F series Motion module

Safety expansion module A generic term for expansion modules installed to a safety main module

Safety extension module A generic term for safety main modules and safety expansion modules

Servo network A general term for a network between the Simple motion module/Motion module and the drive unit. SSCNET/H, SSCNET CC-Link IE TSN

Simple Motion module An abbreviation for the MELSEC iQ-F series Simple Motion module

SSCNET(/H) A generic term for SSCNET/H, SSCNET

PERIPHERALS

Peripherals for FX5-SSC-S The following figure shows the peripherals when the FX5-SSC-S is used.

The external input signal might not be usable depending on the connected device. Confirm the specification of the connected device.

Simple Motion module

External command signal/ switching signal

Forced stop input

External input signal of the servo amplifier

Upper limit stroke limit Lower limit stroke limit Proximity dog

SSCNET cable

Manual pulse generator/ INC synchronous encoder

External input signal cable

Servo motor

Servo motor

Servo motor

Synchronous encoder via servo amplifier: Q171ENC-W8 (Up to 4 modules via MR-J4-B-RJ), etc.

FX5-40SSC-S: Up to 4 axes FX5-80SSC-S: Up to 8 axes

MR-J3(W)-B type servo amplifier MR-J4(W)-B type servo amplifier MR-JE-B(F) servo amplifier Inverter FR-A800 series Stepping motor driver AlphaStep/5-phase manufactured by ORIENTAL MOTOR Co., Ltd. Servo driver VC series/VPH series manufactured by CKD NIKKI DENSO CO., LTD. IAI electric actuator controller manufactured by IAI Corporation

15

16

Peripherals for FX5-SSC-G The following figure shows the peripherals when the FX5-SSC-G is used.

Using the table below, refer to the manual that is appropriate for the input signal to be used.

The Motion module cannot be used together with safety extension modules when the firmware version of the Motion module is Ver. "1.000". When using with safety extension modules together, connect the Motion module with the firmware version "1.000" or later. There are restrictions by the version when using together with the following intelligent function modules other than safety extension modules and the Motion modules. FX5-20PG-P ("1.011" or later) FX5-20PG-D ("1.011" or later) FX5-CCLGN-MS ("1.002" or later) FX5-DP-M ("1.001" or later) For details, refer to the following manual. MELSEC iQ-F FX5S/FX5UJ/FX5U/FX5UC User's Manual (Hardware)

Input signal Reference External command signal/switching signal Forced stop input signal Manual pulse generator input signal

MELSEC iQ-F FX5 Motion Module/Simple Motion Module Users Manual (Application)

Incremental synchronous encoder input signal MELSEC iQ-F FX5 Motion Module/Simple Motion Module Users Manual (Advanced Synchronous Control)

Motion module

Servo motor

TSN switching hub

Servo motor

FX5-40SSC-G: Up to 4 Motion control stations + 16 standard stations FX5-80SSC-G: Up to 8 Motion control stations + 16 standard stations

Ethernet

CC-Link IE TSN compatible servo amplifier

(MR-J5(W)-G servo amplifier)

CC-Link IE TSN compatible inverter

CC-Link IE TSN compatible device modules

Personal computer

1

1 PART NAMES

Part names [FX5-SSC-S] This chapter describes the part names of the FX5-SSC-S.

No. Name Description [1] External input connection connector Connects to a mechanical system input, manual pulse generator/incremental

synchronous encoder, or forced stop input. (26-pin connector) For the signal layout, refer to the following. Page 23 Specifications of Interfaces with External Devices [FX5-SSC-S]

[2] Extension cable Connects to a CPU module, etc.

[3] Direct mounting hole: 2 holes of 4.5 (0.18") (mounting screw: M4 screw)

Holes which are used when installed directly.

[4] Axis display LED For details, refer to the following. Page 19 LED Display Specifications[5] POWER LED

[6] RUN LED

[7] ERROR LED

[8] Extension connector Connects to an expansion module on the next tier.

[9] DIN rail mounting groove Using this slot, the module can be mounted to DIN rail "DIN46277" (width: 35 mm (1.38 inch)).

[10] Rating plate Serial No. etc., are printed.

[11] DIN rail mounting hook Hook which is used for mounting the module onto the DIN rail.

[12] Pullout tab Tab for removing from a CPU module, etc.

[13] Power supply connector Connects a module to the power.

[14] SSCNET cable connector Connects to a servo amplifier.

[1]

[3] [4]

[4]

[4]

[9]

[11]

[10]

[8]

[14]

[5] [6] [7]

[2]

[13]

2-4.5 Mounting hole

[12]

Axis display LED for FX5-40SSC-S

Axis display LED for FX5-80SSC-S

1 PART NAMES 17

18

Part names [FX5-SSC-G] This chapter describes the part names of the FX5-SSC-G.

No. Name Description [1] Modular jack (RJ45)

(with cap) A port used to connect to CC-Link IE TSN. Connect an ethernet cable to this port. For the wiring and precautions when wiring, refer to the following. Page 63 Wiring [FX5-SSC-G]

[2] Extension cable Connects to a CPU module, etc.

[3] Direct mounting hole: 2 holes of 4.5 (0.18") (mounting screw: M4 screw)

Holes which are used when installed directly.

[4] POWER LED For details, refer to the following. Page 20 LED display specifications [FX5-SSC-G][5] RUN LED

[6] ERROR LED

[7] Extension connector Connects to an expansion module on the next tier.

[8] DIN rail mounting groove Using this slot, the module can be mounted to DIN rail "DIN46277" (width: 35 mm (1.38 inch)).

[9] Rating plate Serial No. etc., are printed.

[10] DIN rail mounting hook Hook which is used for mounting the module onto the DIN rail.

[11] Pullout tab Tab for removing from a CPU module, etc.

[12] Power supply connector Connects a module to the power.

[1]

[3]

[8]

[10]

[9]

[7]

[4] [5] [6]

[2]

[12]

2-4.5 Mounting hole

[11]

1 PART NAMES

1

1.1 LED Display Specifications

LED display specifications [FX5-SSC-S] This section lists LED display specifications for FX5-SSC-S. : OFF, : ON, : Flashing

*1 When the power is supplied for the Simple Motion module, the POWER LED turns ON. When the power is not supplied, all LEDs including the POWER LED turn OFF.

*2 When an error occurs in the synchronous encoder axis or the command generation axis, only the ERROR LED operates. (The AX LED does not operate.)

*3 When all axes are stopped or on standby, the AX LED turns OFF. *4 When any of the axes is in operation, the AX LED turns ON. *5 When an error occurs in any of the axes, the AX LED is flashing.

Simple Motion module status LED display Description

4-axis module 8-axis module Normal operation AX1

AX2 AX3 AX4

AX1-8 *3 The axes stopped The axes on standby

POWER *1

RUN ERROR

POWER *1

RUN ERROR

AX1 AX2 AX3 AX4

AX1-8 *4 The axis in operation

POWER *1

RUN ERROR

POWER *1

RUN ERROR

Operation failure AX1 *2

AX2 AX3 AX4

AX1-8 *2*5 Minor error

POWER *1

RUN ERROR

POWER *1

RUN ERROR

AX1 AX2 AX3 AX4

AX1-8 Moderate error Watchdog timer error

POWER *1

RUN ERROR

POWER *1

RUN ERROR

1 PART NAMES 1.1 LED Display Specifications 19

20

LED display specifications [FX5-SSC-G] This section lists LED display specifications for FX5-SSC-G. : OFF, : ON, : Flashing

*1 Includes cyclic transmission and transient transmission data for CC-Link IE TSN. The error status can be categorized as shown below based on the ON status of the RUN LED and ERROR LED. When multiple errors occur, the error status is displayed in the order of Major error > Moderate error > Minor error.

LED Description LED display Status READY LED Displays the PLC READY status. READY PLC READY ON

READY PLC READY OFF

POWER LED Displays the power status. POWER Power ON

POWER Power OFF

RUN LED Displays the operation status. RUN Normal operation

RUN Error occurring

ERROR LED Displays the error status. ERROR Error occurring

ERROR 200 ms interval: error occurring 500 ms interval: erroneous data link station detected

ERROR Normal operation

D LINK LED Displays the data link status. D LINK Data link (cyclic transmission)

D LINK Data link (cyclic transmission stopped)

D LINK Data link not started (released)

SD/RD LED Displays the data transmit status. SD/RD Data*1 transmission in progress

SD/RD Data*1 transmission not in progress

L ER LED Displays the port status. L ER Abnormal data received

L ER Normal data received

LINK LED Displays the link status. LINK Link up

LINK Link down

RUN LED ERROR LED Error status Description OFF ON or flashing Major error An error in which the module stops operation because of a hardware error or memory

error, etc.

ON Flashing Moderate error An error related to module operation in which the module stops operation because of a parameter error, etc.

ON ON Minor error An error, such as a communication, positioning control, or program error, in which the module continues operation.

1 PART NAMES 1.1 LED Display Specifications

2

2 SPECIFICATIONS This chapter describes the specifications of the FX5-SSC-S/FX5-SSC-G.

2.1 General Specifications General specifications except the following are the same as the connected CPU module. Refer to the CPU module User's Manual for the general specifications that can be used.

2.2 Power Supply Specifications

2.3 Performance Specifications This section lists the performance specifications.

Items Specifications Operating ambient temperature 0 to 55

Dielectric withstand voltage 500 V AC for 1 minute Between all terminals and ground terminal

Insulation resistance 10 M or higher by 500 V DC insulation resistance tester

Items Specifications

FX5-SSC-S FX5-SSC-G External power supply Power supply voltage 24 V DC +20% -15%

Permitted instantaneous power failure time Operation continues when the instantaneous power failure is shorter than 5 ms.

Electricity consumption 6 W 5.8 W

Power fuse 1 A

Internal power supply PLC power supply Not used.

Item Description

FX5-40SSC-S FX5-80SSC-S FX5-40SSC-G FX5-80SSC-G Number of controlled axes 4 axes 8 axes 4 axes 8 axes

Operation cycle 0.888 ms/1.777 ms 0.500 ms/1.000 ms/2.000 ms/4.000 ms

Interpolation function 2-, 3-, or 4-axis linear interpolation, 2-axis circular interpolation

Control method PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speed-position switching control, position-speed switching control, speed-torque control

Control unit mm, inch, degree, pulse

Positioning data 600 data/axis

Execution data backup function Parameters, positioning data, and block start data can be saved on flash ROM. (battery-less backup)

2 SPECIFICATIONS 2.1 General Specifications 21

22

*1 The speed-position switching control (ABS mode) can be used only when the control unit is "degree". *2 When "Speed control 10 times multiplier setting for degree axis function" is valid, the setting range is 0.01 to 20000000.00 (degree/min). *3 Time from accepting the positioning start signal until BUSY signal turns ON. *4 AWG24 (0.2 mm2) is recommended.

CC-Link IE TSN [FX5-SSC-G] For details of the performance specifications of CC-Link IE TSN, refer to "Performance Specifications of CC-Link IE TSN" in the following manual. MELSEC iQ-F FX5 Motion Module Users Manual (CC-Link IE TSN)

Positioning Positioning system PTP control: Incremental system/absolute system Speed-position switching control: Incremental system/absolute system Position-speed switching control: Incremental system Path control: Incremental system/absolute system

Positioning range In absolute system -214748364.8 to 214748364.7 (m) -21474.83648 to 21474.83647 (inch) 0 to 359.99999 (degree) -2147483648 to 2147483647 (pulse)

In incremental system -214748364.8 to 214748364.7 (m) -21474.83648 to 21474.83647 (inch) -21474.83648 to 21474.83647 (degree) -2147483648 to 2147483647 (pulse)

In speed-position switching control (INC mode)/position-speed switching control 0 to 214748364.7 (m) 0 to 21474.83647 (inch) 0 to 21474.83647 (degree) 0 to 2147483647 (pulse)

In speed-position switching control (ABS mode)*1

0 to 359.99999 (degree)

Speed command 0.01 to 20000000.00 (mm/min) 0.001 to 2000000.000 (inch/min) 0.001 to 2000000.000 (degree/min)*2

1 to 1000000000 (pulse/s)

Acceleration/deceleration process Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

Acceleration/deceleration time 1 to 8388608 (ms) (Four patterns can be set for each of acceleration time and deceleration time.)

Rapid stop deceleration time 1 to 8388608 (ms)

Starting time*3 1.777 ms For an operation cycle of 0.500 ms: 0.4 to 1.0 ms

For an operation cycle of 1.000 ms: 0.4 to 1.5 ms

For an operation cycle of 2.000 ms: 0.4 to 2.8 ms

For an operation cycle of 4.000 ms: 0.4 to 4.5 ms

External wiring connection system 26-pin connector

Applicable wire size*4 AWG30 to 24 (0.05 to 0.2 mm2) *4

External input wiring connector LD77MHIOCON

Distance between stations (maximum) SSCNET/H: 100 m (328.08 ft.) SSCNET: 50 m (164.04 ft.)

100 m (328.08 ft.)

Manual pulse generator/Incremental synchronous encoder input maximum frequency

Differential-output type

Up to 1 Mpulses/s

Open-collector type

Up to 200 kpulses/s

Manual pulse generator 1 pulse input magnification 1 to 10000 times

Flash ROM write count Max. 100000 times

Number of occupied I/O points 8 points

Mass Approx. 0.3 kg

Item Description

FX5-40SSC-S FX5-80SSC-S FX5-40SSC-G FX5-80SSC-G

2 SPECIFICATIONS 2.3 Performance Specifications

2

2.4 Specifications of Interfaces with External Devices [FX5-SSC-S]

Electrical specifications of input signals

External input signal/switching signal Specifications of external input signal/switching signal

Forced stop input Specifications of forced stop input signal

Item Specifications Signal name Proximity dog signal

External input signal/Switching signal

Number of input points 4 points

Input method Positive common/Negative common shared

Common terminal arrangement 4 points/common (Common contact: COM)

Isolation method Photocoupler

Rated input voltage 24 V DC

Rated input current (IIN) Approx. 5 mA

Operating voltage range 19.2 to 26.4 V DC (24 V DC+10/-20%, ripple ratio 5% or less)

ON voltage/current 17.5 V DC or more/3.5 mA or more

OFF voltage/current 7 V DC or less/1 mA or less

Input resistance Approx. 6.8 k

Response time OFF ON 1 ms or less

ON OFF

Item Specifications Number of input points 1 point

Input method Positive common/Negative common shared

Common terminal arrangement 1 point/common (Common contact: EMI.COM)

Isolation method Photocoupler

Rated input voltage 24 V DC

Rated input current (IIN) Approx. 5 mA

Operating voltage range 19.2 to 26.4 V DC (24 V DC+10/-20%, ripple ratio 5% or less)

ON voltage/current 17.5 V DC or more/3.5 mA or more

OFF voltage/current 7 V DC or less/1 mA or less

Input resistance Approx. 6.8 k

Response time OFF ON 4 ms or less

ON OFF

2 SPECIFICATIONS 2.4 Specifications of Interfaces with External Devices [FX5-SSC-S] 23

24

Manual pulse generator/Incremental synchronous encoder input Specifications of manual pulse generator/incremental synchronous encoder

*1 Set the signal input form in "[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection".

*2 Maximum input pulse frequency is magnified by 4, when "A-phase/B-phase Magnification by 4" is set in "[Pr.24] Manual pulse generator/ Incremental synchronous encoder input selection".

Item Specifications Signal input form*1 A-phase/B-phase (Magnification by 4/Magnification by 2/Magnification by 1),

PULSE/SIGN

Differential-output type (26LS31 or equivalent)

Maximum input pulse frequency 1 Mpulses/s (After magnification by 4, up to 4 Mpulses/s)*2

Pulse width 1 s or more

Leading edge/trailing edge time 0.25 s or less

Phase difference 0.25 s or more

Rated input voltage 5.5 V DC or less

High-voltage 2.0 to 5.25 V DC

Low-voltage 0 to 0.8 V DC

Differential voltage 0.2 V

Cable length Up to 30 m (98.43 ft.)

Example of waveform

Voltage-output type/Open-collector type (5 V DC)

Maximum input pulse frequency 200 kpulses/s (After magnification by 4, up to 800 kpulses/s)*2

Pulse width 5 s or more

Leading edge/trailing edge time 1.2 s or less

Phase difference 1.2 s or more

Rated input voltage 5.5 V DC or less

High-voltage 3.0 to 5.25 V DC/2 mA or less

Low-voltage 0 to 1.0 V DC/5 mA or more

Cable length Up to 10 m (32.81 ft.)

Example of waveform

[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection

[Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection

Positive logic Negative logic A-phase/B-phase

PULSE/SIGN

A-phase

0.5 s or more 1 s or more

B-phase

0.25 s or less

0.25 s or less

0.5 s or more

0.25 s or more

(Note): Duty ratio 50%

A-phase

2.5 s or more

5 s or more

B-phase

1.2 s or less

1.2 s or less

2.5 s or more

1.2 s or more

(Note): Duty ratio 50%

Forward run Reverse run Forward run Reverse run

Forward run Reverse run

HIGH LOW

Forward run Reverse run

HIGHLOW

2 SPECIFICATIONS 2.4 Specifications of Interfaces with External Devices [FX5-SSC-S]

2

2.5 External Circuit Design Configure up the power supply circuit and main circuit which turn off the power supply after detection alarm occurrence and servo forced stop. When designing the main circuit of the power supply, make sure to use a circuit breaker (MCCB). The outline diagrams for the external device connection interface are shown below.

2 SPECIFICATIONS 2.5 External Circuit Design 25

26

External circuit design [FX5-SSC-S] Example when using the forced stop of the Simple Motion module (For MR-J4-B)

0

1

2

Emergency stop

RA1*1 Alarm

ON Ready OFF

3-phase 200 to 230 V AC

R S T CP1

MCCB1

L N

EMI

EMI.COM Emergency stop*5

Yn

FX5U CPU module Simple Motion module

SSCNET(/H)

CP3 +24V 24G

CP2 +24V

24G

24 V DC Power supply*8

(Red)(Black)(Green)

24 V DC Power supply*8

EMG

EMG

RA1

Ready

MC1 to 3 SK *7

SK *7

SK

Surge suppressor

*7

U V W

Ground

RA2

*6 MCCB2 MC1

COM

M

*2

Electro- magnetic brake

MC1 MC2 MC3

L1 L2 L3

U

W V

L11

L21

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

A

*4

MR-J4-B

*6 MCCB3 MC2

*6 MCCB4 MC3

SSCNET(/H)

U B

U V W

Ground

M

*2

Electro- magnetic brake UB

U V W

Ground

M

*2

Electro- magnetic brake UB

24 V DC*3

RA2

L1 L2 L3

U

W V

L11

L21

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

B

*4

MR-J4-B

24 V DC*3

RA3

L1 L2 L3

U

W V

L11

L21

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

C

*4

MR-J4-B

24 V DC*3

RA4

RA3

RA4

2 SPECIFICATIONS 2.5 External Circuit Design

2

*1 Configure up the power supply circuit which switches off the electromagnetic contactor (MC) after detecting the alarm occurrence on the CPU module.

