MELSEC IQ-F FX5 User's Manual (Positioning Control) - TPA

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MELSEC iQ-FFX5 User's Manual (Positioning Control)

FX Series Programmable Controllers1 The Basics of Positioning ControlIntroduction to FX Positioning Control Systems1.1 What is positioning control?1The Basics of Positioning Control2What is positioning control?The positioning controller, together with the programmable logic controller, personal computer and operatorinterface, is one of the four main units of FA (factory automation).Among these units, the positioning controller plays an important role and is regarded as the center of themechatronics field in which many senior engineers have been playing active roles.3Improving machine efficiency generates immeasurable added value, including reduced labor costs andimproved conservation of machine floor space for the same quantity of production. If there are no problemsrelated to the positioning aspect of a machine, it may mean that the machine is not running as efficiently as itcould be. This is where the science of developing and retrofitting an optimum positioning control systemcomes in.4Actuators for positioningThe options available for positioning control depend on the type of actuator driving the system. An actuator isa mechanical device that moves or controls a specific element or a series of elements within a system.In a mechanical system, an actuator is often used with a sensor to detect the motion or position of aworkpiece. The following illustrations provide examples of diversified actuators, their features and their weakpoints.Actuator(s)Features and DrawbacksSchematic drawingPipingPneumaticAir cylinder Air source and high grade pipingare required. High torque is not available. Multi-point positioning is complexand very difficult to achieve. Change in positioning is difficult.WorkpieceCompressorBrake motor Positioning mechanism is simple. Repeatability is poor. Change in positioning is difficult.(When optical sensors or limitswitches are used for stop)Motor with brakeLimit switch7Learning to UseFX PositioningControlPositioning is all about motion, and motion often involves speed and precision. And since speed can bedirectly related to productivity, positioning is an area of much development. When the speed of a machineincreases, a problem with the stop precision is often generated. In order to solve this problem, diversifiedgrades of positioning controllers have been required and developed.Components ofPositioningControl1.2Positioning byAC ServoSystem1.1The Basics ofPositioningControl1.

FX Series Programmable Controllers1 The Basics of Positioning ControlIntroduction to FX Positioning Control SystemsActuator(s)Clutch brake1.2 Actuators for positioningFeatures and Drawbacks Frequent positioning is possible. Life of friction plate is limited. Change in positioning is difficult.(When optical sensors or limitswitches are used for stop)Schematic drawingClutchbrakeunitConstantquantityfeed hopperSpeed reducerOpticalsensorCan feedmechanismMotorStepping motor Simple positioning mechanism. If load is heavy, motor may stepout and displacement can occur. Motor capacity is small. Precision is poor at high speed.ControllerSteppingmotorDC servo amplifier Positioning precision is accurate. Maintenance is required for motorDC servo systembrushes. It is not suitable for rotation athigh speed.DC servo motorLifter Multi-speed positioning isavailable using a high-speedcounter.General purposeinverter and High precision positioning is notgeneral purposeavailable.motor Large torque is not available atstart.(Specialized inverter is required)Motor with brakeGeneral-purposeinverter Positioning precision is good. Maintenance is not required. Positioning address can be easilyAC servo systemchanged. It is compact, and offers highpower.CutterSheet materialAC servomotorAC servo amplifier8