*2 It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. *3 It is also possible to perform the forced stop using a forced stop terminal of the servo amplifier. *4 Set the axis selection rotary switch of servo amplifier as follows to set the axis No. of servo amplifier.

Axis 1: 0, Axis 2: 1, Axis 3: 2, Axis 4: 3 *5 The status of forced stop input signal can be confirmed with "[Md.50] Forced stop input". Be sure that the forced stop 24 V DC power

supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply. *6 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor. *7 The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor (MC) near the servo amplifier.

Refer to the servo amplifier instruction manual for selection of the surge suppressor. *8 Wire the electromagnetic brake power supply and the control power supply using a separate power supply.

Precautions Be sure to shut off both of main circuit power supply L1/L2/L3 and control power supply L11/L21 after disconnection of

SSCNET communication by the connect/disconnect function of SSCNET communication at the time of exchange of servo amplifier. At this time, it is not possible to communicate between the servo amplifier and Simple Motion module. Therefore, be sure to exchange the servo amplifier after stopping the operating of machine beforehand.

If the emergency stop signal of the Simple Motion module turns OFF when setting "[Pr.82] Forced stop valid/invalid selection" to "0: Valid (External input signal)", servo motor is stopped by dynamic brake. (The LED display of servo amplifier indicates "E7.1" (Controller forced stop input warning).)

When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.

Ex.

When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to communicate with the servo amplifier C. If only a specific servo amplifier main circuit power supply is shut off, be sure to shut off the main circuit power supply L1/L2/ L3, and do not shut off the control power supply L11/L21.

2 SPECIFICATIONS 2.5 External Circuit Design 27

28

Example when using the forced stop of the Simple Motion module (For MR-JE-B(F))

The hot line forced stop function is enabled at the MR-JE-B(F) factory-set. (Only MR-JE-B(F)) This function is used to execute deceleration stop for all axes by outputting the hot line forced stop signal to

all axes and generating "E7.1" (Controller forced stop input warning) at the alarm occurrence. This function can be disabled by the servo parameter (PA27). For using the MR-JE-B(F), configure up the power supply circuit which switches off the all axes

electromagnetic contactor (MC) from the CPU module after detecting the alarm occurrence on the CPU module.

U

Emergency stop

RA1*1 Alarm

MC1 to 3 SK

ON Ready OFF

*7 SK

*7 SK

Surge suppressor *7

L1 L2 L3

U

W V

CN1A

CN1B

DICOM MBR

EM2/1 DOCOM

24 V DC

U V W

*3

Ground

L1 L2 L3

U

W V

CN1A

CN1B

DICOM MBR

EM2/1 DOCOM

24 V DC

U V W

*3

Ground

A

B

L1 L2 L3

U

W V

CN1A

CN1B

DICOM MBR

EM2/1 DOCOM

24 V DC

U V W

*3

Ground

C

0

1

2

*4

*4

*4

RA2

RA3

RA4

*6 MCCB2 MC1

*6 MCCB3 MC2

*6 MCCB4 MC3

COM

3-phase 200 to 230 V AC

R S T CP1

MCCB1

L N

EMI

EMI.COM Emergency stop*5

Yn

FX5U CPU module Simple Motion module

SSCNET (/H)

SSCNET (/H)

CP3 +24V 24G

M

*2

Electro- magnetic brake

CP2 +24V 24G

24 V DC Power supply*8

(Red)(Black)(Green)

24 V DC Power supply*8

MR-JE-B(F)

MR-JE-B(F)

MR-JE-B(F)

M

*2

Electro- magnetic brake

*2

B

UB

UB

EMG

EMG MC1 MC2 MC3

RA1

RA2

RA3

RA4

M

Electro- magnetic brake

Ready

2 SPECIFICATIONS 2.5 External Circuit Design

2

*1 Configure up the power supply circuit which switches off the electromagnetic contactor (MC) after detecting the alarm occurrence on the CPU module.

*2 It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. *3 It is also possible to perform the forced stop using a forced stop terminal of the servo amplifier. *4 Set the axis selection rotary switch of servo amplifier as follows to set the axis No. of servo amplifier.

Axis 1: 0, Axis 2: 1, Axis 3: 2, Axis 4: 3 *5 The status of forced stop input signal can be confirmed with "[Md.50] Forced stop input". Be sure that the forced stop 24 V DC power

supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply. *6 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor. *7 The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor (MC) near the servo amplifier.

Refer to the servo amplifier instruction manual for selection of the surge suppressor. *8 Wire the electromagnetic brake power supply and the control power supply using a separate power supply.

Precautions Be sure to shut off power supply L1/L2/L3 after disconnection of CC-Link IE TSN communication by the connect/disconnect

function of CC-Link IE TSN communication at the time of exchange of servo amplifier. At this time, it is not possible to communicate between the servo amplifier and Simple Motion module. Therefore, be sure to exchange the servo amplifier after stopping the operating of machine beforehand.

If the emergency stop signal of the Simple Motion module turns OFF when setting "[Pr.82] Forced stop valid/invalid selection" to "0: Valid (External input signal)", servo motor is stopped by dynamic brake. (The LED display of servo amplifier indicates "E7.1" (Controller forced stop input warning).)

When the power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.

2 SPECIFICATIONS 2.5 External Circuit Design 29

30

Example when using the forced stop of the Simple Motion module and MR-JE-B(F)

The hot line forced stop function is enabled at the MR-JE-B(F) factory-set. (Only MR-JE-B(F)) This function is used to execute deceleration stop for all axes by outputting the hot line forced stop signal to

all axes and generating "E7.1" (Controller forced stop input warning) at the alarm occurrence. This function can be disabled by the servo parameter (PA27). For using the MR-JE-B(F), configure up the power supply circuit which switches off the all axes

electromagnetic contactor (MC) from the CPU module after detecting the alarm occurrence on the CPU module.

CP2 +24V 24G

CP3 +24V 24G

RA1*1 Alarm

MC1 to 3 SK

Ready ON

Ready OFF

*6 SK

*6 SK

Surge suppressor *6

L1 L2 L3

MR-JE-B(F) U

W V

CN1A

CN1B

DICOM MBR

EM2/1 DOCOM

U V W

L1 L2 L3

U

W V

CN1A

CN1B

DICOM MBR

EM2/1 DOCOM

U V

W

A

B

L1 L2 L3

U

W V

CN1A

CN1B

DICOM MBR

EM2/1 DOCOM

U V

WC

0

1

2

*3

RA3

RA4

RA5

*4 MCCB2 MC1

*4 MCCB3 MC2

*4 MCCB4 MC3

MCCB1

L N

COM

Yn

SSCNET (/H)

SSCNET (/H) RA2

RA2

RA2

R S T CP1

EMI

EMI.COM Emergency stop*5

FX5U CPU module Simple Motion module

(Red)(Black)(Green)

3-phase 200 to 230 V AC

24 V DC Power supply*7

24 V DC Power supply*7

Emergency stop

MR-JE-B(F)

*3

24 V DC

24 V DC

MR-JE-B(F)

*3

24 V DC

Ground

M

*2

Electro- magnetic brake

Ground

M

*2

Electro- magnetic brake

Ground

M

*2

Electro- magnetic brake

EMG

EMG

RA1

RA2

MC1 MC2 MC3

RA3

RA4

RA5

UB

UB

UB

2 SPECIFICATIONS 2.5 External Circuit Design

2

*1 Configure up the power supply circuit which switches off the electromagnetic contactor (MC) after detecting the alarm occurrence on the CPU module.

*2 It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. *3 Set the axis selection rotary switch of servo amplifier as follows to set the axis No. of servo amplifier.

Axis 1: 0, Axis 2: 1, Axis 3: 2, Axis 4: 3 *4 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor. *5 The status of forced stop input signal can be confirmed with "[Md.50] Forced stop input". Be sure that the forced stop 24 V DC power

supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply. *6 The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor (MC) near the servo amplifier.

Refer to the servo amplifier instruction manual for selection of the surge suppressor. *7 Wire the electromagnetic brake power supply and the control power supply using a separate power supply.

Precautions Be sure to shut off power supply L1/L2/L3 after disconnection of CC-Link IE TSN communication by the connect/disconnect

function of CC-Link IE TSN communication at the time of exchange of servo amplifier. At this time, it is not possible to communicate between the servo amplifier and Simple Motion module. Therefore, be sure to exchange the servo amplifier after stopping the operating of machine beforehand.

The dynamic brake operates and servo motor occurs to the free run when EM1 (forced stop) of the servo amplifier is turned OFF. At the time, the display shows "E6.1" (Forced stop warning). During ordinary operation, do not use EM1 (forced stop) of the servo amplifier to alternate stop and run. The service life of the servo amplifier may be shortened.

When the power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.

2 SPECIFICATIONS 2.5 External Circuit Design 31

32

Example when using the forced stop of the Simple Motion module and MR-J4-B

0

1

2

CP2 +24V 24G

CP3 +24V 24G

EMG

R S T CP1

MCCB1

L N

SSCNET(/H)

EMI

EMI.COM

COM

Yn RA1

RA2

RA1*1

MC1 to 3 SK

ONOFF

*6 SK

*6 SK

*6 EMG MC1 MC2 MC3

L1 L2 L3

U

W V

L11 L21

CN1A

CN1B

DICOM MBR

EM2/1 DOCOM

24 V DC

U V W

*2

A

*3

RA3

*4 MCCB2 MC1

SSCNET(/H) RA2

MR-J4-B M

UB

RA3

*2

L1 L2 L3

U

W V

L11 L21

CN1A

CN1B

DICOM MBR

EM2/1 DOCOM

24 V DC

U V

W B

*3

RA4

*4 MCCB3 MC2

RA2

MR-J4-B M

UB

RA4

L1 L2 L3

U

W V

L11 L21

CN1A

CN1B

DICOM MBR

EM2/1 DOCOM

24 V DC

U V

W C

*3

RA5

*4 MCCB4 MC3

*2

RA2

MR-J4-B M

UB

RA5

FX5U CPU module Simple Motion module

3-phase 200 to 230 V AC

(Red)(Black)(Green)

24 V DC Power supply*7

24 V DC Power supply*7

Alarm ReadyReady

Emergency stop

Surge suppressor

Ground Electro- magnetic brake

Ground Electro- magnetic brake

Ground Electro- magnetic brake

Emergency stop*5

2 SPECIFICATIONS 2.5 External Circuit Design

2

*1 Configure up the power supply circuit which switches off the electromagnetic contactor (MC) after detecting the alarm occurrence on the CPU module.

*2 It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. *3 Set the axis selection rotary switch of servo amplifier as follows to set the axis No. of servo amplifier.

Axis 1: 0, Axis 2: 1, Axis 3: 2, Axis 4: 3 *4 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor. *5 The status of forced stop input signal can be confirmed with "[Md.50] Forced stop input". Be sure that the forced stop 24 V DC power

supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply. *6 The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor (MC) near the servo amplifier.

Refer to the servo amplifier instruction manual for selection of the surge suppressor. *7 Wire the electromagnetic brake power supply and the control power supply using a separate power supply.

Precautions Be sure to shut off both of main circuit power supply L1/L2/L3 and control power supply L11/L21 after disconnection of

SSCNET communication by the connect/disconnect function of SSCNET communication at the time of exchange of servo amplifier. At this time, it is not possible to communicate between the servo amplifier and Simple Motion module. Therefore, be sure to exchange the servo amplifier after stopping the operating of machine beforehand.

The dynamic brake operates and servo motor occurs to the free run when EM1 (forced stop) of the servo amplifier is turned OFF. At the time, the display shows "E6.1" (Forced stop warning). During ordinary operation, do not use EM1 (forced stop) of the servo amplifier to alternate stop and run. The service life of the servo amplifier may be shortened.

When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.

Ex.

When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to communicate with the servo amplifier C. If only a specific servo amplifier main circuit power supply is shut off, be sure to shut off the main circuit power supply L1/L2/ L3, and do not shut off the control power supply L11/L21.

2 SPECIFICATIONS 2.5 External Circuit Design 33

34

External circuit design [FX5-SSC-G] Example when using the forced stop of the Motion module (For MR-J5-G)

RA1*1 Alarm

ON Ready OFF

3-phase 200 to 230 V AC

R S T CP1

MCCB1

L N

Yn

FX5U CPU module (Relay output)

Motion module

CC-Link IE TSN

CP3 +24V 24G

CP2 +24V

24G

24 V DC Power supply*8

(Red)(Black)(Green)

24 V DC Power supply*8

RA1

Ready

MC1 to 3 SK *7

SK *7

SK

Surge suppressor

*7

U V W

Ground

RA2

*6 MCCB2 MC1

COM

M

*2

Electro- magnetic brake

MC1 MC2 MC3

L1 L2 L3

U

W V

L11

L21

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

MR-J5-G

*6 MCCB3 MC2

*6 MCCB4 MC3

U B

U V W

Ground

M

*2

Electro- magnetic brake UB

U V W

Ground

M

*2

Electro- magnetic brake UB

24 V DC*3

RA2

L1 L2 L3

U

W V

L11

L21

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

MR-J5-G

24 V DC*3

RA3

L1 L2 L3

U

W V

L11

L21

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

C

MR-J5-G

24 V DC*3

RA4

RA3

RA4

A

B

EMG

S/S

Xn

*4*5

Emergency stop EMG

CC-Link IE TSN

2 SPECIFICATIONS 2.5 External Circuit Design

2

*1 Configure up the power supply circuit which switches off the electromagnetic contactor (MC) after detecting the alarm occurrence on the CPU module.

*2 It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. *3 It is also possible to perform the forced stop using a forced stop terminal of the servo amplifier. *4 It is also possible to perform the forced stop using the emergency stop function of the Motion module.

For details, refer to "Functions to Limit the Control" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module Users Manual (Application)

*5 The status of forced stop input signal can be confirmed with "[Md.50] Forced stop input". *6 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor. *7 The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor (MC) near the servo amplifier.

Refer to the servo amplifier instruction manual for selection of the surge suppressor. *8 Wire the electromagnetic brake power supply and the control power supply using a separate power supply.

Precautions Be sure to shut off both of main circuit power supply L1/L2/L3 and control power supply L11/L21 after disconnection of CC-

Link IE TSN communication by the connect/disconnect function of CC-Link IE TSN communication at the time of exchange of servo amplifier. At this time, it is not possible to communicate between the servo amplifier and Simple Motion module. Therefore, be sure to exchange the servo amplifier after stopping the operating of machine beforehand.

If the emergency stop signal of the Motion module turns OFF when setting "[Pr.82] Forced stop valid/invalid selection" to "0: Valid (Buffer memory)", servo motor is stopped by dynamic brake.

When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.

Ex.

When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to communicate with the servo amplifier C. If only a specific servo amplifier main circuit power supply is shut off, be sure to shut off the main circuit power supply L1/L2/ L3, and do not shut off the control power supply L11/L21.

2 SPECIFICATIONS 2.5 External Circuit Design 35

36

Example when using the forced stop of the Motion module (For MR-JET-G)

RA1*1 Alarm

ON Ready OFF

3-phase 200 to 230 V AC

R S T CP1

MCCB1

L N

Yn

FX5U CPU module (Relay output)

Motion module

CC-Link IE TSN

CP3 +24V 24G

CP2 +24V

24G

24 V DC Power supply*8

(Red)(Black)(Green)

24 V DC Power supply*8

RA1

Ready

MC1 to 3 SK *7

SK *7

SK

Surge suppressor

*7

U V W

Ground

RA2

*6 MCCB2 MC1

COM

M

*2

Electro- magnetic brake

MC1 MC2 MC3

L1 L2 L3

U

W V

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

MR-JET-G

*6 MCCB3 MC2

*6 MCCB4 MC3

U B

U V W

Ground

M

*2

Electro- magnetic brake UB

U V W

Ground

M

*2

Electro- magnetic brake UB

24 V DC*3

RA2

L1 L2 L3

U

W V

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

MR-JET-G

24 V DC*3

RA3

L1 L2 L3

U

W V

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

C

MR-JET-G

24 V DC*3

RA4

RA3

RA4

A

B

EMG

S/S

Xn

*4*5

Emergency stop EMG

CC-Link IE TSN

2 SPECIFICATIONS 2.5 External Circuit Design

2

*1 Configure up the power supply circuit which switches off the electromagnetic contactor (MC) after detecting the alarm occurrence on the CPU module.

*2 It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. *3 It is also possible to perform the forced stop using a forced stop terminal of the servo amplifier. *4 It is also possible to perform the forced stop using the emergency stop function of the Motion module.

For details, refer to "Functions to Limit the Control" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module Users Manual (Application)

*5 The status of forced stop input signal can be confirmed with "[Md.50] Forced stop input". *6 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor. *7 The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor (MC) near the servo amplifier.

Refer to the servo amplifier instruction manual for selection of the surge suppressor. *8 Wire the electromagnetic brake power supply and the control power supply using a separate power supply.

Precautions Be sure to shut off power supply L1/L2/L3 after disconnection of CC-Link IE TSN communication by the connect/disconnect

function of CC-Link IE TSN communication at the time of exchange of servo amplifier. At this time, it is not possible to communicate between the servo amplifier and Simple Motion module. Therefore, be sure to exchange the servo amplifier after stopping the operating of machine beforehand.

If the emergency stop signal of the Motion module turns OFF when setting "[Pr.82] Forced stop valid/invalid selection" to "0: Valid (Buffer memory)", servo motor is stopped by dynamic brake.

When the power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.

2 SPECIFICATIONS 2.5 External Circuit Design 37

38

Example when using the forced stop of the Motion module and MR-J5-G

RA1*1 Alarm

ON Ready OFF

3-phase 200 to 230 V AC

R S T CP1

MCCB1

L N

Yn

FX5U CPU module (Relay output)

Motion module

CC-Link IE TSN

CP3 +24V 24G

CP2 +24V

24G

24 V DC Power supply*7

(Red)(Black)(Green)

24 V DC Power supply*7

RA1

Ready

MC1 to 3 SK *6

SK *6

SK

Surge suppressor

*6

U V W

Ground

RA3

*5 MCCB2 MC1

COM

M

*2

Electro- magnetic brake

MC1 MC2 MC3

L1 L2 L3

U

W V

L11

L21

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

MR-J5-G

*5 MCCB3 MC2

*5 MCCB4 MC3

U B

U V W

Ground

M

*2

Electro- magnetic brake UB

U V W

Ground

M

*2

Electro- magnetic brake UB

24 V DC

RA3

L1 L2 L3

U

W V

L11

L21

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

MR-J5-G

24 V DC

RA4

L1 L2 L3

U

W V

L11

L21

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

C

MR-J5-G

24 V DC

RA5

RA4

RA5

A

B

EMG

S/S

Xn

*3*4

Emergency stop EMG

RA2

CC-Link IE TSN RA2

RA2

RA2

2 SPECIFICATIONS 2.5 External Circuit Design

2

*1 Configure up the power supply circuit which switches off the electromagnetic contactor (MC) after detecting the alarm occurrence on the CPU module.