FX Series Programmable Controllers1 The Basics of Positioning ControlIntroduction to FX Positioning Control Systems1Positioning method typeIn general, there are two methods to control the movement of a workpiece: speed control and position control.For basic, more rudimentary positioning, speed control can be used with an inverter and general purposemotor. For systems where precision is a must, servo systems are required for the advanced handling of pulsecommands.DescriptionSchematic drawingMoving partBBall screwIMLimit switch forchangeover tolow speedINVLimit switchfor stop4High speedLearning to UseFX PositioningControlDC0 to 10VLow speed(Guideline of stopping precision:Approximately 1.0 to 5.0 mm)*1SpeedcontrolA position detector (such as apulse encoder) is set up in amotor or rotation axis. The pulsenumber generated from theposition detector is counted by ahigh-speed counter. When thepulse number reaches the presetvalue, the moving part stops.Pulse count In this method, because limitmethodswitches are not used, the stopposition can be easily changed.(Guideline of stopping precision:Approximately 0.1 to 0.5 mm)*1PulsePositioncommandcontrolmethodAn AC servo motor which rotatesin proportion to the input pulsenumber is used as the drivemotor.Whenthepulsenumbercorresponding to the movementdistance is input to the servoamplifier of the AC servo motor,positioning can be performed athigh speed in proportion to thepulse frequency.(Guideline of stopping precision:Approximately 0.01 to 0.05mm)*1*1.IM: Inductive motorB: BrakeINV: InverterMovementdistancePulses arefed back.Moving partBall screwPLG IMIM: Inductive motorPLG: Pulse generatorINV: InverterPLC: Programmable controllerINVDC0 to10VHigh speedPLCLow speedHigh-speedcounter unitMovement distancePulses arefed back.Moving partBall screwPLG SMServoamplifierCommandpulseSM: Servo motorPLG: Pulse generatorPLC: ProgrammablecontrollerPLCPosition controller3Components ofPositioningControlTwo limit switches are provided inplaces where a system’s movingpart passes. At the first limitswitch, the motor speed isreduced. At the second limitswitch, the motor turns off and thebrake turns on to stop the movingpart.Limit switch In this method, because positioncontrollers are not required, themethodsystem configuration can berealized at reasonable cost.2Positioning byAC ServoSystemControl methodThe Basics ofPositioningControl1.31.3 Positioning method typeMovement distanceThe stop precision shows a value in a case where the low speed is 10 to 100 mm/s.9

FX Series Programmable Controllers2 Positioning by AC Servo SystemIntroduction to FX Positioning Control Systems2.2.12.1 Advantages for using an AC servo systemPositioning by AC Servo SystemAdvantages for using an AC servo systemWith an AC servo system, positioning can be performed by many diversified methods. Typically, a positioncontroller, servo amplifier and servo motor are required for positioning with an AC servo system. Therepresentative servo system configuration is shown below.Servo amplifierCommercialpower oothingcircuitInverterAC DCDCDC ACSpeedDeviation commandcounterCurrentcontrolThe positioning controllergenerates a specified quantityof forward rotation (or reverserotation) pulses at a WM (pulse widthmodulation) controlThe command pulse numberis subtracted by the feedbackpulse number, and the speedcommand to drive the servomotor is made from thedeviation (accumulated pulsenumber).When the accumulated pulsenumber becomes 0, the servomotor stops.EncoderFeedbackpulseThe servo motor is equippedwith a built-in encoder (pulsegenerator), dedicated to highspeed response, and suitablefor positioning control.In the latest AC servo systems, conventional weak points have been improved as follows: Although the latest systems are completely digital, they are equipped with parameters in conformance todiversified mechanical specifications and electrical specifications so that simple set-up is possible. As frequent operation is enabled by a low inertia motor, the maximum torque is increased and the systemcan be applied to a wide variety of machines. The latest systems are equipped with an auto tuning function, with which the servo amplifier automaticallydetects the load inertia moment and adjusts the gain. This is possible even if the load inertia moment isunknown. The command communication cycle from the controller to the servo amplifier is improved forsynchronization accuracy and better speed/positioning accuracy. The latest systems also allow for long-distance wiring, reduced noise resistance, and simplified wiring.The top advantages to using an AC servo system are described below.Compact and light servosystemIn the FA workplace, adownsized AC servosystem occupying lessspace is beneficial.12Robust servo systemEasy servo systemIn accordance with severeoperation conditions, atougher AC servo system isoften required.AC servo systems areeasier to handle thanhydraulic equipment. Easysystems are also flexible fornew staff.Good cost performanceservo systemAn AC servo system withgood cost performancesaves a company in overallengineering costs.

FX Series Programmable Controllers2 Positioning by AC Servo SystemIntroduction to FX Positioning Control Systems2.2 Examples of AC servo systemsExamples of AC servo systemsType of machineDescriptionSchematic drawing3Press main unitComponents ofPositioningControlConstant feedIn the press/shear process forcutting,punching,etc.,theprocessed material is positionedwith high precision to produce aconstant sized product.Roll feederUncoiler4Learning to UseFX PositioningControlServo motorWorkpieceDrillMTappingIn order to tap a workpiece, “1. Quickfeed”, “2. Cutting feed” and “3. Quickreturn” are performed gfeedMFeedmotorPulleyQuickreturnDrillingIn order to perform processing on aflat face, positioning with highDrilling in steelprecision is performed by two motorssheet(X axis feed motor and Y axis feedmotor).Drill unitY axisX axisWorkpieceX-Y tableMMX axis feed motorY axis feed motorIndex tableIndex tableThe position of the circular table isindexed. The index position is set onthe outside (digital switch) or theinside (program). Shortcut drive isperformed depending on the indexposition.2Positioning byAC ServoSystemPositioning indicates the operation to move an object, such as a workpiece or tool (drill or cutter), from onepoint to another point and to stop it with efficiency and precision.In other words, the principle of positioning is the control of speed in accordance with the position, performedto promptly eliminate the remaining distance to the target position. The flexibility to change the target positionelectrically and easily is an important requirement.Several cases of positioning using an AC servo motor are systematically shown below.The Basics ofPositioningControl2.21WormwheelServomotor13

FX Series Programmable Controllers2 Positioning by AC Servo SystemIntroduction to FX Positioning Control Systems2.2 Examples of AC servo systemsType of machineLifter movingup/downDescriptionAs negative load is applied on theservo motor in positioning of the lifterintheverticaldirection,aregenerative option is also used.In order to hold the lifter stationaryand prevent drop of the lifter bypower interruption, a servo motorwith an electromagnetic brake isused.Schematic ptionCartCart travelcontrolA servo motor is mounted in thetravel cart as the drive source.A mechanism such as rack andpinion is adopted to prevent slippagebetween the wheels and rails.Drive wheel(on each of leftand right sides)Carrier robot14After the conveyor stops, the 2-axisservo system and the arm liftingmechanism transfer workpieces to apalette.Theworkpieceinputpositions on the palette can be set tomany points so that setup changecan be easily performed, even if thepalette position and the paletteshape change.Travel headY directionSlide armServo motorto driveslide armX directionPalletArm vertical axis(driven by air cylinder)WorkpieceConveyor Servo motorto drivetravel head

FX Series Programmable Controllers3 Components of Positioning Control and Their RolesIntroduction to FX Positioning Control Systems3.13.1 Positioning controllerPositioning controllerPositioning controllers use programs and parameters to send positioning commands to the servo amplifier.Contents related to programs and parameters are described below.3.1.1Command pulse control methodThere are two types of control formats used for outputting command pulses from an FX Series positioningcontroller: PLS/DIR (Pulse/Direction) method FP/RP (Forward Pulse/Reverse Pulse) methodEach method requires two outputs from the controller to control specific signals for direction and pulsecontrol. A third method, known as the A phase/B phase method, uses overlapping pulse signals to specifydirection.1. PLS/DIR methodIn the PLS/DIR method, one output sends pulses to the drive unit while the other output specifies the directionof travel.Forward rotationOutput #1Pulse train HLOutput #2Direction*1.HLON*1Reverse rotationOFF*1“ON” and “OFF” represent the status of the controller’s output.“H” and “L” respectively represent the HIGH status and the LOW status of the waveform. Thecommand pulse pattern in the figure assumes negative logic.2. FP/RP methodIn the FP/RP method, each output has a different direction and operates individually to send pulses to thedrive unit.Forward rotationOutput #1Forward rotation Hpulse train (FP) LOutput #2Reverse rotation Hpulse train (RP) L*2.18Reverse rotationOFF*2OFF*2“ON” and “OFF” represent the status of the controller’s output.“H” and “L” respectively represent the HIGH status and the LOW status of the waveform. Thecommand pulse pattern in the figure assumes negative logic.