*2 It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. *3 It is also possible to perform the forced stop using the emergency stop function of the Motion module.

For details, refer to "Functions to Limit the Control" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module Users Manual (Application)

*4 The status of forced stop input signal can be confirmed with "[Md.50] Forced stop input". Be sure that the forced stop 24 V DC power supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply.

*5 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor. *6 The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor (MC) near the servo amplifier.

Refer to the servo amplifier instruction manual for selection of the surge suppressor. *7 Wire the electromagnetic brake power supply and the control power supply using a separate power supply.

Precautions Be sure to shut off both of main circuit power supply L1/L2/L3 and control power supply L11/L21 after disconnection of CC-

Link IE TSN communication by the connect/disconnect function of CC-Link IE TSN communication at the time of exchange of servo amplifier. At this time, it is not possible to communicate between the servo amplifier and Simple Motion module. Therefore, be sure to exchange the servo amplifier after stopping the operating of machine beforehand.

The dynamic brake operates and servo motor occurs to the free run when EM1 (forced stop) of the servo amplifier is turned OFF. At the time, the display shows "0E6.1" (Forced stop warning). During ordinary operation, do not use EM1 (forced stop) of the servo amplifier to alternate stop and run. The service life of the servo amplifier may be shortened.

When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.

Ex.

When the control power supply L11/L21 of the servo amplifier B in the figure is shut off, it is also not possible to communicate with the servo amplifier C. If only a specific servo amplifier main circuit power supply is shut off, be sure to shut off the main circuit power supply L1/L2/ L3, and do not shut off the control power supply L11/L21.

2 SPECIFICATIONS 2.5 External Circuit Design 39

40

Example when using the forced stop of the Motion module and MR-JET-G

RA1*1 Alarm

ON Ready OFF

3-phase 200 to 230 V AC

R S T CP1

MCCB1

L N

Yn

FX5U CPU module (Relay output)

Motion module

CC-Link IE TSN

CP3 +24V 24G

CP2 +24V

24G

24 V DC Power supply*7

(Red)(Black)(Green)

24 V DC Power supply*7

RA1

Ready

MC1 to 3 SK *6

SK *6

SK

Surge suppressor

*6

U V W

Ground

RA3

*5 MCCB2 MC1

COM

M

*2

Electro- magnetic brake

MC1 MC2 MC3

L1 L2 L3

U

W V

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

MR-JET-G

*5 MCCB3 MC2

*5 MCCB4 MC3

U B

U V W

Ground

M

*2

Electro- magnetic brake UB

U V W

Ground

M

*2

Electro- magnetic brake UB

24 V DC

RA3

L1 L2 L3

U

W V

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

MR-JET-G

24 V DC

RA4

L1 L2 L3

U

W V

CN1A

CN1B

DICOM

MBR

EM2/1

DOCOM

C

MR-JET-G

24 V DC

RA5

RA4

RA5

A

B

EMG

S/S

Xn

*3*4

Emergency stop EMG

RA2

CC-Link IE TSN RA2

RA2

RA2

2 SPECIFICATIONS 2.5 External Circuit Design

2

*1 Configure up the power supply circuit which switches off the electromagnetic contactor (MC) after detecting the alarm occurrence on the CPU module.

*2 It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. *3 It is also possible to perform the forced stop using the emergency stop function of the Motion module.

For details, refer to "Functions to Limit the Control" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module Users Manual (Application)

*4 The status of forced stop input signal can be confirmed with "[Md.50] Forced stop input". Be sure that the forced stop 24 V DC power supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply.

*5 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor. *6 The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor (MC) near the servo amplifier.

Refer to the servo amplifier instruction manual for selection of the surge suppressor. *7 Wire the electromagnetic brake power supply and the control power supply using a separate power supply.

Precautions Be sure to shut off power supply L1/L2/L3 after disconnection of CC-Link IE TSN communication by the connect/disconnect

function of CC-Link IE TSN communication at the time of exchange of servo amplifier. At this time, it is not possible to communicate between the servo amplifier and Simple Motion module. Therefore, be sure to exchange the servo amplifier after stopping the operating of machine beforehand.

The dynamic brake operates and servo motor occurs to the free run when EM1 (forced stop) of the servo amplifier is turned OFF. At the time, the display shows "0E6.1" (Forced stop warning). During ordinary operation, do not use EM1 (forced stop) of the servo amplifier to alternate stop and run. The service life of the servo amplifier may be shortened.

When the power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.

2 SPECIFICATIONS 2.5 External Circuit Design 41

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3 FUNCTION LIST The functions that can be used are restricted depending on the version of the Simple motion module/Motion module software and engineering tool. For details, refer to "Restrictions by the version" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)

3.1 Control Functions The Simple Motion module/Motion module has several functions. Refer to the following manual for details on each function. MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application) In this manual, the Simple Motion module/Motion module functions are categorized and explained as follows.

Main functions

Home position return control "Home position return control" is a function (Fast home position return) that established the start point for carrying out positioning control (Machine home position return), and carries out positioning toward that start point. This is used to return a workpiece, located at a position other than the home position when the power is turned ON or after positioning stop, to the home position. The "home position return control" is pre-registered in the Simple Motion module/Motion module as the "Positioning start data No. 9001 (Machine home position return)", and "Positioning start data No. 9002 (Fast home position return)".

Major positioning control This control is carried out using the "Positioning data" stored in the Simple Motion module/Motion module. Positioning control, such as position control and speed control, is executed by setting the required items in this "positioning data" and starting that positioning data. An "operation pattern" can be set in this "positioning data", and with this whether to carry out control with continuous positioning data (ex.: positioning data No. 1, No. 2, No. 3, etc.) can be set.

High-level positioning control This control executes the "positioning data" stored in the Simple Motion module/Motion module using the "block start data". The following types of applied positioning control can be carried out. Random blocks, handling several continuing positioning data items as "blocks", can be executed in the designated order. "Condition judgment" can be added to position control and speed control. The operation of the positioning data that is set for multiple axes can be started simultaneously. (Command is output

simultaneously to multiple servo amplifiers.) The designated positioning data can be executed repeatedly, etc.

Manual control The Simple Motion module/Motion module executes the random positioning operation by inputting a signal into the Simple Motion module/Motion module from an external device. Use this manual control to move the workpiece to a random position (JOG operation), and to finely adjust the positioning (inching operation, manual pulse generator operation), etc.

Expansion control The following controls other than the positioning control can be executed. Speed control and torque control not including position loop for the command to servo amplifier (Speed-torque control). Synchronous control that uses "advanced synchronous control parameter" to synchronize with the input axis using software

instead of using a mechanical configuration consisting of a gear, shaft, change gear, and cam. (Advanced synchronous control).

3 FUNCTION LIST 3.1 Control Functions

3

The outline of the main functions for positioning control with the Simple Motion module/Motion module is described below.

Main functions Details Home position return control

Machine home position return control Mechanically establishes the positioning start point using a proximity dog, etc. In the data setting method, no axis movement occurs since the current position is set as the home position. (Positioning start No. 9001)

Fast home position return control Positions a target to the home position address ([Md.21] Machine feed value) stored in the Simple Motion module/Motion module using machine home position return. (Positioning start No. 9002)

Major positioning control

Position control

Linear control (1-axis linear control) (2-axis linear interpolation control) (3-axis linear interpolation control) (4-axis linear interpolation control)

Positions a target using a linear path to the address set in the positioning data or to the position designated with the movement amount.

Fixed-feed control (1-axis fixed-feed control) (2-axis fixed-feed control) (3-axis fixed-feed control) (4-axis fixed-feed control)

Positions a target by the movement amount designated with the amount set in the positioning data. (With fixed-feed control, the "[Md.20] Feed current value" is set to "0" when the control is started. With 2-, 3-, or 4-axis fixed-feed control, the fixed-feed is fed along a linear path obtained by interpolation.)

2-axis circular interpolation control

Positions a target using an arc path to the address set in the positioning data, or to the position designated with the movement amount, sub point or center point.

Speed control

Speed control (1-axis speed control) (2-axis speed control) (3-axis speed control) (4-axis speed control)

Continuously outputs the command corresponding to the command speed set in the positioning data.

Speed-position switching control First, carries out speed control, and then carries out position control (positioning with designated address or movement amount) by turning the "speed-position switching signal" ON.

Position-speed switching control First, carries out position control, and then carries out speed control (continuous output of the command corresponding to the designated command speed) by turning the "position-speed switching signal" ON.

Other control

Current value changing Changes the feed current value ([Md.20]) to the address set in the positioning data. The following two methods can be used. (The machine feed value ([Md.21]) cannot be changed.) Current value changing using positioning data Current value changing using current value changing start No. (No. 9003)

NOP instruction No execution control method. When NOP instruction is set, this instruction is not executed and the operation of the next data is started.

JUMP instruction Unconditionally or conditionally jumps to designated positioning data No.

LOOP Carries out loop control with repeated LOOP to LEND.

LEND Returns to the beginning of the loop control with repeated LOOP to LEND.

High-level positioning control

Block start (Normal start) With one start, executes the positioning data in a random block with the set order.

Condition start Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block start data". When the condition is established, the "block start data" is executed. When not established, that "block start data" is ignored, and the next point's "block start data" is executed.

Wait start Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block start data". When the condition is established, the "block start data" is executed. When not established, stops the control until the condition is established. (Waits.)

Simultaneous start Simultaneously executes the designated positioning data of the axis designated with the "condition data". (Outputs commands at the same timing.)

Repeated start (FOR loop) Repeats the program from the block start data set with the "FOR loop" to the block start data set in "NEXT" for the designated number of times.

Repeated start (FOR condition) Repeats the program from the block start data set with the "FOR condition" to the block start data set in "NEXT" until the conditions set in the "condition data" are established.

Manual control

JOG operation Outputs a command to servo amplifier while the JOG start signal is ON.

Inching operation Outputs commands corresponding to minute movement amount by manual operation to servo amplifier. (Performs fine adjustment with the JOG start signal.)

Manual pulse generator operation Outputs pulses commanded with the manual pulse generator to servo amplifier.

3 FUNCTION LIST 3.1 Control Functions 43

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In "major positioning control" ("high-level positioning control"), "Operation pattern" can be set to designate whether to continue executing positioning data. Outlines of the "operation patterns" are given below.

Expansion control

Speed-torque control Carries out the speed control or torque control that does not include the position loop for the command to servo amplifier by switching control mode.

Advanced synchronous control Carries out the synchronous control that synchronizes with the input axis by setting the system such as gear, shaft, change gear and cam to the "advanced synchronous control parameter".

[Da.1] Operation pattern Details Independent positioning control (positioning complete) When "independent positioning control" is set for the operation pattern of the started positioning

data, only the designated positioning data will be executed, and then the positioning will end.

Continuous positioning control When "continuous positioning control" is set for the operation pattern of the started positioning data, after the designated positioning data is executed, the program will stop once, and then the next following positioning data will be executed.

Continuous path control When "continuous path control" is set for the operation pattern of the started positioning data, the designated positioning data will be executed, and then without decelerating, the next following positioning data will be executed.

Main functions Details

3 FUNCTION LIST 3.1 Control Functions

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Sub functions When the main functions are executed, this function compensates and limits controls, or adds functions. The outline of the functions that assist positioning control using the Simple Motion module/Motion module is described below.

Sub function Details Functions characteristic to machine home position return

Home position return retry function [FX5-SSC-S]

This function retries the home position return with the upper/lower limit switches during the machine home position return. This allows machine home position return to be carried out even if the axis is not returned to before the proximity dog with JOG operation, etc.

Home position shift function [FX5-SSC-S]

After returning to the machine home position, this function compensates the position by the designated distance from the machine home position and sets that position as the home position address.

Functions that compensate control

Backlash compensation function

This function compensates the mechanical backlash amount. Feed commands equivalent to the set backlash amount are output each time the movement direction changes.

Electronic gear function By setting the movement amount per pulse, this function can freely change the machine movement amount per commanded pulse. When the movement amount per pulse is set, a flexible positioning system that matches the machine system can be structured.

Near pass function*1 This function suppresses the machine vibration when the speed is changed during continuous path control in the interpolation control.

Functions that limit control

Speed limit function If the command speed exceeds "[Pr.8] Speed limit value" during control, this function limits the commanded speed to within the "[Pr.8] Speed limit value" setting range.

Torque limit function If the torque generated by the servo motor exceeds "[Pr.17] Torque limit setting value" during control, this function limits the generated torque to within the "[Pr.17] Torque limit setting value" setting range.

Software stroke limit function If a command outside of the upper/lower limit stroke limit setting range, set in the parameters, is issued, this function will not execute positioning for that command.

Hardware stroke limit function This function carries out deceleration stop with the hardware stroke limit switch.

Forced stop function This function stops all axes of the servo amplifier with the forced stop signal.

Functions that change control details

Speed change function This function changes the speed during positioning. Set the new speed in the speed change buffer memory ([Cd.14] New speed value), and change the speed with the speed change request ([Cd.15]).

Override function This function changes the speed by a designated percentage during positioning. This is executed using "[Cd.13] Positioning operation speed override".

Acceleration/deceleration time change function

This function changes the acceleration/deceleration time during speed change.

Torque change function This function changes the "torque limit value" during control.

Target position change function

This function changes the target position during positioning. Position and speed can be changed simultaneously.

Functions related to positioning start

Pre-reading start function This function shortens the virtual start time.

Absolute position system This function restores the absolute position of designated axis.

Functions related to positioning stop

Stop command processing for deceleration stop function

Function that selects a deceleration curve when a stop cause occurs during deceleration stop processing to speed 0.

Continuous operation interrupt function

This function interrupts continuous operation. When this request is accepted, the operation stops when the execution of the current positioning data is completed.

Step function This function temporarily stops the operation to confirm the positioning operation during debugging, etc. The operation can be stopped at each "automatic deceleration" or "positioning data".

Other functions Skip function This function stops (decelerates to a stop) the positioning being executed when the skip signal is input, and carries out the next positioning.

M code output function This function issues a command for a sub work (clamp or drill stop, tool change, etc.) according to the code No. (0 to 65535) that can be set for each positioning data.

Teaching function This function stores the address positioned with manual control into the "[Da.6] Positioning address/ movement amount" having the designated positioning data No. ([Cd.39]).

Command in-position function This function calculates the remaining distance for the Simple Motion module/Motion module to reach the positioning stop position. When the value is less than the set value, the "command in-position flag" is set to "1". When using another auxiliary work before ending the control, use this function as a trigger for the sub work.

Acceleration/deceleration processing function

This function adjusts the acceleration/deceleration.

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*1 The near pass function is featured as standard and is valid only for setting continuous path control for position control. It cannot be set to be invalid with parameters.

Other functions Deceleration start flag function

Function that turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control, whose operation pattern is "Positioning complete", to make the stop timing known.

Speed control 10 times multiplier setting for degree axis function

This function executes the positioning control by the 10 times speed of the command speed and the speed limit value when the setting unit is "degree".

Operation setting for incompletion of home position return function

This function is provided to select whether positioning control is operated or not, when the home position return request flag is ON.

Servo ON/OFF Servo ON/OFF This function executes servo ON/OFF for the servo amplifier connected to the Simple motion module/ Motion module.

Follow up function This function monitors the motor rotation amount with the servo turned OFF, and reflects it on the feed current value.

Sub function Details

3 FUNCTION LIST 3.1 Control Functions

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Common functions Common control using the Simple Motion module/Motion module for "Parameter initialization function" or "Execution data backup function" can be carried out. The outline of the functions executed as necessary is described below.

Common functions Details Parameter initialization function This function returns the setting data stored in the buffer memory/internal memory and flash ROM/internal

memory (nonvolatile) of Simple Motion module/Motion module to the default values. The following two methods can be used. Method using a program Method using an engineering tool

Execution data backup function This function writes the execution data being used in the control into the flash ROM/internal memory (nonvolatile). The following two methods can be used. Method using a program Method using an engineering tool

External input signal select function This function sets the input type, input terminal, signal logic and input filter for each external input signal of each axis (upper/lower stroke limit signal (FLS/RLS), proximity dog signal (DOG), and stop signal (STOP)). The function enables the assignment of external input signal of each axis to any terminals of 20 points of the external input connection connector on the Simple Motion module/Motion module.

History monitor function This function monitors start history and current value history of all axes.

Amplifier-less operation function [FX5-SSC-S] This function executes the positioning control of Simple Motion module without connecting to the servo amplifiers. It is used to debug the program at the start-up of the device or simulate the positioning operation.

Virtual servo amplifier function This function executes the operation as the axis (virtual servo amplifier axis) that operates only command (instruction) virtually without servo amplifiers.

Driver communication function [FX5-SSC-S] This function uses the "Master-slave operation function" of servo amplifier. The Simple Motion module controls the master axis and the slave axis is controlled by data communication between servo amplifiers (driver communication) without Simple Motion module.

Mark detection function This function is used to latch any data at the input timing of the mark detection signal (DI).

Optional data monitor function This function is used to store the data selected by user up to 4 data per axis to buffer memory and monitor them.

Event history function [FX5-SSC-G] This function takes errors that occur on the Motion module and event information and collects them in the CPU module or saves them to the SD memory card. Storing the errors in the CPU allows the error history to be checked even after turning OFF the power or resetting.

Connect/disconnect function of SSCNET [FX5- SSC-S] communication

Temporarily connect/disconnect of SSCNET communication is executed during system's power supply ON. This function is used to exchange the servo amplifiers or SSCNET cables.

Servo transient transmission function [FX5-SSC- G]

This function reads and writes objects of the device via transient transmission.

Firmware update function [FX5-SSC-G] This function is used to update firmware of the Motion module.

Hot line forced stop function [FX5-SSC-S] This function is used to execute deceleration stop safety for other axes when the servo alarm occurs in the servo amplifier MR-JE-B(F).

3 FUNCTION LIST 3.1 Control Functions 47

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3.2 Combination of Main Functions and Sub Functions

With positioning control using the Simple Motion module/Motion module, the main functions and sub functions can be combined and used as necessary. A list of the main function and sub function combinations is given below.