FX Series Programmable Controllers3 Components of Positioning Control and Their RolesIntroduction to FX Positioning Control Systems1Servo amplifier and servo motorThe servo amplifier controls the movement quantity and the speed according to the commands given by thepositioning controller. The servo motor then transmits rotation to the drive mechanism after receiving signalsfrom the servo amplifier.Positioning control in accordance with command pulseIn accordance with speed and position command pulses from the positioning controller, PWM (pulse widthmodulation) control is performed by the main circuit of the servo amplifier in order to drive the motor. Therotation speed and the rotation quantity are fed back to the amplifier from the encoder attached to the servomotor.Deviation counter functionThe difference between the command pulses and the feedback pulses counted by the deviation counter in theservo amplifier is called accumulated pulses.When the accumulated pulse quantity becomes equivalent to or less than a specified quantity (in-position setvalue) after command pulses have stopped, the servo amplifier outputs the positioning complete signal.The servo motor continues operation even after that. Then, when the accumulated pulse quantity becomes 0,the servo motor stops.The time after the servo motor outputs the positioning complete signal until it stops is called the stop settlingtime.SpeedCommand speedMotor speedAccumulatedpulsesThe accumulated pulse quantity is 0, andpositioning is completed.TimeStop settling time3.2.3Servo lock functionThe servo motor is controlled so that the accumulated pulse quantity counted in the deviation counterbecomes 0.For example, if an external force for forward rotation is applied on the servo motor, the servo motor performsthe reverse rotation operation to eliminate the accumulated pulses.3.2.4Accumulated pulses in deviation counterServo motorMinus pulsesReverse rotation operationPlus pulsesForward rotation operation0 (zero)StopRegenerative brake functionDuring deceleration, because the servo motor rotates by the load inertia of the drive mechanism, it functionsas a generator and electric power returns to the servo amplifier.The regenerative resistor absorbs this electric power and functions as a brake (called a regenerative brake.)A regenerative brake is required to prevent regenerative over voltage in the servo amplifier when the loadinertia is large and operations are frequently performed.The regenerative resistor is required when the regenerative power generation quantity during decelerationexceeds the allowable regenerative electric power of the servo amplifier.214Learning to UseFX PositioningControlWhile the machine is operating at a constant speed, the accumulated pulse quantity is almost constant.During acceleration and deceleration, the accumulated pulse quantity changes more dramatically.3Components ofPositioningControl3.2.22Positioning byAC ServoSystem3.2.1The Basics ofPositioningControl3.23.2 Servo amplifier and servo motor

1OUTLINE1The FX5 PLCs (transistor output) can perform positioning control by outputting pulse signals to servo motors or steppingmotors. Increase the pulse frequency to increase the motor speed. Increase the number of pulses to increase the number ofmotor revolutions. In other words, set the pulse frequency to determine the workpiece transfer (positioning) speed. Set thenumber of pulses to determine the workpiece transfer distance.1.1Features The general outputs (Y0 to Y3) of the CPU module (transistor output) can control up to four axes for positioning operations. Use positioning instructions and positioning parameters of the CPU module for positioning control. The general outputs (Y0 to Y3) for the CPU module (transistor output) can output a pulse train of 200 Kpps. The CPU module (transistor output) pulse output method can be PULSE/SIGN mode or CW/CCW mode. The CPU module is compatible with the MELSERVO MR-J4 A series, MR-J3 A series and the MR-JN A series servoamplifiers.SystemUp to four axesServo amplifier (drive unit) and othersAxis 1Axis 2Axis 3Axis 4FX5 CPU module (transistor output type)1 OUTLINE1.1 Features11