Combination of main functions and operation patterns : Combination possible : Combination limited : Combination not possible

*1 The operation pattern is one of the "positioning data" setting items. *2 Continuous path control cannot be set. *3 Only independent positioning control can be set.

Main functions Combination with operation pattern*1

Home position return control

Machine home position return control

Fast home position return control

Major positioning control Position control 1-axis linear control

2-, 3-, or 4-axis linear interpolation control

1-axis fixed-feed control *2

2-, 3-, or 4-axis fixed-feed control (interpolation) *2

2-axis circular interpolation control

Speed control (1- to 4-axis) *3

Speed-position switching control *2

Position-speed switching control *3

Other control Current value changing *2

NOP instruction

JUMP instruction

LOOP to LEND

Manual control JOG operation, inching operation

Manual pulse generator operation

Expansion control Speed-torque control

Advanced synchronous control (output axis)

3 FUNCTION LIST 3.2 Combination of Main Functions and Sub Functions

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Combination of main functions and sub functions : Combination possible : Combination limited : Combination not possible

*1 Availability of the function depends on the home position return specifications of drive units. *2 The near pass function is featured as standard and is valid only for setting continuous path control for position control.

Main functions Functions that compensate control

Backlash compensation function

Electronic gear function Near pass function

Home position return control

Machine home position return control

[FX5-SSC-S] *1 [FX5-SSC-G]

[FX5-SSC-S] *1 [FX5-SSC-G]

*2 [FX5-SSC-S] [FX5-SSC-G]

Fast home position return control *2

Major positioning control

Position control

1-axis linear control

2-, 3-, or 4-axis linear interpolation control

1-axis fixed-feed control

2-, 3-, or 4-axis fixed- feed control (interpolation)

2-axis circular interpolation control

Speed control (1- to 4-axis)

Speed-position switching control

Position-speed switching control

Other control

Current value changing

NOP instruction

JUMP instruction

LOOP to LEND

Manual control

JOG operation, inching operation

Manual pulse generator operation

Expansion control

Speed-torque control

Advanced synchronous control (output axis)

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: Always combine : Combination possible : Combination limited : Combination not possible

*1 Availability of the function depends on the home position return specifications of drive units.

Main functions Functions that limit control

Speed limit function

Torque limit function

Software stroke limit function

Hardware stroke limit function

Forced stop function

Home position return control

Machine home position return control

[FX5-SSC-S] *1 [FX5-SSC-G]

[FX5-SSC-S] *1 [FX5-SSC-G]

[FX5-SSC-S] *1 [FX5-SSC-G]

[FX5-SSC-S] *1 [FX5-SSC-G]

[FX5-SSC-S] *1 [FX5-SSC-G]

Fast home position return control

Major positioning control

Position control

1-axis linear control

2-, 3-, or 4-axis linear interpolation control

1-axis fixed-feed control

2-, 3-, or 4-axis fixed- feed control (interpolation)

2-axis circular interpolation control

Speed control (1- to 4-axis)

Speed-position switching control

Position-speed switching control

Other control

Current value changing [FX5-SSC-S] [FX5-SSC-G]

NOP instruction

JUMP instruction

LOOP to LEND

Manual control

JOG operation, inching operation

Manual pulse generator operation [FX5-SSC-S] [FX5-SSC-G]

Expansion control

Speed-torque control

Advanced synchronous control (output axis)

3 FUNCTION LIST 3.2 Combination of Main Functions and Sub Functions

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: Combination possible : Combination limited : Combination not possible

*1 Invalid during creep speed. *2 Invalid during Continuous path control. *3 Combination with the inching operation is not available. (Inching operation does not perform acceleration/deceleration processing.)

Main functions Functions that change control details

Speed change function

Override function

Acceleration/ deceleration time change function

Torque change function

Target position change function

Home position return control

Machine home position return control

*1 [FX5-SSC-S] [FX5-SSC-G]

*1 [FX5-SSC-S] [FX5-SSC-G]

*1 [FX5-SSC-S] [FX5-SSC-G]

[FX5-SSC-S] [FX5-SSC-G]

Fast home position return control

Major positioning control

Position control

1-axis linear control *2

2-, 3-, or 4-axis linear interpolation control

1-axis fixed-feed control

2-, 3-, or 4-axis fixed- feed control (interpolation)

2-axis circular interpolation control

Speed control (1- to 4-axis)

Speed-position switching control

Position-speed switching control

Other control

Current value changing

NOP instruction

JUMP instruction

LOOP to LEND

Manual control

JOG operation, inching operation *3 *3 *3

Manual pulse generator operation

Expansion control

Speed-torque control

Advanced synchronous control (output axis)

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: Combination possible : Combination limited : Combination not possible

*1 [FX5-SSC-G] Only independent positioning control can be set.

*2 Change the current value using the positioning data. Disabled for a start of positioning start No.9003.

Main functions Other functions

Step function Skip function M code output function

Teaching function

Command in- position function

Home position return control

Machine home position return control

Fast home position return control *1

Major positioning control

Position control

1-axis linear control

2-, 3-, or 4-axis linear interpolation control

1-axis fixed-feed control

2-, 3-, or 4-axis fixed- feed control (interpolation)

2-axis circular interpolation control

Major positioning control

Speed control (1- to 4-axis)

Speed-position switching control

Position-speed switching control

Other control

Current value changing *2

NOP instruction

JUMP instruction

LOOP to LEND

Manual control

JOG operation, inching operation

Manual pulse generator operation

Expansion control

Speed-torque control

Advanced synchronous control (output axis)

3 FUNCTION LIST 3.2 Combination of Main Functions and Sub Functions

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: Combination possible : Combination limited : Combination not possible

*1 Valid for the reference axis only. *2 Valid for only the case where a deceleration start is made during position control. *3 Valid for a start of positioning start No.9003, but invalid for a start of positioning data (No. 1 to 600). *4 Combination with the inching operation is not available. (Inching operation does not perform acceleration/deceleration processing.) *5 Valid for "[Md.22] Feedrate" and "[Md.28] Axis feedrate". *6 Refer to "Speed-torque Control" in the following manual for acceleration/deceleration processing in the speed-torque control.

MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application) *7 For details, refer to "Output Axis Sub Functions" in the following manual.

MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Advanced Synchronous Control)

Main functions Other functions

Acceleration/ deceleration processing function

Pre- reading start function

Acceleration deceleration processing function

Stop command processing for deceleration stop function

Speed control 10 times multiplier setting for degree axis function

Operation setting for incompleti on of home position return function

Home position return control

Machine home position return control

[FX5-SSC-S] [FX5-SSC-G]

[FX5-SSC-S] [FX5-SSC-G]

[FX5-SSC-S] [FX5-SSC-G]

Fast home position return control

Major positioning control

Position control

1-axis linear control

2-, 3-, or 4-axis linear interpolation control

*1

1-axis fixed-feed control

2-, 3-, or 4-axis fixed- feed control (interpolation)

*1

2-axis circular interpolation control

Speed control (1- to 4-axis)

Speed-position switching control *2

Position-speed switching control

Other control

Current value changing *3

NOP instruction

JUMP instruction

LOOP to LEND

Manual control

JOG operation, inching operation *4

Manual pulse generator operation *5

Expansion control

Speed-torque control *6

Advanced synchronous control (output axis)

*7 *7

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3.3 Network Function List [FX5-SSC-G] For CC-Link IE TSN functions, refer to "Function List" in the following manual. MELSEC iQ-F FX5 Motion Module User's Manual (CC-Link IE TSN)

3 FUNCTION LIST 3.3 Network Function List [FX5-SSC-G]

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4 PROCEDURES BEFORE OPERATIONS

Settings and procedures before operation [FX5-SSC-S] The following describes the procedures before operation of FX5-SSC-S.

1. Mounting the module Mount the Simple Motion module to the CPU module. For details, refer to the following. MELSEC iQ-F FX5S/FX5UJ/FX5U/FX5UC User's Manual (Hardware)

2. Wiring Connect the Simple Motion module to external devices.

3. Adding the module Add the FX5-SSC-S to the module map of the project using an engineering tool.

4. Module setting Set values for the module setting using an engineering tool. For details, refer to the following. GX Works3 Operating Manual

5. Auto refresh setting Set values for the refresh settings using an engineering tool. For details, refer to the following. GX Works3 Operating Manual

6. Checking connection Check that the Simple Motion module is connected to external devices correctly.

7. Programming Create programs. For details, refer to "PROGRAMMING [FX5-SSC-S]" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)

8. Test operation Confirm that the created programs are able to execute properly.

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Settings and procedures before operation [FX5-SSC-G] The following describes the procedures before operation of FX5-SSC-G. For a setting example, refer to the following. Page 105 Setting Example for Motion Modules (FX5-SSC-G)

1. Mounting the module Mount the Motion module.

2. Wiring Connect the Motion module to external devices.

3. Adding the module Add the FX5-SSC-G to the module map of the project using an engineering tool.

4. Network configuration Set values for the network related settings in "Module Parameter (Network)" of the engineering tool. Set the communication cycle used for the network configuration settings.

Set the basic communication cycle according to the number of control axes and the network device configuration. Use the communication cycle as a reference for the cycle. For details, refer to "Processing Time" in the following manual. MELSEC iQ-F FX5 Motion Module User's Manual (CC-Link IE TSN)

Set the device station in network configuration settings. The slave stations that are to be controlled with the Motion module must be set to "Motion Control Station". When setting device stations to "Motion Control Station", set the communication cycle to the basic cycle. For details, refer to "Basic Settings" in the following manual. MELSEC iQ-F FX5 Motion Module User's Manual (CC-Link IE TSN)

5. Module setting (Module Extended Parameter) Set values for the settings related to axis control in "Module Extended Parameter" of the engineering tool. For details, refer to "PARAMETER SETTINGS" in the following manual. MELSEC iQ-F FX5 Motion Module User's Manual (CC-Link IE TSN)

6. Refresh setting Set values for the link refresh settings in "Basic Settings" of Module Parameter (Network). For details, refer to "Basic Settings" in the following manual. MELSEC iQ-F FX5 Motion Module User's Manual (CC-Link IE TSN)

7. Programming Create programs. For details, refer to "PROGRAMMING [FX5-SSC-G]" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)

8. Writing parameters Write the set parameters and programs to the Motion module.

9. Network diagnostics Use network diagnostics to check the cable connection status and whether the set parameters were transferred correctly. For details, refer to "Checking the Network Status" in the following manual. MELSEC iQ-F FX5 Motion Module User's Manual (CC-Link IE TSN)

10.Device parameter setting Set parameters for the drive units to be used. Refer to the relevant drive unit manual for details. MR-J5(W)-G: MR-J5-G/MR-J5W-G User's Manual (Parameters)

11. Test operation Confirm that the created programs are able to execute properly.

4 PROCEDURES BEFORE OPERATIONS

5

5 WIRING

5.1 Wiring [FX5-SSC-S] Precautions The precautions for wiring the Simple Motion module are shown below. Execute the work following the precautions below.

Warning for wiring

Caution for wiring

WARNING Completely turn off the externally supplied power used in the system before installation or wiring. Not doing so could result in electric shock or damage to the

product.

CAUTION Check the layout of the terminals and then properly route the wires to the module. The external input wiring connector must be crimped or pressured with the tool specified by the manufacturer, or must be correctly soldered. Insufficient

connections may cause short circuit, fire, or malfunction. Be careful not to let foreign matter such as sawdust or wire chips get inside the module. These may cause fires, failure or malfunction. The top surface of the module is covered with protective films to prevent foreign objects such as cable off cuts from entering the module when wiring. Do not

remove this film until the wiring is complete. Before operating the system, be sure to remove the film to provide adequate ventilation. Securely connect the connector for SSCNET cable to the bottom connector on the module. When removing the cable from the module, do not pull the cable. Hold the connector that is connected to the module. Pulling the cable that is still connected

to the module may cause malfunction or damage to the module or cable. The external input/output signal cable and the communication cable should not be routed near or bundled with the main circuit cable, power cable and/or

other such load - carrying cables other than those for the PLC. These cables should be separated by at least 100 mm (3.94 inch) or more. They can cause electrical interference, surges and inductance that can lead to mis-operation.

The shielded cable for connecting Simple Motion module can be secured in place. If the shielded cable is not secured, unevenness or movement of the shielded cable or careless pulling on it could result in damage to the Simple Motion module, servo amplifier or shielded cable or defective cable connections could cause mis-operation of the unit.

If the external input/output signal cable and the power line must be adjacently laid (less than 100 mm (3.94 inch)), use a shielded cable. Ground the shield of the cable securely to the control panel on the Simple Motion module side.

Forcibly removal the SSCNET cable from the Simple Motion module will damage the Simple Motion module and SSCNET cables. After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may

cause malfunctions. Do not remove the SSCNET cable while turning on the power supply of Simple Motion module and servo amplifier. Do not see directly the light generated

from SSCNET connector and the end of SSCNET cable. When the light gets into eye, may feel something wrong with eyes.(The light source of SSCNET cable complies with class1 defined in JISC6802 or IEC60825-1.)

If a power such as a major shock, lateral pressure, haul, sudden bending or twist is added to the SSCNET cable, it distorts or breaks inside and optical transmission is not be available. Note that the short SSCNET cable can be twisted easily.

Be sure to use the SSCNET cable within the range of operating temperature described in each servo amplifier instruction manual. Especially, as optical fiber for MR-J3BUS_M and MR-J3BUS_M-A are made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part which becomes high temperature, such as radiator or regenerative option of servo amplifier, or servo motor.

When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more. Put the SSCNET cable in the duct or fix the cable at the closest part to the Simple Motion module with bundle material in order to prevent SSCNET cable

from putting its own weight on SSCNET connector. When laying cable, the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. Also, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material. If adhesive tape for bundling the cable is used, fire resistant acetate cloth adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.

5 WIRING 5.1 Wiring [FX5-SSC-S] 57

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Precautions for wiring Use separate cables for connecting to the Simple Motion module and for the power cable that creates surge and

inductance. The cable for connecting the Simple Motion module should be placed in the duct or secured in place by clamps. If the cable

is not placed in the duct or secured by clamps, unevenness or movement of the cable or careless pulling on it could result in damage to the unit or cable or defective cable connections could cause mis-operation of the unit.

If a duct is being used, separate the cables to connect the Simple Motion module from the power line duct, or use metal piping. Ground the pipes securely after metal piping.

Use the twisted pair shielded cable (wire size 0.3 mm2 or more). The shielded must be grounded on the Simple Motion module side.

Use separate shielded cables for the external input signal, forced stop input, and manual pulse generator/incremental synchronous encoder input for connecting to the Simple Motion module. They can cause electrical interference, surges and inductance that can lead to mis-operation.

When malfunctioning in environment with a lot of noise, the effects of noise may be reduced by the following measure. Please attach a ferrite core (Ex. TDK co., Ltd. ZCAT3035-1330 or similar) to the Simple Motion module side of the cable connected to the forced stop input signal, external command signal/switching signal, and manual pulse generator/ incremental synchronous encoder input signal.

For wiring, refer to the following manual and each servo amplifier instruction manual. MELSEC iQ-F FX5S/FX5UJ/FX5U/FX5UC User's Manual (Hardware)

Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS_M, and MR-J3BUS_M-A cables away from vinyl tape because the optical characteristic may be affected. Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating plasticizer and they do not affect the optical characteristic of SSCNET cable. However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MR- J3BUS_M and MR-J3BUS_M-A cables (made of plastic). In addition, MR-J3BUS_M-B cable (made of quartz glass) is not affected by plasticizer.

If the adhesion of solvent and oil to the cord part of SSCNET cable may lower the optical characteristic and machine characteristic. To use the cable in that environment, be sure to do the protection measures to the cord part.

When keeping the Simple Motion module or servo amplifier, be sure to attach a cap to the connector part so that a dirt should not adhere to the end of SSCNET connector.

To protect a light device inside a connector from dust, a cap is attached to the SSCNET connector for the SSCNET cable. Therefore, do not remove a cap until just before connecting the SSCNET cable. Also, when removing the SSCNET cable, make sure to attach a cap.

Keep the cap and the tube for protecting light cord end of SSCNET cable in a plastic bag with a zipper included with the SSCNET cable to prevent them from becoming dirty.

When exchanging the Simple Motion module or servo amplifier, make sure to attach a cap to the SSCNET connector. When asking repair of Simple Motion module or servo amplifier for some troubles, make also sure to attach a cap to the SSCNET connector. When a cap is not attached, the light device may be damaged at the transit. In this case, exchange or repair of the light device is required.

CAUTION

CableOptical cord

SSCNET cable Cord Cable

MR-J3BUS_M MR-J3BUS_M-A MR-J3BUS_M-B

: Normally, cable is not affected by plasticizer. : Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable.

5 WIRING 5.1 Wiring [FX5-SSC-S]

5

Wiring example of shielded cable The following shows a wiring example for noise reduction when the connector (LD77MHIOCON) is used.

Processing example of shielded cables Connections of FG wire and each shielded cable

To the Simple Motion module

Connector (LD77MHIOCON)

Properly ground inside the cable connector shell.

Shielded cable

Emergency stop input signal/external command signal/switching signal

Manual pulse generator/INC synchronous encoder input signal

Coating with heat shrinkable tube

Peel off the external cover of each shield and use conductive tape to connect the shield of each shielded cable.

5 WIRING 5.1 Wiring [FX5-SSC-S] 59

60

Assembly of connector (LD77MHIOCON)

Attach a cable clamp with the ground plate to the conductive tape.

5 WIRING 5.1 Wiring [FX5-SSC-S]

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Precautions for SSCNETIII cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS_M, MR-J3BUS_M-A is made of synthetic resin, it melts down if left near a fire or an object with a high temperature. For this reason, keep the cable away from objects which can become hot, such as a radiator or regenerative option of servo amplifier and servo motor. Be sure to use optical fiber within the range of operating temperature described in each servo amplifier instruction manual. Read the described items of this section carefully and handle it with caution.

Minimum bend radius Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to edges of equipment or others. For SSCNET cable, the appropriate length should be selected with due consideration for the dimensions and arrangement of Simple Motion module or servo amplifier. When closing the door of control panel, make sure the SSCNET cable is not held down by the door and the cable bend does not become smaller than the minimum bend radius.

Tension If tension is added on the SSCNET cable, the increase of transmission loss occurs because of external force which concentrates on the fixing part of SSCNET cable or the connecting part of SSCNET connector. At worst, the breakage of SSCNET cable or damage of SSCNET connector may occur. For cable laying, handle it with care without putting tension on the cables. (Refer to each servo amplifier instruction manual for the tension strength of SSCNET cable.)

Lateral pressure If lateral pressure is added on the SSCNET cable, the cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of SSCNET cable may occur. As the same condition also occurs at cable laying, do not tighten up SSCNET cable with a thing such as nylon band (TY-RAP). Do not trample on it or tuck it down within the door of control box or others.

Twisting If the SSCNET cable is twisted, it will damage the cable in the same way as when local lateral pressure or bend is added. Consequently, transmission loss will increase, and damage to the SSCNET cable may occur.

Disposal When incinerating optical cables (cord) used for SSCNET cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of SSCNET cable, request for specialized industrial waste disposal services that have incineration facilities for disposing hydrogen fluoride gas or hydrogen chloride gas.

Model name of SSCNETIII cable Minimum bend radius [mm] ([inch]) MR-J3BUS_M 25 (0.98)

MR-J3BUS_M-A Enforced covering cord: 50 (1.97), Cord: 25 (0.98)

MR-J3BUS_M-B Enforced covering cord: 50 (1.97), Cord: 30 (1.18)

5 WIRING 5.1 Wiring [FX5-SSC-S] 61

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Wiring process of SSCNET cable Put the SSCNET cable in the duct or fix the cable at the closest part to the Simple Motion module with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector. Leave the following space for wiring. Putting in the duct

Bundle fixing Optical cord should be given loose slack to keep it from becoming smaller than the minimum bend radius, and it should not be twisted. When laying cable, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material.

Panel

D oo

r

Top of panel or wiring duct

50 mm (1.97 inch) or more50 mm (1.97 inch) or more

Simple Motion module 50 mm (1.97 inch) or more

70 mm (2.76 inch ) or more

100 mm (3.94 inch) or more

Bundling material

Simple Motion module

Panel

DIN rail

Cable

Optical cord Loose slack

NK clamp SP type (NIX, INC.) Recommended product

5 WIRING 5.1 Wiring [FX5-SSC-S]

5

5.2 Wiring [FX5-SSC-G] The following describes the wiring methods, wiring products, and precautions for wiring when using the FX5-SSC-G.

Wiring for CC-Link IE TSN

Wiring methods The following describes connection and disconnection of the Ethernet cable.

Connecting the cable 1. Turn OFF the power supply of the Motion module and the device being connected.

2. Push the Ethernet cable connector into the Motion module until it clicks. Pay attention to the connector's direction.

3. Lightly pull on the cable to confirm that it is securely connected.

4. Turn ON the power of the Motion module and the external device.

5. Check whether the LINK LED of the port connected to the Ethernet cable is ON.*1

*1 The time required for the LINK LED to turn ON after connecting the Ethernet cable may vary. The LINK LED usually turns ON in a few seconds. Note, however, that the time may be extended further if the link-up processing is repeated depending on the status of the device on the line. If the LINK LED does not turn ON, refer to "Troubleshooting using the LEDs" in the following manual and take corrective actions. MELSEC iQ-F FX5 Motion Module/Simple Motion Module Users Manual (Application)

Disconnecting the cable 1. Turn OFF the power supply of the Motion module.

2. Press the latch down and unplug the Ethernet cable.

Wiring products The following describes the devices used for CC-Link IE TSN.

Ethernet cable Use an Ethernet cable that meets the following standards.

Cables for CC-Link IE TSN are available for purchase from Mitsubishi Electric System & Service Co., Ltd. (Cable catalogs are also available.) In addition, processing for connectors of a desired length is offered. Please consult your local Mitsubishi representative.

A communication error may occur due to high-frequency noise from devices other than a programmable controller in a given connection environment. The following describes countermeasures to be taken on the Motion module side to avoid high-frequency noise influence. Use a double-shielded type cable. Do not bundle the Ethernet cable with the main circuit or power cable or place the Ethernet cable near those

lines. Place the cable in a duct.

Communication speed Ethernet cable Connector Standard 1 Gbps Category 5e or higher, straight cable (double-

shielded, STP) RJ45 connector Cables meeting the following standards:

IEEE802.3 (1000BASE-T) ANSI/TIA/EIA-568-B (Category 5e)

100 Mbps Category 5 or higher, straight cable (double- shielded, STP)

RJ45 connector Cables meeting the following standards: IEEE802.3 (100BASE-TX) ANSI/TIA/EIA-568-B (Category 5)

Communication speed Type Model (Manufacturer) 1 Gbps Category 5e or higher, straight cable (double-

shielded, STP) SC-E5EW series (Mitsubishi Electric System & Service Co., Ltd.)

5 WIRING 5.2 Wiring [FX5-SSC-G] 63

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Switching hub Use the following industrial switching hubs.

A switching hub can be used for cascade connection. When the switching hub is used for cascade connection, check the specifications of the switching hub used.

Precautions Since there are different restrictions for system configurations using a TSN switching hub and system configurations using

a general-purpose switching hub, setting with an engineering tool is required. For details, refer to "SYSTEM CONFIGURATION" in the following manual. MELSEC iQ-F Motion Module Users Manual (CC-Link IE TSN)

Do not configure a ring topology when modules are connected to a switching hub. Doing so causes all stations to fail and prevents data links from being performed.

Precautions The bending radius of the Ethernet cable is limited. For details, check the specifications of the Ethernet cable to be used. Place the Ethernet cable in a duct or clamp it. Failing to do so may cause dangling cabling to swing or inadvertently be

pulled, resulting in damage to the module or cables or a malfunction due to poor contact. When installing a cable, do not touch the core of the cable-side or module-side connector, and protect it from dirt or dust. If

natural oils from your hands, dirt, or dust becomes attached to the core, it can increase transmission loss and prevent data link from being performed normally.

Hold the connector part when connecting and disconnecting the Ethernet cable. Pulling cables connected to the module may result in malfunction or damage to the module or cable.

Confirm that the Ethernet cable is not disconnected or shorted and that there is no problem with the connector connection. Do not use an Ethernet cable with a broken latch. Doing so may cause the cable to become unplugged or malfunction. For connectors not being connected to Ethernet cables, mount the attached cap to prevent the entry of foreign matter such

as dirt or dust. The maximum station-to-station distance of the Ethernet cable is 100 m (328.08 ft.). However, the length may be shorter

depending on the operating environment of the cable. For details, contact the manufacturer of the cable used. In a line topology, do not connect a device station with an unset IP address or a device station that is not in the master

stations network configuration between the master station and a device station or between device stations.

Communication with the Ethernet device may not be performed depending on the specifications of the connected Ethernet device or switching hub. If communications are not possible, reduce the communication data volume of the Ethernet device.

Term Description CC-Link IE TSN class TSN switching hub For the models and usage methods of the switching hubs, refer to the CC-Link Partner

Association website (www.cc-link.org). CC-Link IE TSN Class B device

NZ2MHG-TSNT A CC-Link IE TSN-compatible industrial managed switch classified as a TSN switching hub. CC-Link IE TSN Industrial Managed Switch User's Manual

General-purpose switching hub For the models and usage methods of the switching hubs, refer to the CC-Link Partner Association website (www.cc-link.org).

CC-Link IE TSN Class A device

Data link is not performed.

Master station

The IP address is not set, or the module is not in the network configuration.

5 WIRING 5.2 Wiring [FX5-SSC-G]

5

5.3 Power supply wiring

Power supply connector

Power supply wiring

+

-

(Green)

(Black)

(Red)

Ground resistance of 100 ohms or less (Grounding resistance: 100 or less)

24 V DC

Red Black Green

Simple Motion module/ Motion module

5 WIRING 5.3 Power supply wiring 65

66

5.4 Grounding Observe the following: Provide grounding with a ground resistance of 100 or less. Provide independent grounding when possible. If independent grounding cannot be provided, provide "shared grounding" as shown below.

Limit the distance between the grounding point and the programmable controller as much as possible and keep the grounding wire short.

Simple Motion module/

Motion module

Another device

Shared grounding (Good condition)

Common grounding (Not allowed)

Independent grounding (Best condition)

Independent grounding Ground resistance of 100 ohms or less (Grounding resistance: 100 or less)

CPU module Expansion module

Expansion module

Expansion module

Extension board

Extension board

Extension board

Extension adapter

Extension adapter

Extension adapter

Simple Motion module/

Motion module

Another device

Shared grounding Ground resistance of 100 ohms or less (Grounding resistance: 100 or less)

CPU module

Simple Motion module/

Motion module

Another deviceCPU module

5 WIRING 5.4 Grounding

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5.5 External Input Connection Connector [FX5-SSC-S] Signal layout for external input connection connector The signal layout for the external input connection connector of Simple Motion module is shown below.

*1 Input type from manual pulse generator/incremental synchronous encoder is switched in "[Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection". (Only the value specified for axis 1 is valid). 0: Differential-output type 1: Voltage-output/open-collector type (Default value)

*2 Set the signal input form in "[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection". *3 Manual pulse generator/Incremental synchronous encoder input selection/open-collector type

Connect the A-phase/PULSE signal to HA, and the B-phase/SIGN signal to HB. *4 Manual pulse generator/Incremental synchronous encoder input selection in Differential-output type

Connect the A-phase/PULSE signal to HAH, and the A-phase/PULSE inverse signal to HAL. Connect the B-phase/SIGN signal to HBH, and the B-phase/SIGN inverse signal to HBL.

*5 Do not connect to any of the terminal explained as "No connect". *6 Set the external command signal [DI] in "[Pr.95] External command signal selection". *7 Common terminal for DI1 to DI4.

Pin layout (Front view of the module)

Pin No. Signal name Pin No. Signal name

1 No connect*5 14 No connect*5

2 SG Signal ground 15 SG Signal ground

3 HA*1*2*3 Manual pulse generator/ Incremental synchronous encoder A-phase/PULSE

16 HB*1*2*3 Manual pulse generator/ Incremental synchronous encoder B-phase/SIGN

4 HAH*1*2*4 17 HBH*1*2*4

5 HAL*1*2*4 18 HBL*1*2*4

6 No connect*5 19 No connect*5

7 20

8 21

9 22

10 EMI Forced stop input signal 23 EMI.COM Forced stop input signal common

11 DI1*6 External command/ Switching signal

24 DI2*6 External command/ Switching signal12 DI3*6 25 DI4*6

13 COM*7 Common (COM) 26 COM*7 Common (COM)

26

15 16 17 18 19 20 21 22 23 24 25

13

1 2 3 4 5 6 7 8 9 10 11 12

14

5 WIRING 5.5 External Input Connection Connector [FX5-SSC-S] 67

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List of input signal details Signal name Pin No. Signal details Differential- output type

Manual pulse generator/ Incremental synchronous encoder A- phase/PULSE

HAH (A+)

4 (1) A-phase/B-phase Input the pulse signal from the manual pulse generator/incremental synchronous encoder A-phase and B-

phase. If the A-phase leads the B-phase, the positioning address will increase at the rising and falling edges of

each phase. If the B-phase leads the A-phase, the positioning address will decrease at the rising and falling edges of

each phase.

(2) PULSE/SIGN Input the pulse signal for counting the increased/decreased pulse in the pulse input (PULSE). Input the signal for controlling forward run and reverse run in the direction sign (SIGN). 1) "[Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection" is positive logic The motor will forward run when the direction sign is HIGH. The motor will reverse run when the direction sign is LOW.

2) "[Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection" is negative logic The motor will forward run when the direction sign is LOW. The motor will reverse run when the direction sign is HIGH.

HAL (A-)

5

Manual pulse generator/ Incremental synchronous encoder B- phase/SIGN

HBH (B+)

17

HBL (B-)

18

Voltage- output type/open- collector type

Manual pulse generator/ Incremental synchronous encoder A- phase/PULSE

HA (A)

3

Manual pulse generator/ Incremental synchronous encoder B- phase/SIGN

HB (B)

16

(a) Magnification by 4

Positioning address

A-phase

[When increased] [When decreased]

+1+1+1+1+1+1+1+1

B-phase

A-phase

B-phase

-1 -1 -1 -1 -1 -1 -1 -1 Positioning address

(b) Magnification by 2

Positioning address

A-phase

[When increased] [When decreased]

+1+1+1+1+1+1+1+1

B-phase

A-phase

B-phase

-1 -1 -1 -1 -1 -1 -1 -1 Positioning address

(c) Magnification by 1 1) Positive logic

Positioning address

A-phase

[When increased] [When decreased]

+1 +1 +1 +1

B-phase

A-phase

B-phase

-1 -1 -1 -1 Positioning address

2) Negative logic

Positioning address

A-phase

[When increased] [When decreased]

+1 +1 +1 +1

B-phase

A-phase

B-phase

-1 -1 -1 -1 Positioning address

Positioning address +1+1+1 +1+1+1 -1 -1 -1 -1 -1 -1

Positioning address

PULSE

SIGN

PULSE

SIGN

LOW

Negative logic

[When increased] [When decreased]

PULSE

SIGN

LOW

PULSE

SIGN

HIGH

Positive logic HIGH

Negative logic

Positive logic

5 WIRING 5.5 External Input Connection Connector [FX5-SSC-S]

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Interface internal circuit The outline diagrams of the internal circuits for the external device connection interface (for the Simple Motion module) are shown below.

Interface between external command signals/switching signals

*1 _ = 1 to 4 *2 As for the 24 V DC polarity, both "+" and "-" are possible.

Interface with forced stop input signals

*1 As for the 24 V DC polarity, both "+" and "-" are possible.

Signal name Pin No. Signal details External command signal/ Switching signal

(DI1) 11 Input a control switching signal during speed-position or position-speed switching control. Use this signal as the input signal of positioning start, speed change request, skip request and mark

detection from an external device. Set the function to use this signal in "[Pr.42] External command function selection". Set the signal in "[Pr.95] External command signal selection".

(DI2) 24

(DI3) 12

(DI4) 25

Common (COM) 13 26

Common for external command/switching signals.

Forced stop input signal (EMI) 10 This signal is input when batch forced stop is available for all axes of servo amplifier. EMI ON (Opened): Forced stop EMI OFF (24 V DC input): Forced stop release

Forced stop input signal common (EMI.COM)

23

Signal ground (SG) 2 15

The signal ground in the case of using manual pulse generator/INC synchronous encoder.

Input or Output

Signal name Pin No. Wiring example Description

1 2 3 4 Input External command

signal/Switching signal DI_*1 11 24 12 25 External command signal/

Switching signal

COM 13 26

Input or Output

Signal name Pin No. Wiring example Description

Input Forced stop input EMI 10 Forced stop input signal

EMI.COM 23

+ -

24 V DC*2

Internal circuit

+ -

24 V DC*1

Internal circuit

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Manual pulse generator/Incremental synchronous encoder input Interface between manual pulse generator/incremental synchronous encoder (Differential-

output type)

*1 Set "0: Differential-output type" in "[Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection" if the manual pulse generator/Incremental synchronous encoder of differential-output type is used. The default value is "1: Voltage-output/open-collector type".

*2 Set the signal input form in "[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection".

Interface between manual pulse generator/Incremental synchronous encoder (Voltage-output type/open-collector type)

*1 Set "1: Voltage-output/open-collector type" in "[Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection" if the manual pulse generator/Incremental synchronous encoder of voltage-output/open-collector type is used. The default value is "1: Voltage-output/open-collector type".

*2 Set the signal input form in "[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection".

Input or Output

Signal name Pin No. Wiring example

Input*1,*2 Manual pulse generator, A-phase/PULSE

HAH (A+)

4

HAL (A-)

5

Manual pulse generator, B-phase/SIGN

HBH (B+)

17

HBL (B-)

18

Signal ground SG 2 15

Input or Output

Signal name Pin No. Wiring example

Input*1, *2 Manual pulse generator, A-phase/PULSE

HA (A)

3

Manual pulse generator, B-phase/SIGN

HB (B)

16

Signal ground SG 2 15

- +

A

A

B

B

Manual pulse

generator/ Incremental synchronous

encoder

Internal circuit

Power supply 5 V DC

A

B

- +

Manual pulse

generator/ Incremental synchronous

encoder

Power supply 5 V DC

Internal circuit

5 WIRING 5.5 External Input Connection Connector [FX5-SSC-S]

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Wiring example for manual pulse generator/incremental synchronous encoder Wire the manual pulse generator/incremental synchronous encoder of differential output type and voltage output type/open- collector type as follows. Switch the input type of FX5-SSC-S by "[Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection". Use the external 5 V power supply (5 V DC5%) for the power supply of the manual pulse generator/incremental synchronous encoder. Connect the 0 V (-) of the manual pulse generator/incremental synchronous encoder and the SG of FX5-SSC-S. Select the external power supply with due consideration for the capacity of manual pulse generator/incremental synchronous encoder.

Manual pulse generator/Incremental synchronous encoder of differential output type

Manual pulse generator/Incremental synchronous encoder of voltage output type/open- collector type

FX5-SSC-S

HAH (A+)

HAL (A-)

HBH (B+)

HBL (B-)

HAH (A+)

HAL (A-)

HBH (B+)

HBL (B-)

External 5 V power supply

5 V

0 V

Recommended wiring example

FGFG Twisted pair

Shield

Manual pulse generator/ Incremental synchronous encoder

SG

External 5 V power supply

FGFG

HA (A)

HB (B)

SG

HA (A)

HB (B)

5 V

0 V

FX5-SSC-S

Recommended wiring example

Manual pulse generator/ Incremental synchronous encoder

Shield

Twisted pair

5 WIRING 5.5 External Input Connection Connector [FX5-SSC-S] 71

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APPENDICES Appendix 1 Component List [FX5-SSC-S] The positioning system using the Simple Motion module is configured of the following devices.

Reference product

Connection cable The cables for connecting between the Simple Motion module and servo amplifiers. Refer to each servo amplifier instruction manual for details. For long distance cables over 50 m (164.04 ft.) and cables with an ultra-long bending life, refer to SSCNET cables manufactured by Mitsubishi Electric System & Service Co., Ltd. (Page 73 SSCNET cables manufactured by Mitsubishi Electric System & Service Co., Ltd (SC-J3BUS_M-C))

SSCNET cable _ = Cable length (015: 0.15 m (0.49 ft.), 03: 0.3 m (0.98 ft.), 05: 0.5 m (1.64 ft.), 1: 1 m (3.28 ft.), 3: 3 m (9.84 ft.), 5: 5 m (16.40 ft.), 10: 10 m (32.81 ft.), 20: 20 m (65.62 ft.), 30: 30 m (98.43 ft.), 40: 40 m (131.23 ft.), 50: 50 m (164.04 ft.) )

No. Part name Type Remarks 1 Simple Motion module FX5-40SSC-S

FX5-80SSC-S

2 Servo amplifier

3 SSCNET cable Cables are needed for connecting the Simple Motion module with a servo amplifier, or between servo amplifiers. (Page 72 Reference product)

4 External input signal cable Cables are needed for connecting the Simple Motion module with an external device. (Prepare them referring to the manuals for the connected devices and information given in the following. Page 67 Signal layout for external input connection connector)

Model name Cable length [m (ft.)]