2SPECIFICATIONSFor general specifications and power supply, refer to the following manual. FX5U User's manual (Hardware) FX5UC User's manual (Hardware)2.1Performance SpecificationsThe following list shows performance specifications of the positioning function.For details on each positioning parameter and setting procedures, refer to Page 35 POSITIONING PARAMETER.ItemDescriptionNumber of control axesIndependent 4 axes*1Pulse can be output from general-purpose outputs of the CPU module (axis1:Y0, axis2: Y1, axis3: Y2, and axis4: Y3).Pulse output formTransistorMaximum frequency2147483647 (200 Kpps in pulses)Positioning programCreated in sequence programTable operation (can be set in GX Works3.) When the positioning table data set to use device : 100 data points/axis When the positioning table data is set to do not use device : 32 data points/axisPosition data1 point (set in sequence program)PositioningPulse output modePULSE/SIGN mode, CW/CCW modePositioningrangeControl unitMotor system, machine system, multiple system,Number of pulses per rotation0 to 2147483647Travel distance per rotation1 to 2147483647Positioning data magnification1, 10, 100, 1000 (times)Positioning range-2147483648 to 2147483647 (motor/mechanical/multiple unit system)*2Speed command unitDetermined by the set unit systemBias speed0 to 200 Kpps (motor/multiple unit system)0 to 2147483647 (machine unit system)Maximum speed1 pps to 200 Kpps (motor/multiple unit system)1 to 2147483647 (machine unit system)OPR speed1 pps to 200 Kpps (motor/multiple unit system)1 to 2147483647 (machine unit system)Creep speed1 pps to 200 Kpps (motor/multiple unit system)1 to 2147483647 (machine unit system)Acceleration time0 to 32767 msDeceleration time0 to 32767 msSpeedcommand*3Acceleration/deceleration processDABS instruction usedInterpolationSimple linear interpolation by 2-axis simultaneous startStart time (time until pulse output is started after execution of the instruction isstarted)*1*2*314Trapezoidal acceleration/decelerationAbsolute position detection (ABS current value reading)When using the external start signal: 50 s or lessInterpolation operation: 300 s or lessThe number of control axes is two when the pulse output mode is CW/CCW mode.Set the number of output pulses per operation to 2147483647 or lower.For the start speed, refer to Page 64 Start speed.2 SPECIFICATIONS2.1 Performance Specifications

ItemResponse timeSpecificationsFX5U- MT ,FX5UC-32MT Y0 to Y32.5 s or less at 10 mA or more (5 to 24 V DC)FX5U- MT Y4 or more0.2 ms or less at 200 mA (24 V DC)FX5UC- MT 0.2 ms or less at 100 mA (24 V DC)2Circuit insulationPhoto-coupler insulationIndication of output motionLED on panel turns on when output (DISP switch OUT side)*1When two COM (or V ) terminals are connected outside the CPU module, the total load current (16 output point) is 1.6 A or less.Where indicates: 0 or 1To use the positioning instruction, adjust the load current of the NPN open collector output to 10 to 100 mA (5 to 24 V DC).ItemDescriptionOperation voltage range5 to 24 V DCOperation current range10 to 100 mAOutput frequency200 Kpps or lessSink internal output circuit FX5U CPU moduleFX5U CPU modulePulse train signalY0COM1Y4Direction signalCOM2GroundingServo amplifier(Drive unit)*15 to 24V DC*1To ground the unit, refer to the servo amplifier (drive unit) manual.If the grounding method is not specified, carry out class-D grounding. FX5UC CPU moduleFX5UC CPU modulePulse train signalY0Y4Direction signalCOM0Servo amplifier(Drive unit)*1Grounding5 to 24V DC*1To ground the unit, refer to the servo amplifier (drive unit) manual.If the grounding method is not specified, carry out class-D grounding.2 SPECIFICATIONS2.3 Output Specifications17

Basic SettingThe items set in basic setting correspond to the positioning parameters of each axis. In special devices corresponding toparameters, values set in the basic setting are stored as the initial values when the power is turned on from off or system isreset.When items occupying I/O are changed, the high speed I/O assignment parameters are also refreshed together.For parameters, refer to Page 39 Details of Parameters.WindowNavigation window Parameter FX5UCPU Module Parameter High Speed I/O Output Function Positioning Detailed Setting Basic Setting364 POSITIONING PARAMETER4.1 Setting Method