Description

MR-J3BUS_M (Standard cord for inside panel)

MR-J3BUS015M 0.15 (0.49) Simple Motion module MR-J4(W)-B/MR-JE-B(F)/MR-J3(W)-B MR-J4(W)-B/MR-JE-B(F)/MR-J3(W)-B MR-J4(W)-B/MR-JE-B(F)/MR-J3(W)-BMR-J3BUS03M 0.3 (0.98)

MR-J3BUS05M 0.5 (1.64)

MR-J3BUS1M 1 (3.28)

MR-J3BUS3M 3 (9.84)

MR-J3BUS_M-A (Standard cable for outside panel)

MR-J3BUS5M-A 5 (16.40)

MR-J3BUS10M-A 10 (32.81)

MR-J3BUS20M-A 20 (65.62)

MR-J3BUS_M-B (Long distance cable)

MR-J3BUS30M-B 30 (98.43)

MR-J3BUS40M-B 40 (131.23)

MR-J3BUS50M-B 50 (164.04)

FX5- SSC-S S: Compatible with SSCNET(/H) Number of controlled axes (40 = 4 axes, 80 = 8 axes

APPX Appendix 1 Component List [FX5-SSC-S]

A

SSCNET cables manufactured by Mitsubishi Electric System & Service Co., Ltd (SC- J3BUS_M-C)

Cables are available in lengths from 1 m (3.28 ft.) to 100 m (328.08 ft.) in increments of 1 m (3.28 ft.). A number indicating the cable length (1 to 100) is included in the "_" portion of the model name.

For details of the SSCNET cables, consult your nearest Mitsubishi representative. Do not look directly at the light generated by the CN1A and CN1B connectors of the servo amplifier or the

tip of the SSCNET cable. The light can cause discomfort if it enters the eyes.

Connection connector The connector for the external input wiring. [External input wiring connector]

*1 AWG24 (0.2 mm2) is recommended.

Specifications of recommended manual pulse generator

*1 Use a stabilized power supply of voltage 5 V DC 0.25 V.

Manual pulse generator that the operation has been checked

*1 Contact: https://www.nemicon.co.jp/en/

Model name Cable length [m (ft.)] Bending life Description SC-J3BUS_M-C 1 to 100 (3.28 to 328.08) Ultra-long Long distance cable

Part name Specification Applicable connector LD77MHIOCON

Applicable wire size AWG30 to 24 (0.05 to 0.2 mm2)*1

Item Specification Model name MR-HDP01

Ambient temperature -10 to 60

Pulse resolution 25 pulses/rev (100 pulses/rev after magnification by 4)

Output method Voltage-output, Output current Max. 20 mA

Power supply voltage 4.5 to 13.2 V DC

Current consumption 60 mA

Output level "H" level: Power supply voltage*1 - 1 V or more (in no load) "L" level: 0.5 V or less (with maximum leading-in)

Life time 1000000 revolutions (at 200 r/min)

Permitted axial loads Radial load: Max. 19.6 N

Thrust load: Max. 9.8 N

Weight 0.4 [kg]

Number of max. revolution Instantaneous Max. 600 r/min. normal 200 r/min

Pulse signal status 2 signals: A-phase, B-phase, 90 phase difference

Start friction torque 0.06 Nm (20)

Manufacturer Model name Nemicon Corporation*1 UFO-M2-0025-2Z1-B00E

APPX Appendix 1 Component List [FX5-SSC-S] 73

74

External dimension drawing of manual pulse generator MR-HDP01 (Manufactured by Mitsubishi Electric Corporation) [Unit: mm (inch)]

3.6

5 0(

1. 97

)

7 0(

2. 76

)

16 20 8.89 7.6

3 Studs (M4 10) PCD72, equi-spaced

M3 6

Packing t = 2.0

The figure of processing a disc

6 0(

2. 36

)0 .5

8 0(

3. 15

)1

0.527.0

72 (2.83)

0.2

6 2

(2 .4

4)

+2 -0

3-4.8(0.19) equi-spaced

Space

(1.06) (0.14)

(0.63) (0.79) (0.35) (0.30)

APPX Appendix 1 Component List [FX5-SSC-S]

A

Serial absolute synchronous encoder specifications

*1 If an "o-ring" is required, the user should purchase it separately. *2 If it exceeds a permitted speed at power OFF, a position displacement is generated.

The serial absolute synchronous encoder backs up the absolute position with the battery for back up of absolute position data of the servo amplifier (MR-J4-B-RJ) it is connected to.

Specifications of serial absolute synchronous encoder input (CN2L) of servo amplifier

Item Specifications Model name Q171ENC-W8*1

Ambient temperature -5 to 55

Resolution 4194304 pulses/rev

Transmission method Serial communications (Connected to MR-J4-B-RJ)

Direction of increasing addresses CCW (viewed from end of shaft)

Protective construction Dustproof/Waterproof (IP67: Except for the shaft-through portion.)

Permitted speed at power ON 3600 r/min

Permitted speed at power OFF*2 500 r/min

Permitted axial loads Radial load: Up to 19.6 N, Thrust load: Up to 9.8 N

Runout at input shaft tip 0.02 mm (0.00079 inch) or less, (15 mm (0.59 inch) from tip)

Start friction torque 0.04 Nm (20)

Recommended coupling Bellows coupling

Permitted angular acceleration 40000 rad/s2

Vibration resistance 5 G (50 to 200 Hz)

Shock resistance 50 G (11 ms or less)

Internal current consumption [A] 0.25

Mass [kg] 0.6

Connecting cable [m (ft.)] Q170ENCCBL_M (_ = Cable length: 2 (6.56), 5 (16.40), 10 (32.81), 20 (65.62), 30 (98.43), 50 (164.04))

Communications method Differential driver/receiver

Transmission distance Up to 50 m (164.04 ft.)

Item Specifications Applicable types Q171ENC-W8

Applicable signal types Differential-output type: (SN75C1168 or equivalent)

Transmission method Serial communications

Synchronous method Counter-clock-wise (viewed from end of shaft)

Communication speed 2.5 Mbps

Position detection method Absolute (ABS) method

Resolution 4194304 pulses/rev (22 bit)

Number of modules 1/module (MR-J4-B-RJ)

External connector type 20 pin connector

Applicable connector for the external connection

MR-J3CN2 (Optional)

Connecting cable [m (ft.)] Q170ENCCBL_M-A (_ = Cable length: 2 (6.56), 5 (16.40), 10 (32.81), 20 (65.62), 30 (98.43), 50 (164.04))

Cable length Up to 50 m (164.04 ft.)

Back up the absolute position. Depends on the battery (MR-BAT6V1SET).

Battery service life time (value in actual)

10000 [h] (When MR-BAT6V1SET is used while the device is turned OFF at the ambient temperature of 25)

APPX Appendix 1 Component List [FX5-SSC-S] 75

76

Serial absolute synchronous encoder cable For the serial absolute synchronous encoder cables, please use our products. If the required length is not found in our products, the user should fabricate a cable.

Selection The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder. Connector sets (MR-J3CN2) are also available for your fabrication.

Use the following or equivalent twisted pair cables as the serial absolute synchronous encoder cables.

*1 d is as shown below.

*2 Standard OD (Outside Diameter). Maximum OD is about 10% larger.

Cable model Cable length [m (ft.)] Q170ENCCBL_M-A 2 (6.56), 5 (16.40), 10 (32.81), 20 (65.62), 30 (98.43), 50 (164.04)

Connector sets type Description MR-J3CN2 Servo amplifier connector

Core size [mm2]

Number of cores

Characteristics of one core Finished OD [mm]*2Structure [Number of

wires/mm] Conductor resistance [/km]

Insulating sheath OD d [mm]*1

0.2 24 (12 pairs) 40/0.08 105 or less 0.88 9.0

CAUTION When fabricating the encoder cable, do not make an incorrect connection. An incorrect connection will cause runaway or an explosion.

Conductor Insulation sheath

d

APPX Appendix 1 Component List [FX5-SSC-S]

A

Q170ENCCBL_M-A Model explanation

Connection diagram When fabricating a cable, use the recommended wire and connector set MR-J3CN2 for encoder cable given above, and make the cable as shown in the following connection diagram. Maximum cable length is 50 m (164.04 ft.).

Type: Q170ENCCBL_M - A

2 Cable length [m (ft.)]

5

Symbol

10 20 30

2 (6.56) 5 (16.40)

10 (32.81) 20 (65.62) 30 (98.43)

50 50 (164.04)

:

:

:

CN2L connector Pin arrangement

Encoder connector Pin arrangement

50 m (164.04 ft.) or less

MR-J4-B-RJ

Synchronous encoder

Encoder connector

Synchronous encoder cable Q171ENC-W8

SignalPin SignalPin

View A View B

BA

Encoder side MS3106B22-14S(plug) MS3057-12A(cable clump)

Cable length 50 m (164.04 ft.) or less

LG 2

BAT

MR2 3 MRR2 4 MD2 7 MDR2 8

P5

SD plate

R

E

K L H J

S

N

Servo amplifier side 36210-0100PL(plug) 36310-3200-008(shell)

: Twisted pair cable Cable cross-section

diagram

Layout twisted pair for signal to avoid contact.

BAT

MR MRR MD MDR

LG P5

SHD

CN2L

: Pin provided : Pin not provided

1

9

MR MRR

K L M N SHD P R LG S P5 TMD

MDR

BAT

A B C D E F G H J

2

LG 4

MRR2

6 8

MDR2

10

1

P5 3

MR2

5 7

MD2

9

BAT

A

G

T P

F

J

E

L M

C S RH D

NK BU

V

Twisted pair for signal (BAT/LG, MR/MRR, MD/MDR)

Twisted pair (P5/LG)

Core

APPX Appendix 1 Component List [FX5-SSC-S] 77

78

External dimension drawing of serial absolute synchronous encoder Serial absolute synchronous encoder (Q171ENC-W8) [Unit: mm (inch)]

Cable connector for serial absolute synchronous encoder Type (manufactured by 3M Japan Limited (SCR type)) Plug: 36210-0100PL Shell: 36310-3200-008 [Unit: mm (inch)]

7(0.28)

Cross-section diagram AA'

29(1.14)

58.5(2.30)

40 (1

.5 7)

58 .5

(2 .3

0) 22

.2 5

(0 .8

8)

12 3.

25 (4

.8 5)

37.5(1.48)

8.72 (0.34)

42(1.65)

85(3.35)

8. 72

(0 .3

4)

4-5.5 (0.22)

45 2(0.08)

30(1.18)

A

A'

14(0.55)

1 00(3.94)

7 5(

2. 95

)0 -0 .0

20

9. 52

(0 .3

7)

0 -0 .0

08

22.7 11

34 .8

22.4

10

8

39 .6

APPX Appendix 1 Component List [FX5-SSC-S]

A

Mounting of serial absolute synchronous encoder This section describes precautions for handling the serial absolute synchronous encoder. If the serial absolute synchronous encoder is linked to a chain, a timing belt, or gears, the machine side rotary shaft should

be supported by a separate bearing and connected to the serial absolute synchronous encoder through a bellows coupling. Ensure that excessive force (greater than the permitted shaft load) is not applied to the shaft of the serial absolute synchronous encoder.

Excessive load applied to the shaft of the serial absolute synchronous encoder by large mounting errors in eccentricity or angle of deviation may impair encoder function or extremely shorten encoder life. Minimize loads applied to the shaft so that they remain within the permitted shaft load range.

Item Radial direction Thrust direction Permitted shaft load Up to 19.6 N Up to 9.8 N

CAUTION The serial absolute synchronous encoder contains a glass disk and precision mechanism. Take care when handling it. Encoder function may be impaired if it

is dropped or subjected to shocks or vibrations exceeding the prescribed limits. Do not connect the shaft of the serial absolute synchronous encoder directly to the machine side rotary shaft. The shaft should be supported by a separate

bearing and mounted using a bellows coupling. Never hit the end of the serial absolute synchronous encoder shaft with a hammer or similar object when doing things such as connecting the bellows

coupling to it. Excessive shock applied to the serial absolute synchronous encoder may damage it. The serial absolute synchronous encoder uses optical parts. Mount it in an atmosphere containing as little moisture, oil, and dust as possible. When mounting the serial absolute synchronous encoder to any place where it is exposed to water and/or oil, provide protection from oil and water, e.g.

mount a cover. In addition, run the cable downward to prevent oil and/or water from travelling on the cable into the serial absolute synchronous encoder. When it is necessary to mount the serial absolute synchronous encoder vertically or obliquely, set up a trap on the cable.

Use the serial absolute synchronous encoder within the specified temperature range (-5 to 55) . Do not use rigid couplings. Doing so applies an excessive bending load to the axis, and may break the axis of the servo motor or cause deterioration of the

bearings.

Serial absolute synchronous encoder

Bellows coupling

Bearing Gear

APPX Appendix 1 Component List [FX5-SSC-S] 79

80 APPX Appendix 2 Component List [FX5-SSC-G]

Appendix 2 Component List [FX5-SSC-G] The positioning system using the Motion module is configured of the following devices.

Operation-verified manual pulse generator

When using a manual pulse generator with the FX5-SSC-G, connect the encoder with the input part of the CPU module or the extension high-speed pulse input/output module, then import the manual pulse generator data using the high-speed counter function of the CPU module. For details of the high-speed counter function, refer to the following manual. MELSEC iQ-F FX5 Users Manual (Application) For the wiring of the high-speed counter, refer to the following manuals. MELSEC iQ-F FX5S/FX5UJ/FX5U/FX5UC User's Manual (Hardware)

No. Part name Type Remarks 1 Motion module FX5-40SSC-G

FX5-80SSC-G

2 Drive unit

3 Device compatible with CC- Link IE TSN

4 CC-Link IE TSN Network cable Cables are needed for connecting the Motion module with a drive unit/device compatible with CC-Link IE TSN, or between drive units/devices compatible with CC-Link IE TSN. (Page 63 Ethernet cable)

5 Ethernet HUB Switching HUB are needed for connecting the Motion module, a drive unit, and other brand drive units in star topology. (Page 64 Switching hub)

Manufacturer Model name Tokyo Sokuteikizai Co., Ltd. RE46A2CO2B

FX5- SSC-G G: Compatible with CC-Link IE TSN Number of controlled axes (40 = 4 axes, 80 = 8 axes)

A

Appendix 3 Connection with External Devices [FX5- SSC-S]

Connector Mounted onto an external input connection connector of the Simple Motion module and used for wiring an external device. The "external device connector" includes the following 3 types.

Connector type

*1 Make sure to purchase the connector which is sold separately since this is not an option.

Specifications of the connector

The external input wiring connector has not been prepared. The user should purchase it separately.

Specialized tool Manual harness tool for pressure-displacement type (Manufactured by Sumitomo 3M Limited.)

Contact for the specialized tool Sumitomo 3M Limited: https://www.3m.com/

Type Model name

Connector Connector case Soldering type (LD77MHIOCON) One-touch lock style 10126-3000PE 10326-52F0-008

Soldering type*1 Screw tightening style 10126-3000PE 10326-52A0-008

Pressure-displacement type*1 One-touch lock style 10126-6000EL 10326-3210-000

Part name Specification Applicable connector Soldering type (One-touch lock style/Screw tightening

style) Pressure-displacement type (One-touch lock style)

Applicable wire size AWG30 to AWG24 (0.05 to 0.2 mm2) AWG28 (twisted, 0.08 mm2)

Model name 10960 (Press body)

10962 (Fixture unit)

10963 (Fixture block)

10964-1 (Cable clamp (small) for 14 to 50 poles)

APPX Appendix 3 Connection with External Devices [FX5-SSC-S] 81

82

External input signal cable The external input signal cable is not prepared as an option. The user should fabricate a cable.

Connection diagram Make the cable as shown in the following connection diagram.

Differential-output type Make the cable within 30 m (98.5 ft.).

*1 Make sure to perform shield treatment on the used equipment side. Also, connect it to the shell of connector side.

HBLHBL 18 HBH 17 HAL 5 HAH 4

HB 16

HA 3

EMIEMI 10 EMI.COMEMI.COM 23

DI1

DI3

HAL HAH

FG*1

Forced stop input side

External command/switching side

HBH

DI1 11 COM 13

DI3 12

DI2 24 COM 26

DI4 25

DI2

DI4 DICOM

FG Shell*1

: Twisted pair cable

10126-3000PE (connector) 10326-52F0-008 (connector case)

Solderless terminal

Simple Motion module side

FG*1

Differential output type manual pulse generator/INC synchronous encoder side

SG 15

SG 2

SG

APPX Appendix 3 Connection with External Devices [FX5-SSC-S]

A

Voltage-output type/Open-collector type Make the cable within 10 m (32.81 ft.).

*1 Make sure to perform shield treatment on the used equipment side. Also, connect it to the shell of connector side.

HBL 18 HBH 17 HAL 5 HAH 4

HB 16

SG 2

SG 15

HA 3

EMIEMI 10 EMI.COMEMI.COM 23

DI1

DI3

Forced stop input side

External command/switching side

DI1 11 COM 13

DI3 12

DI2 24 COM 26

DI4 25

DI2

DI4 DICOM

FG

: Twisted pair cable

10126-3000PE (connector) 10326-52F0-008 (connector case)

Solderless terminal

HB

SG

HA

FG*1

Shell*1

FG*1

Voltage output type/open collector type manual pulse generator/INC synchronous encoder side

Simple Motion module side

APPX Appendix 3 Connection with External Devices [FX5-SSC-S] 83

84

The following table indicates the external input wiring connector cables. Select a cable according to your operating conditions.

*1 d is as shown below.

*2 Standard OD. Max. OD is about 10% larger.

Wire model Core size Number of cores

Characteristics of one core Finish OD [mm]*2Structure [Number

of wires/mm] Conductor resistance [/km]

Insulating sheath OD d [mm]*1

20276FACBL 7/0.18 mm4P AWG25 (0.16 mm2)

8 (4 pairs) 7/0.18TA 115 1.0 6.8

20276FACBL 7/0.18 mm5P AWG25 (0.16 mm2)

10 (5 pairs) 7/0.18TA 115 1.0 7.3

CAUTION When fabricating the cable, do not make an incorrect connection. An incorrect connection will cause runaway or an explosion.

Conductor Insulation sheath

d

APPX Appendix 3 Connection with External Devices [FX5-SSC-S]

APPX Appendix 4 How to Check the SERIAL No. 85

A

Appendix 4 How to Check the SERIAL No. The SERIAL No. of the Simple Motion module/Motion module can be checked in the following method.