Parameter listThe following table lists the positioning parameters that can be set in Basic Setting.ItemSetting valueInitial valueReference0: Not Used, 1: PULSE/SIGN, 2: CW/CCW0: Not UsedPage 39Page 40 Basic Parameter 1Pulse Output Mode*1PULSE/CWY0 to Y3 SIGN/CCWY0 to Y17*2 Rotation Direction Setting0: Current Address Increment with ForwardRun Pulse Output1: Current Address Increment with ReverseRun Pulse Output0: Current Address Increment with ForwardRun Pulse OutputPage 40Unit Setting0: Motor System (pulse, pps)1: Machine System ( m, cm/min)2: Machine System (0.0001 inch, inch/min)3: Machine System (mdeg, 10 deg/min)4: Multiple System ( m, pps)5: Multiple System (0.0001 inch, pps)6: Multiple System (mdeg, pps)0: Motor System (pulse, pps)Page 41Output DevicePulse No. of per Rotation1 to 21474836472000Page 42Movement Amount per Rotation1 to 21474836471000Page 43Position Data Magnification1: Single, 10: 10 Times, 100: 100 Times,1000: 1000 Times1: SinglePage 43Interpolation Speed Specified Method0: Composite Speed, 1: Reference Axis Speed0: Composite SpeedPage 59Max. Speed1 to 2147483647100000Page 44Bias Speed0 to 21474836470Page 454 Basic Parameter 2Acceleration Time0 to 32767100 msPage 45Deceleration Time0 to 32767100 msPage 45Page 49 Detailed Setting ParameterExternal StartSignalInterrupt InputSignal 1Enabled/Disabled0: Invalid, 1: Valid0: InvalidDevice No.X0 to X17X0Logic0: Positive Logic, 1: Negative Logic0: Positive LogicEnabled/Disabled0: Invalid, 1: Valid0: InvalidDevice No.X0 to X17X0LogicInterrupt Input Signal 2 Logic0: Positive Logic, 1: Negative Logic0: Positive Logic0: Positive Logic, 1: Negative Logic0: Positive LogicPage 48Page 57 OPR ParameterOPR Enabled/Disabled0: Invalid, 1: Valid0: InvalidPage 52OPR Direction0: Negative Direction (Address DecrementDirection)1: Positive Direction (Address IncrementDirection)0: Negative Direction (Address DecrementDirection)Page 52Starting Point Address-2147483648 to 21474836470Page 52Clear SignalOutputEnabled/Disabled0: Invalid, 1: Valid1: ValidPage 54Device No.Y0 to Y17Y00 to 32767 ms0 msPage 54Page 55OPR Dwell TimeNear-point DogSignalDevice No.X0 to X17X0Logic0: Positive Logic, 1: Negative Logic0: Positive LogicZero SignalDevice No.X0 to X17X0Logic0: Positive Logic, 1: Negative Logic0: Positive LogicOPR Zero Signal Counts0 to 327671Count Start Time0: Near-point Dog Latter Part1: Near-point Dog Front Part0: Near-point Dog Latter Part*1*2Page 55PULSE/CW is fixed to the output device (Y) of "axis number - 1".CW/CCW is fixed to Y0(CW)/Y2(CCW), Y1(CW)/Y3(CCW).4 POSITIONING PARAMETER4.1 Setting Method37

Input CheckThe usage status of the built-in input (X0 to X17) can be checked from input check.Inputs do not need to be set in this window because the basic setting is applied.WindowNavigation window Parameter FX5UCPU Module Parameter High Speed I/O Input Check PositioningOutput ConfirmationThe usage status of the built-in output (Y0 to Y17) can be checked from output check.Outputs do not need to be set in this window because the basic setting is applied.WindowNavigation window Parameter FX5UCPU Module Parameter High Speed I/O Output Confirmation Positioning384 POSITIONING PARAMETER4.1 Setting Method