Confirming the serial No. on the rating plate The rating plate is situated on the side face of the Simple Motion module/Motion module. (Page 17 PART NAMES)

86

Appendix 5 External Dimensions

FX5-40SSC-S [Unit: mm (inch)]

FX5-80SSC-S [Unit: mm (inch)]

16 (0.63)

50 (1.97)

80 (3

.1 5)

(m ou

nt in

g ho

le p

itc h)

90 (3

.5 5)

8 (0.32)

83 (3.27)

2-4.5 Mounting hole

16 (0.63)

50 (1.97)

80 (3

.1 5)

(m ou

nt in

g ho

le p

itc h)

90 (3

.5 5)

8 (0.32)

83 (3.27)

2-4.5 Mounting hole

APPX Appendix 5 External Dimensions

A

FX5-40SSC-G [Unit: mm (inch)]

FX5-80SSC-G [Unit: mm (inch)]

16 (0.63)

50 (1.97)

80 (3

.1 5)

(m ou

nt in

g ho

le p

itc h)

90 (3

.5 5)

8 (0.32)

83 (3.27)

2-4.5 Mounting hole

16 (0.63)

50 (1.97)

80 (3

.1 5)

(m ou

nt in

g ho

le p

itc h)

90 (3

.5 5)

8 (0.32)

83 (3.27)

2-4.5 Mounting hole

APPX Appendix 5 External Dimensions 87

88

Appendix 6 Standard Compliant Models Models compliant with UL and cUL standards The FX5-SSC-S and FX5-SSC-G are compliant with the EC Directive (EMC Directive) and UL standards (UL, cUL). For models compliant with the UL Standards, please consult your local Mitsubishi representative.UL, cUL File Number: E95239

EC Directive (CE marking) compliance The entire machinery manufactured by using this product is not guaranteed to conform to the following directives. The manufacturer of the machinery must determine whether to declare conformity to the EMC Directive and the Low Voltage Directive (LVD). For details, consult Mitsubishi Electric separately.

Measures to comply with the EMC Directive The following product, when used in accordance with instructions given by the relevant document, shows conformity to the EU directive (2014/30/EU) for electromagnetic compatibility through direct testing (using the following specified standards) and design analysis (by creating a technical structure file).

Product conformity item Type: Programmable controller (open-type device) Target products: FX5 manufactured in the following periods

Manufactured on and after October 1, 2014 FX5-40SSC-S

Manufactured on and after October 1, 2016 FX5-80SSC-S

Manufactured on and after January 1, 2021 FX5-40SSC-G, FX5-80SSC-G

Electromagnetic Compatibility (EMC) Directive Remarks EN 61131-2:2007 Programmable Controllers -Equipment requirements and tests

The product has been tested for all related items from the following. EMI Radiated emission Conducted emission

EMS Radiated electromagnetic field Fast transient burst Electrostatic discharge High-energy surge Voltage drops and interruptions Conducted RF Power frequency magnetic field [FX5-SSC-S]

APPX Appendix 6 Standard Compliant Models

A

Precautions for compliance with the EC Directive

Precautions when using the product Attach a ferrite core to the power supply cable (on the Simple Motion module/Motion module side). Attach the ferrite core with the cable wrapped around it two times at a location that is 200 mm or less from the Simple Motion module/Motion module side connector. For the ferrite core, use a core that is equivalent to the following: Model: ZCAT3035-1330 manufactured by TDK Corporation

Power source of 24 V DC power supply voltage Supply power to the 24 V DC power supply voltage of the FX5-SSC-S/FX5-SSC-G from the AC/DC power supply installed in the same control panel.

Compliance with UKCA marking The requirements for compliance with UKCA marking are the same as that with EC directive (CE marking).

Simple Motion module/

Motion module

Ferrite core

Power supply cable

20 0

m m

(7 .8

7" ) o

r l es

s

APPX Appendix 6 Standard Compliant Models 89

90

Appendix 7 Open Source Software The software of the Motion module includes the following open software. Distributed software as a free software in which copyright of a third party exists. Software which Mitsubishi Electric Corporation or a third party hold copyright cannot be subjected to a distribution of the source cord. Besides, please refrain inquiry as to the source cord of the open source.

RapidJSON RapidJSON distributed by MIT license is used on this product. Copyright notice and license notice of RapidJSON are included below. Tencent is pleased to support the open source community by making RapidJSON available. Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All rights reserved. If you have downloaded a copy of the RapidJSON binary from Tencent, please note that the RapidJSON binary is licensed under the MIT License. If you have downloaded a copy of the RapidJSON source code from Tencent, please note that RapidJSON source code is licensed under the MIT License, except for the third-party components listed below which are subject to different license terms. Your integration of RapidJSON into your own projects may require compliance with the MIT License, as well as the other licenses applicable to the third-party components included within RapidJSON. To avoid the problematic JSON license in your own projects, it's sufficient to exclude the bin/jsonchecker/ directory, as it's the only code under the JSON license.A copy of the MIT License is included in this file. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. The Software shall be used for Good, not Evil. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

APPX Appendix 7 Open Source Software

A

msinttypes msinttypes distributed by BSD license is used on this product. Copyright notice and license notice of msinttypes are included below. The msinttypes r29 Copyright (c) 2006-2013 Alexander Chemeris All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

C++ B-tree C++ B-tree distributed by Apache License, Version 2.0 is used on this product. For copyright notice and license notice of Apache License, Version 2.0, refer to the following. http://www.apache.org/licenses/LICENSE-2.0

MD5 Message-Digest Algorithm MD5 Message-Digest Algorithm is used on this product. Copyright notice and license notice of MD5 Message-Digest Algorithm are included below. Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All rights reserved. License to copy and use this software is granted provided that it is identified as the "RSA Data Security, Inc. MD5 Message- Digest Algorithm" in all material mentioning or referencing this software or this function. License is also granted to make and use derivative works provided that such works are identified as "derived from the RSA Data Security, Inc. MD5 Message-Digest Algorithm" in all material mentioning or referencing the derived work. RSA Data Security, Inc. makes no representations concerning either the merchantability of this software or the suitability of this software for any particular purpose. It is provided "as is" without express or implied warranty of any kind. These notices must be retained in any copies of any part of this documentation and/or software.

APPX Appendix 7 Open Source Software 91

92

Appendix 8 Operation Examples [FX5-SSC-S] This chapter describes the programming procedure and the basic program of the Simple Motion module. When applying the program examples provided in this manual to an actual system, properly verify the applicability and reliability of the control on the system. [FX5-SSC-G] For the programming procedure and the basic program of the Motion module, refer to "PROGRAMMING [FX5-SSC-G]" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module Users Manual (Application)

Operation example [FX5-SSC-S]

Overall configuration The program examples show the programs of the following operations. Machine home position return execution Execution of 1-axis linear control using axis 1 JOG operation execution The following table shows the overall configuration of the positioning control operation examples. Note that the programs in the list are the ones using the axis 1 only.

Programming procedure Take the following steps to create a program for the motion control:

1. Set the system structure setting and parameter setting of the Simple Motion module setting for the initial setting. Page 93 System setting, Page 94 Parameters

2. Set the positioning data of the Simple Motion module setting. Page 94 Positioning data

3. Program examples of each control

No. Program name Description 1 PLC READY signal ON program Notifies the Simple Motion module that the CPU module is normal before the start of positioning control.

2 All axis servo ON program Enables the servo amplifier to operate.

3 Positioning start No. setting program Sets the positioning data that are executed with a positioning start program. The operation example is the case when the start No. is for machine home position return or the positioning data No.1 of the axis 1 is used.

4 Positioning start program Starts the machine home position return or the positioning control using positioning data.

5 JOG operation setting program Sets the JOG operation speed.

6 JOG operation execution program Starts the JOG operation.

APPX Appendix 8 Operation Examples

A

System configuration The following figure shows the system configuration used for the program examples in this section.

Initial setting details Set the system setting, parameters and positioning data using the engineering tool.

System setting The system setting is shown below.

(1) FX5U-32MR/ES (2) FX5-40SSC-S (3) FX5-16EX/ES (4) FX5-16EX/ES

(1) (2) (3) (4)

Servo amplifier (MR-J4-_B_)

Servo motor

External device

X00 to X17 X20 to X37

X40 to X57

APPX Appendix 8 Operation Examples 93

94

Parameters The following table lists parameters. Use the default values for the setting items not listed here or the setting items for the axes not described here.

Positioning data The following table lists positioning data. Use the default values for the setting items not listed here or the setting items for the axes not described here.

Setting item Setting value (Axis 1) Common parameters [Pr.82] Forced stop valid/invalid selection 1: Invalid

Basic parameters 1 [Pr.1] Unit setting 0: mm

[Pr.2] Number of pulses per rotation (AP) 4194304 pulses

[Pr.3] Movement amount per rotation (AL) 250000.0 m

Detailed parameters 1 [Pr.22] Input signal logic selection: Lower limit 1: Positive logic

[Pr.22] Input signal logic selection: Upper limit 1: Positive logic

[Pr.116] FLS signal selection: input type 2(0002h): Buffer memory

[Pr.117] RLS signal selection: input type 2(0002h): Buffer memory

[Pr.118] DOG signal selection: input type 2(0002h): Buffer memory

Home position return basic parameters

[Pr.46] Home position return speed 50.00 mm/min

[Pr.47] Creep speed 15.00 mm/min

[Pr.48] Home position return retry 1: Retry home position return with limit switch

Setting item (Axis 1 Positioning data) Setting value (Positioning data No.1)

Setting value (Positioning data No.2)

Setting value (Positioning data No.3)

Operation pattern 0: Positioning complete

Control method 01h: ABS Linear 1 1-axis linear control (ABS)

06h: FWD V/P Speed-position switching control (forward run)

08h: FWD P/V Position-speed switching control (forward run)

Axis to be interpolated

Acceleration time No. 0: 1000

Deceleration time No. 0: 1000

Positioning address -10000.0 m 2500.0 m 2000.0 m

Arc address

Command speed 20.00 mm/min 180.00 mm/min 180.00 mm/min

Dwell time 300 ms 0 ms 300 ms

M code 9843 0 0

APPX Appendix 8 Operation Examples

A

Program Examples Using Labels [FX5-SSC-S]

List of labels to be used The following table lists the labels used for the program examples in this section. I/O signals or buffer memory areas of the modules shown in the system configuration are described in the programs using the labels. For details on the global labels, refer to "LABELS" in the following manual. MELSEC iQ-F FX5 Programming Manual (Program Design)

Module label The following table lists the module labels of the Simple Motion module used for the program examples in this section.

Device name

Device Label name Signal name

Axis 1 I/O signals U1\G31500.0 FX5SSC_1.stSysMntr2_D.bReady_D READY

U1\G31500.1 FX5SSC_1.stSysMntr2_D.bSynchronizationFlag_D Synchronization flag

U1\G31501.0 FX5SSC_1.stSysMntr2_D.bnBusy_D[0] Axis 1 BUSY signal

U1\G5950.0 FX5SSC_1.stSysCtrl_D.bPLC_Ready_D PLC READY

U1\G5951.0 FX5SSC_1.stSysCtrl_D.bAllAxisServoOn_D All axis servo ON

Buffer memory

U1\G2417.3 FX5SSC_1.stnAxMntr_D[0].uStatus_D.3 Axis 1 Home position return request flag

U1\G2417.D FX5SSC_1.stnAxMntr_D[0].uStatus_D.D Axis 1 Error detection

U1\G2417.F FX5SSC_1.stnAxMntr_D[0].uStatus_D.F Axis 1 Positioning complete

U1\G4326 FX5SSC_1.stnAxCtrl1_D[0].udVP_NewMovementAmount_D Axis 1 Speed-position switching control movement amount change register

U1\G4328 FX5SSC_1.stnAxCtrl1_D[0].uEnableVP_Switching_D Axis 1 Speed-position switching enable flag

U1\G4330 FX5SSC_1.stnAxCtrl1_D[0].udPV_NewSpeed_D Axis 1 Position-speed switching control speed change register

U1\G4332 FX5SSC_1.stnAxCtrl1_D[0].uEnablePV_Switching_D Axis 1 Position-speed switching enable flag

APPX Appendix 8 Operation Examples 95

96

Global label The following table lists the global labels, which are created by a user if necessary, used for the program examples in this section. Set the following in the global label of the engineering tool. External input (command)

Internal relays and data devices (Unused internal relays and data devices are automatically assigned and do not require setting.)

Program example The program examples use the module function blocks (FBs) and module labels displayed in "Module POU". For details on module function blocks, refer to "Simple Motion Module FB/Motion Module FB" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module Function Block Reference

PLC READY signal ON program

All axis servo ON program

APPX Appendix 8 Operation Examples

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Positioning start No. setting program

APPX Appendix 8 Operation Examples 97

98

Positioning start program

JOG operation setting program

JOG operation execution program

APPX Appendix 8 Operation Examples

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Program Examples Using Buffer Memory [FX5-SSC-S]

List of devices to be used In the program examples, the devices to be used are assigned as follows. In addition, change the module access device, external inputs, internal relays, data resisters, and timers according to the system used.

Buffer memory address of Simple Motion module, external inputs, internal relay Device name Device Application Description at device ON

Axis 1 Axis 2 Axis 3 Axis 4 Buffer memory address of Simple Motion module

U1\G31500.0 READY signal READY

U1\G31500.1 Synchronization flag Buffer memory accessible

U1\G2417.C M code ON signal M code outputting

U1\G2417.D Error detection signal Error detection

U1\G31501.0 BUSY signal BUSY (operating)

U1\G2417.E Start complete signal Start completed

U1\G5950 PLC READY signal CPU module preparation completed

U1\G5951 All axis servo ON signal All axis servo ON signal

U1\G30101 Forward run JOG start signal Starting forward run JOG

U1\G30102 Reverse run JOG start signal Starting reverse run JOG

U1\G30104 Positioning start signal Requesting start

External input (command)

X3 Machine home position return command Commanding machine home position return

X4 Fast home position return command Commanding fast home position return

X5 Positioning start command Commanding positioning start

X6 Speed-position switching operation command

Commanding speed-position switching operation

X7 Speed-position switching enable command

Commanding speed-position switching enable

X10 Speed-position switching prohibit command

Commanding speed-position switching prohibit

X11 Movement amount change command Commanding movement amount change

X12 High-level positioning control start command

Commanding high-level positioning control start

X15 JOG operation speed setting command Commanding JOG operation speed setting

X16 Forward run JOG/inching command Commanding forward run JOG/inching operation

X17 Reverse run JOG/inching command Commanding reverse run JOG/inching operation

X40 Position-speed switching operation command

Position-speed switching operation command

X41 Position-speed switching enable command

Position-speed switching enable command

X42 Position-speed switching prohibit command

Position-speed switching prohibit command

X43 Speed change command Speed change command

X53 PLC READY signal ON PLC READY signal ON

X55 For Unit (degree) For Unit (degree)

X56 Positioning start signal command Commanding positioning start

X57 All axis servo ON command All axis servo ON command

APPX Appendix 8 Operation Examples 99

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Data registers and timers

Program example

PLC READY signal ON program

All axis servo ON program

Internal relay M3 Fast home position return command Commanding fast home position return

M4 Fast home position return command storage

Fast home position return command held

M5 Positioning start command pulse Positioning start commanded

M6 Positioning start command storage Positioning start command held

M7 JOG/inching operation termination JOG/inching operation termination

M9 Manual pulse generator operating flag Manual pulse generator operating flag

M25 Parameter initialization command storage

Parameter initialization command held

M27 Flash ROM write command storage Flash ROM write command held

M50 Parameter setting complete device Parameter setting completed

Device name Device Application Storage details

Axis 1 Axis 2 Axis 3 Axis 4 Data register D0 Home position return request flag [Md.31] Status: b3

D1 Speed (low-order 16 bits) [Cd.25] Position-speed switching control speed change register

D3 Movement amount (low-order 16 bits) [Cd.23] Speed-position switching control movement amount change register

D5 Inching movement amount [Cd.16] Inching movement amount

D6 JOG operation speed (low-order 16 bits) [Cd.17] JOG speed

D32 Start No.

Code U1\G2417 Status [Md.31] Status

U1\G4300 Positioning start No. [Cd.3] Positioning start No.

U1\G4301 Positioning starting point No. [Cd.4] Positioning starting point No.

U1\G4326 Speed-position switching control movement amount

[Cd.23] Speed-position switching control movement amount change register

U1\G4328 Speed-position switching enable flag [Cd.24] Speed-position switching enable flag

U1\G4330 Position-speed switching control speed change

[Cd.25] Position-speed switching control speed change register

U1\G4332 Position-speed switching enable flag [Cd.26] Position-speed switching enable flag

Device name Device Application Description at device ON

Axis 1 Axis 2 Axis 3 Axis 4

0 APPX Appendix 8 Operation Examples

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Positioning start No. setting program

APPX Appendix 8 Operation Examples 101

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2 APPX Appendix 8 Operation Examples

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Positioning start program

APPX Appendix 8 Operation Examples 103

10

JOG operation setting program

JOG operation execution program

4 APPX Appendix 8 Operation Examples

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Appendix 9 Setting Example for Motion Modules (FX5-SSC-G)

This sections describes the setting procedure all the way up to servo ON when combining the Motion module and servo amplifier MR-J5(W)-G. The construction method of the program is the same as for the Simple Motion module.

Preparation Preparing the module/engineering tool and checking the version

*1 MR Configurator2 version 1.120A is not included in GX Works3 version 1.072A. For details, contact your local sales representative.

System configuration

Project creation 1. Starting GX Works3. Start GX Works3.

2. Creating a new project. Create a new project.

[Project] [New]

Category Model Compatible version Module CPU module FX5U

FX5UC Version 1.230 or later

Motion module FX5-40SSC-G FX5-80SSC-G

No restriction

Servo amplifier MR-J5(W)-G Version B2 or later

Engineering tool PLC software package GX Works3 Version 1.072A or later

Servo set-up software MR Configurator2 Version 1.120A or later*1

MR-J5(W)-G MR-J5(W)-G Servo amplifier

Ethernet cable Category 5e or higher (double shielded/STP)

straight cable

Ethernet cable

CPU module Motion module

GX Works3

Select FX5U.

*The Motion module cannot be used with FX5UJ.

APPX Appendix 9 Setting Example for Motion Modules (FX5-SSC-G) 105

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System configuration setting Adding a module In the Element Selection window of the module configuration, select the Motion module to be used and drag and drop it.

Network parameter setting Open the parameter setting screen and set the servo amplifier be used and the servo parameters.

Double click Navigation window "Parameter" "Module Information" Target module "Module Parameter (Network)"

Add the Motion module to be used.

Drag and drop

Select the Motion module to be used. *Simple Motion modules are marked with an "(S)" after the module name.

Double click "Module Parameter (Network)".