19.6General-purpose Input FunctionsThe FX5 PLC general-purpose inputs are explained below.Outline of general-purpose input functionsFor general-purpose inputs of the FX5 PLC, the input response time can be set by parameters.Specifications of general-purpose inputs19Performance specificationsInput response times can be set to general-purpose inputs. Input response time settingInput response times that can be set are shown below. The default value is 10 ms.Input number set valueInput response time set valueX0 to X37710 s, 50 s, 0.1 ms, 0.4 ms, 0.6 ms, 1 ms, 5 ms, 10 ms, 20 ms, 70 msThe value obtained by adding on the value of the hardware filter is the actual input response time. Hardware filter valueThe delay times of the hardware filter on the CPU module is shown below.The hardware filter value of I/O modules is 50 s when ON, and 150 s when OFF.Input numberHardware filter valueFX5U-32M , FX5UC-32M FX5U-64M , FX5U-80M ONOFFX0 to X5X0 to X72.5 s2.5 sX6 to X17X10 to X1730 s50 s X20 or later50 s150 s Input response time setting unitsThe following table lists the units (1 point unit/8 point unit) that can be set for the input response time of each CPU module.CPU moduleX0 to X7X10 to X17X20 to X27X30 to X37X40 to X47FX5U-32M 1 point unit1 point unit FX5U-64M 1 point unit1 point unit1 point unit1 point unit FX5U-80M 1 point unit1 point unit1 point unit1 point unit8 points units*1*1When 1 point unit is set for the input response time using GX Works3, X41 to X47 operate with the input response time set to X40.19 BUILT-IN I/O FUNCTION19.6 General-purpose Input Functions191

General-purpose input function parametersThis section explains the general-purpose input parameters.Set the input response time parameters in GX Works3.Parameter settingThis section explains how to set the input response time parameters.Set the input response time.Navigation window [Parameter] [FX5UCPU] [Module Parameter] [Input Response Time]WindowDisplayed itemsItemDescriptionSetting rangeResponse TypeSelect the input response time between 1 point unit and 8point unit.High-Speed: Unit of 1 pointNormal: Unit of 8 points High-Speed Normal X0 to X377Set the input response time. 10msNo Setting10micro-s ( s)50micro-s ( s)0.1ms0.4ms0.6ms1ms5ms10ms20ms70msParameters are enabled when the CPU module is powered ON or after a reset.19219 BUILT-IN I/O FUNCTION19.6 General-purpose Input FunctionsDefault

Current addressStore the current address operated by the positioning instruction. The current address stores an absolute address and isincreased or decreased depending on the rotation direction. Current address (user unit)The unit is the machine/multiple system unit, and the value indicated includes positioning data magnification. ( Page 41Unit Setting, Page 43 Position Data Magnification) The address range is -2147483648 to 2147483647. Special DeviceNameFX5 dedicatedCurrent address (user unit)R/WAxis 1Axis 2Axis 3Axis 4SD5500, SD5501SD5540, SD5541SD5580, SD5581SD5620, SD5621R/W4R/W: Read/WriteWhen the value in the devices above is changed, the current address (pulse unit) is also changed. Writing can be performed to the current address (user unit) only by the HCMOV/DHCMOV instruction.During positioning operation, the value written to the current address is applied when the instruction iscompleted. Reading can be performed to the current value by the HCMOV/DHCMOV instruction.PrecautionsThe current address (user unit) functions within the range of -2147483648 to 2147483647. However, an overflow orunderflow occurs before the current address (pulse unit) is reached if the axis parameter is set in such a way that the numberof pulses per rotation is less than the number of transfer distance units per rotation. If that happens, overflow/underflow to theupper or lower limit value is stored in the device. Current address (pulse unit)The unit is the motor system unit (pulse unit), and the value indicated includes positioning data magnification. ( Page 41Unit Setting, Page 43 Position Data Magnification) The address range is -2147483648 to 2147483647. Special DeviceNameFX5 dedicatedCurrent address (pulse unit)For compatibility with FX3R/WAxis 1Axis 2Axis 3Axis 4Axis 1Axis 2Axis 3Axis R/W: Read/WriteWhen the value in the devices above changes, the current address (user unit) also changes autom

MELSEC iQ-F FX5 User's Manual (Positioning Control) 7 FX Series Programmable Controllers Introduction to FX Positioning Control Systems 1 The Basics of Positioning Control 1.1 What is positioning control? 1 The Basics of Positioning Control 2 Positioning by AC Servo System 3 Components of Positioning Control 4

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