6 APPX Appendix 9 Setting Example for Motion Modules (FX5-SSC-G)

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Network configuration setting Start the network configuration

Double click Navigation window "Parameter" "Module Information" Target module "Module Parameter (Network)" "Basic Settings" in "Network Configuration Settings" (or click the button on the right side) "CC-Link IE TSN Configuration" screen

Select and add modules from "Module List" on the "CC-Link IE TSN Configuration" screen. A default station No. and I/O point No. are set when a module is added. IP addresses are set automatically in the order in

which the modules were added via drag and drop according to the setting and station No. of the master station.

Drag and drop

APPX Appendix 9 Setting Example for Motion Modules (FX5-SSC-G) 107

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PDO mapping setting When using a Motion module, PDO mapping setting is not required as the PDO mapping is fixed to the external signal of

the servo amplifier.

Servo parameter setting Set the servo parameters. For the setting details, refer to the following.

Page 109 Servo parameter setting value when using MR-J5(W)-G

Double click the servo amplifier icon or in "Parameter Automatic Setting"

When setting the MR-J5(W)-G series, confirm that there is a check in the [Motion Control Station] checkbox.

When setting is complete, close the screen to update the parameters.

8 APPX Appendix 9 Setting Example for Motion Modules (FX5-SSC-G)

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Servo parameter setting value when using MR-J5(W)-G Set the parameters of MR-J5(W)-G as shown below when executing motion control with MR-J5(W)-G. When the parameters are not set as shown below, the error "Servo parameter invalid" (error code: 1DC8H) occurs and the values will be rewritten from the Motion module. When an error occurs, reset said error after resetting the Motion module or MR-J5(W)-G.

*1 The parameter is enabled after resetting the Motion module or MR-J5(W)-G. *2 The parameter is enabled after resetting the MR-J5(W)-G.

Reflecting the network configuration setting Place a check in the checkbox in "Parameter Automatic Setting".

No. Name Default value

Setting value

PA06 Electronic gear numerator*1 1 When using the rotary servo motor HK-KT series: 16 Other (when not using the rotary servo motor HK-KT series): 1

PA07 Electronic gear denominator*1 1 1

PC79.0 DI status read selection*1 0h Eh bit1: Returns the on/off state of DI1 pin. bit2: Returns the on/off state of DI2 pin. bit3: Returns the on/off state of DI3 pin.

PD41.2 Limit switch enabled status selection*1 0h Ih (only enabled in homing mode)

PD41.3 Sensor input method selection*1 0h 1h (Input from controller (C_FLS/C_RLS/C_DOG)

PD60 DI pin polarity selection*1 0h 0h bit1: DI pin polarity selection 1 (ON with 24 V input) bit2: DI pin polarity selection 2 (ON with 24 V input) bit3: DI pin polarity selection 3 (ON with 24 V input)

PT01.1 Speed/acceleration/deceleration unit selection*2 0h 0h

PT08 Homing position data*1 0 0h

PT15 Software position limit + 0 0

PT17 Software position limit - 0 0

PT29.0 Device input polarity 1*1 0h 1h: Dog detection with on

When setting is complete, click [Close with Reflecting the Setting].

APPX Appendix 9 Setting Example for Motion Modules (FX5-SSC-G) 109

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Applying the operation cycle setting and module parameters The operation cycle is set in "Communication Period Interval Setting" of "Communication Period Setting". Click [Apply] to apply the settings in Module Parameters (Network).

Simple Motion Module Setting Starting the Simple Motion Module Setting Start the Simple Motion Module Setting screen.

Double click Navigation window "Parameter" "Module Information" Target module "Simple Motion Module Setting (Module Extended Parameter)"

Double click "Simple Motion Module Setting (Module Extended Parameter)".

0 APPX Appendix 9 Setting Example for Motion Modules (FX5-SSC-G)

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Setting the axis Set the servo network configuration parameters "[Pr.141] IP address specification" and "[Pr.142] Multidrop number".

Setting the electronic gear When using a rotary MR-J5(W)-G motor, set the resolution of the electronic gear to the MR-J4(W)-B motor resolution (22

bit, or 4194304 pulse) instead of 26 bit (67108864 pulse). The Motion module automatically overwrites the electronic gear of the servo amplifier parameters. For details, refer to the following. Page 109 Servo parameter setting value when using MR-J5(W)-G

The IP address set in the CC-Link IE TSN configuration can be selected (same as for Motion Control Setting).

In general, set parameters related to the servo amplifier on the GX Works3 side in the same way as for FX5-SSC-S.

Displays the servo amplifier corresponding to the IP address.

APPX Appendix 9 Setting Example for Motion Modules (FX5-SSC-G) 111

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The basic position information per rotation for the servo amplifier is 26 bit (67108864 pulse).

Program The Motion module performs control with the buffer memory instead of using the XY signal for the PLC READY, servo ON command, and start command. In addition, the I/O No. starts from 1. In the program below, PLC READY of Start I/O No. 1 Motion module is turned ON and the servo ON of the axis used can be executed.

When "Load side encoder information" is retrieved in the optional data monitor.

Si Encoder Information"

2 APPX Appendix 9 Setting Example for Motion Modules (FX5-SSC-G)

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Writing/reading of data Data, including data set in the Simple Motion Module Setting, is written/read from GX Works3. However, the initial writing/reading of Simple Motion Module Setting data should be performed after first writing module parameters set with the Motion module to the CPU module.

APPX Appendix 9 Setting Example for Motion Modules (FX5-SSC-G) 113

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Precautions When using an HK-KT motor as a serial ABS synchronous encoder while said motor is connected to the MR-J5-B-RJ, the

resolution becomes 67108864 (pulse/rev). As such, it is necessary to adjust "[Pr.322] Synchronous encoder axis unit conversion: Numerator" and "[Pr.323] Synchronous encoder axis unit conversion: Denominator" when processing cannot be changed with the Q171ENC-W8.

To perform mark detection for an axis performing dog method home position return, etc. with the input signal of the servo amplifier, it is necessary to either perform mark detection using the DOG signal of an axis not performing home position return, or use the home position return DOG signal via the buffer memory.

When the error "Servo parameter invalid" (error code: 1DC8H) occurs, the error state is cleared when the Motion module is restarted or the servo amplifier is turned OFF and ON. To reflect changes made to parameters in a project, reopen the servo parameter setting screen and apply the servo parameters to the project by directly reading said parameters from the servo amplifier via "Read". For the FX5CPU, "Automatic update of saved parameters" is not supported by parameter automatic saving setting of the device stations. Note that the servo parameters are not changed even if device settings are read from the CPU module.

Turning off the power supply of the servo amplifier while changing servo parameters to the recommended setting may cause the servo parameters to become corrupted. Turn off the power supply of the servo amplifier after confirming that the Motion module is on one of the following states.

The error "Servo parameter invalid" (error code: 1DC8H) occurs "[Md.190] Controller current value restoration complete status" is "1: Complete INC restoration" or "2: Complete ABS restoration"

4 APPX Appendix 9 Setting Example for Motion Modules (FX5-SSC-G)

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MEMO

APPX Appendix 9 Setting Example for Motion Modules (FX5-SSC-G) 115

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INDEX

A Absolute position system . . . . . . . . . . . . . . . . . . 45 Acceleration/deceleration processing function . . . 45 Acceleration/deceleration time change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Amplifier-less operation function . . . . . . . . . . . . . 47 Applicable wire size. . . . . . . . . . . . . . . . . . . . . . 22

B Backlash compensation function. . . . . . . . . . . . . 45 Block start (Normal start) . . . . . . . . . . . . . . . . . . 43

C Combination of Main Functions and Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Command in-position function . . . . . . . . . . . . . . 45 Common (COM) . . . . . . . . . . . . . . . . . . . . . . . . 69 Common functions . . . . . . . . . . . . . . . . . . . . . . 47 Component List . . . . . . . . . . . . . . . . . . . . . . . . 72 Condition start . . . . . . . . . . . . . . . . . . . . . . . . . 43 Connect/disconnect function of SSCNET communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Connection with External Devices . . . . . . . . . . . . 81 Continuous operation interrupt function . . . . . . . . 45 Continuous path control . . . . . . . . . . . . . . . . . . . 44 Continuous positioning control . . . . . . . . . . . . . . 44 Current value changing . . . . . . . . . . . . . . . . . . . 43

D Deceleration start flag function . . . . . . . . . . . . . . 46 Driver communication function . . . . . . . . . . . . . . 47

E Electronic gear function . . . . . . . . . . . . . . . . . . . 45 Event history function . . . . . . . . . . . . . . . . . . . . 47 Execution data backup function . . . . . . . . . . . . . 47 Expansion control . . . . . . . . . . . . . . . . . . . . . . . 42 External Dimensions . . . . . . . . . . . . . . . . . . . . . 86 External input signal select function . . . . . . . . . . 47 External input wiring connector . . . . . . . . . . . . . . 22

F Fast home position return control . . . . . . . . . . . . 43 Firmware update function. . . . . . . . . . . . . . . . . . 47 Fixed-feed control . . . . . . . . . . . . . . . . . . . . . . . 43 Follow up function . . . . . . . . . . . . . . . . . . . . . . . 46 Forced stop function . . . . . . . . . . . . . . . . . . . . . 45 Forced stop input signal (EMI) . . . . . . . . . . . . . . 69 Forced stop input signal common (EMI.COM) . . . 69

H Hardware stroke limit function . . . . . . . . . . . . . . 45 High-level positioning control . . . . . . . . . . . . . . . 42 History monitor function . . . . . . . . . . . . . . . . . . . 47 Home position return control . . . . . . . . . . . . . . . 42

Home position return retry function . . . . . . . . . . . .45 Home position shift function . . . . . . . . . . . . . . . . .45 Hot line forced stop function. . . . . . . . . . . . . . . . .47

I Inching operation . . . . . . . . . . . . . . . . . . . . . . . .43 Independent positioning control (positioning complete) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44 internal circuit. . . . . . . . . . . . . . . . . . . . . . . . . . .69

J JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . .43 JUMP instruction . . . . . . . . . . . . . . . . . . . . . . . .43

L LEND . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43 Linear control . . . . . . . . . . . . . . . . . . . . . . . . . . .43 LOOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43

M M code output function . . . . . . . . . . . . . . . . . . . .45 Machine home position return control . . . . . . . . . .43 Major positioning control . . . . . . . . . . . . . . . . . . .42 Manual control . . . . . . . . . . . . . . . . . . . . . . . . . .42 Manual pulse generator operation . . . . . . . . . . . .43 Manual pulse generator/Incremental synchronous encoder A-phase/PULSE. . . . . . . . . . . . . . . . . . .68 Manual pulse generator/Incremental synchronous encoder B-phase/SIGN . . . . . . . . . . . . . . . . . . . .68 Mark detection function . . . . . . . . . . . . . . . . . . . .47 Mass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22

N Near pass function . . . . . . . . . . . . . . . . . . . . . . .45 NOP instruction . . . . . . . . . . . . . . . . . . . . . . . . .43 Number of controlled axes . . . . . . . . . . . . . . . . . .21 Number of occupied I/O points . . . . . . . . . . . . . . .22

O OPERATION EXAMPLES . . . . . . . . . . . . . . . . . .92 Operation setting for incompletion of home position return function . . . . . . . . . . . . . . . . . . . . . . . . . .46 Optional data monitor function . . . . . . . . . . . . . . .47 Override function . . . . . . . . . . . . . . . . . . . . . . . .45

P Parameter initialization function . . . . . . . . . . . . . .47 Performance Specifications . . . . . . . . . . . . . . . . .21 Position-speed switching control. . . . . . . . . . . . . .43 Pre-reading start function . . . . . . . . . . . . . . . . . .45

6

I

R Repeated start (FOR condition) . . . . . . . . . . . . . 43 Repeated start (FOR loop) . . . . . . . . . . . . . . . . . 43

S Servo transient transmission function . . . . . . . . . 47 Signal ground (SG) . . . . . . . . . . . . . . . . . . . . . . 69 Simultaneous start . . . . . . . . . . . . . . . . . . . . . . 43 Skip function. . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Software stroke limit function . . . . . . . . . . . . . . . 45 Speed change function . . . . . . . . . . . . . . . . . . . 45 Speed control 10 times multiplier setting for degree axis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Speed limit function. . . . . . . . . . . . . . . . . . . . . . 45 Speed-position switching control. . . . . . . . . . . . . 43 Speed-torque control . . . . . . . . . . . . . . . . . . . . . 44 Step function . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Stop command processing for deceleration stop function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Sub functions . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Synchronous control . . . . . . . . . . . . . . . . . . . . . 44

T Target position change function . . . . . . . . . . . . . 45 Teaching function . . . . . . . . . . . . . . . . . . . . . . . 45 Torque change function . . . . . . . . . . . . . . . . . . . 45 Torque limit function . . . . . . . . . . . . . . . . . . . . . 45

V Virtual servo amplifier function . . . . . . . . . . . . . . 47

W Wait start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

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REVISIONS *The manual number is given on the bottom left of the back cover.

Japanese manual number: IB-0300250-F

2014 MITSUBISHI ELECTRIC CORPORATION

Revision date *Manual number Description November 2014 IB(NA)-0300251-A First edition

January 2015 IB(NA)-0300251-B Added or modified parts SAFETY PRECAUTIONS, RELEVANT MANUALS, TERMS, Section 2.5, 3.1, 3.4, Chapter 4, Section 5.1, 5.2, Chapter 6, Appendix 2

August 2015 IB(NA)-0300251-C Added functions Command generation axis Added or modified parts Section 1.1, 2.3, 3.2, Chapter 6

October 2016 IB(NA)-0300251-D Added models FX5-80SSC-S Added functions Inverter FR-A800 series, Stepping motor driver AlphaStep/5-phase manufactured by ORIENTAL MOTOR Co., Ltd., Servo driver VC series/VPH series manufactured by CKD NIKKI DENSO CO., LTD., IAI electric actuator controller manufactured by IAI Corporation Added or modified parts SAFETY PRECAUTIONS, INTRODUCTION, TERMS, PERIPHERALS, Chapter 1, Section 1.1, Chapter 2, Section 2.3, 2.4, 2.5, 3.1, Chapter 4, Section 5.1, 5.2, Chapter 6, Section 6.1, 6.2, Appendix 1, 2, 3, 4, WARRANTY

March 2021 IB(NA)-0300251ENG-E Added models FX5-40SSC-G, FX5-80SSC-G Added or modified parts WHEN USING A SWITCHING HUB WITH CC-LINK IE TSN, SAFETY PRECAUTIONS, INTRODUCTION, RELEVANT MANUALS, TERMS, PERIPHERALS, Chapter 1, Section 1.1, Chapter 2, Section 2.1, 2.2, 2.3, 2.4, 2.5, Chapter 3, Section 3.1, 3.2, 3.3, Chapter 4, Section 5.1, 5.2, 5.3, 5.4, 5.5, Appendix 1, 2, 3, 4, 5, 6, 7, 8, 9, WARRANTY, TRADEMARKS

March 2021 IB(NA)-0300251ENG-F Added or modified parts Section 2.5

December 2021 IB(NA)-0300251ENG-G Added or modified parts SAFETY PRECAUTIONS, RELEVANT MANUALS, TERMS, PERIPHERALS, Chapter 1, Section 2.4, 2.5, Section 3.2, Chapter 4, Section 5.2, 5.5, Appendix 1, 4, 5, 6, 9

July 2022 IB(NA)-0300251ENG-H Added or modified parts SAFETY PRECAUTIONS, RELEVANT MANUALS, TERMS, GENERIC TERMS AND ABBREVIATIONS, PERIPHERALS, Section 3.1, Chapter 4, Section 5.1, 5.2, Appendix 1, 2, 3, 6, 7, 9, INDEX

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

119

WARRANTY Please confirm the following product warranty details before using this product.

[Gratis Warranty Term] For terms of warranty, please contact your original place of purchase.

[Gratis Warranty Range] The range shall be limited to normal use within the usage state, usage methods and usage environment, etc., which follow the conditions and precautions, etc., given in the instruction manual, user's manual and caution labels on the product.

(1)

Even within the gratis warranty term, repairs shall be charged for in the following cases.

(2)

Failure occurring from inappropriate storage or handling, carelessness or negligence by the user. Failure caused by the user's hardware or software design.

1.

Failure caused by unapproved modifications, etc., to the product by the user.

2.

When the Mitsubishi product is assembled into a user's device, Failure that could have been avoided if functions or structures, judged as necessary in the legal safety measures the user's device is subject to or as necessary by industry standards, had been provided.

3.

Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the instruction manual had been correctly serviced or replaced.

4.

Relay failure or output contact failure caused by usage beyond the specified life of contact (cycles).

5.

Failure caused by external irresistible forces such as fires or abnormal voltages, and failure caused by force majeure such as earthquakes, lightning, wind and water damage.

6.

Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi.

7.

Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user.

8.

Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued. Discontinuation of production shall be notified with Mitsubishi Technical Bulletins, etc.

(1)

Product supply (including repair parts) is not available after production is discontinued.

(2)

2. Onerous repair term after discontinuation of production

If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company. However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module.

1. Gratis Warranty Term and Gratis Warranty Range Overseas, repairs shall be accepted by Mitsubishi's local

overseas FA Center. Note that the repair conditions at each FA Center may differ.

3. Overseas service

The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice.

5. Changes in product specifications

4. Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to: (1) Damages caused by any cause found not to be the

responsibility of Mitsubishi. (2) Loss in opportunity, lost profits incurred to the user

by Failures of Mitsubishi products. (3) Special damages and secondary damages whether

foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

In using the Mitsubishi MELSEC programmable controller, the usage conditions shall be that the application will not lead to a major accident even if any problem or fault should occur in the programmable controller device, and that backup and fail-safe functions are systematically provided outside of the device for any problem or fault.

(1)

The Mitsubishi programmable controller has been designed and manufactured for applications in general industries, etc. Thus, applications in which the public could be affected such as in nuclear power plants and other power plants operated by respective power companies, and applications in which a special quality assurance system is required, such as for railway companies or public service purposes shall be excluded from the programmable controller applications. In addition, applications in which human life or property that could be greatly affected, such as in aircraft, medical applications, incineration and fuel devices, manned transportation, equipment for recreation and amusement, and safety devices, shall also be excluded from the programmable controller range of applications. However, in certain cases, some applications may be possible, providing the user consults their local Mitsubishi representative outlining the special requirements of the project, and providing that all parties concerned agree to the special circumstances, solely at the user's discretion.

(2)

6. Product application

Mitsubishi shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.

(3)

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TRADEMARKS Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies. In some cases, trademark symbols such as '' or '' are not specified in this manual.

IB(NA)-0300251ENG-H

Manual number: IB(NA)-0300251EN

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