MELSEC iQ-F FX5

Motion Module/
Simple Motion Module
User's Manual (Advanced Synchronous Control)

-FX5-40SSC-G
-FX5-80SSC-G
-FX5-40SSC-S
-FX5-80SSC-S
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.
If the equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.
This manual classifies the safety precautions into two categories: [ WARNING] and [ CAUTION].

Indicates that incorrect handling may cause hazardous conditions, resulting in

WARNING death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in

CAUTION minor or moderate injury or property damage.
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.

1
 [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 "manufacturer setting area", "system area", and "write-protect area" of the
buffer memory in the module. Executing data writing to the "manufacturer setting area", "system
area", or "write protect area" may cause malfunction of the programmable controller alarm. For the
"manufacturer setting area", "system area", or "write-protect area", refer to "List of Buffer Memory
Addresses" in MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's 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.

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 WARNING
● For the operating status of each station after a communication failure, refer to manuals for the network
used. For the manuals, please consult your local Mitsubishi representative. Incorrect output or
malfunction may result in an accident.
[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.
- Only while the power is off or in nonhazardous locations, switch or press buttons.
- Do not open the cover of the CPU module and remove the battery unless the area is known to be
nonhazardous.

*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]
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).
● Do not bundle the control line and communication cables together with or lay them close to the main
circuit or power line. Keep a distance of 100 mm or more between them. Failure to do so may result in
malfunction due to noise.

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 [Security Precautions]
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.

[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.

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[Installation Precautions]
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.

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 [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.
● 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 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 Ω 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 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 in accordance with the manuals of each model. However,
do not use common grounding with heavy electrical systems.
● For Ethernet cables to be used in the system, select the ones that meet the specifications in MELSEC
iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Startup). If not, normal data
transmission is not guaranteed.

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 [Startup and Maintenance Precautions]
WARNING
● Do not touch any terminal while the programmable controller's 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.
● Once a program has been created, ensure the applicability and confirm that it will not cause system
control problems. Failure to do so may cause the system to malfunction due to a setting error in the
programmable controller.
● 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 on 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.

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[Startup and Maintenance Precautions]
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.

[Operating 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.
● Do not send safety-related data. Note that the data may not be sent due to factors such as power off
of the programmable controller during data transmission.

[Disposal Precautions]
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.)

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 [Transportation Precautions]
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.

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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 your local Mitsubishi Electric representative. When doing so, please provide the manual
number given at the end of this manual.

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 CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
GENERIC TERMS AND ABBREVIATIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

CHAPTER 1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL 18

1.1 Outline of Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.3 Operation Method of Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Synchronous control execution procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Starting/ending for synchronous control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Stop operation of output axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

CHAPTER 2 INPUT AXIS MODULE 32

2.1 Servo Input Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Overview of servo input axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Servo input axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Servo input axis monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.2 Command Generation Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Overview of command generation axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Command generation axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Command generation axis control data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Command generation axis monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Command generation axis positioning data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Write/read method for command generation axis parameter and positioning data . . . . . . . . . . . . . . . . . . . . . . . 56
2.3 Synchronous Encoder Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Overview of synchronous encoder axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Setting method for synchronous encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Synchronous encoder axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Synchronous encoder axis parameters via link device [FX5-SSC-G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Synchronous encoder axis control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Synchronous encoder axis monitor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

CHAPTER 3 CAM FUNCTION 94

3.1 Control Details for Cam Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
3.2 Create Cam Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Memory configuration of cam data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Cam data operation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Cam auto-generation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

CHAPTER 4 ADVANCED SYNCHRONOUS CONTROL 112

4.1 Main Shaft Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Overview of main shaft module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Main shaft parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Main shaft clutch parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Main shaft clutch control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
4.2 Auxiliary Shaft Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

12
 Overview of auxiliary shaft module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Auxiliary shaft parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Auxiliary shaft clutch parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Auxiliary shaft clutch control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
4.3 Clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Overview of clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Control method for clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Smoothing method for clutch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Use example of clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

CONTENTS
4.4 Speed Change Gear Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Overview of speed change gear module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Speed change gear parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
4.5 Output Axis Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Overview of output axis module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Output axis parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
4.6 Synchronous Control Change Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Overview of synchronous control change function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Synchronous control change control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
4.7 Synchronous Control Monitor Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
4.8 Phase Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
4.9 Output Axis Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

CHAPTER 5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION 160

5.1 Synchronous Control Initial Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
5.2 Synchronous Control Initial Position Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
5.3 Cam Axis Position Restoration Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Cam axis position value per cycle restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Cam reference position restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Cam axis command position value restoration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
5.4 Synchronous Control Analysis Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
5.5 Cam Position Calculation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Cam position calculation control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Cam position calculation monitor data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
5.6 Method to Restart Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

APPENDICES 188
Appendix 1 List of Buffer Memory Addresses (for Synchronous Control). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Appendix 2 Sample Program of Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Program example [FX5-SSC-S] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Program example [FX5-SSC-G] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

INDEX 208

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .210
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
INFORMATION AND SERVICES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212

13
 RELEVANT MANUALS
The following manuals are relevant to this product.
Manual name [manual number] Description
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual Functions and programming for the synchronous control of the Motion module/
(Advanced Synchronous Control) Simple Motion module
[IB-0300255ENG] (This manual)
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual Specifications, procedures before operation, system configuration, wiring, and
(Startup) operation examples of the Motion module/Simple Motion module
[IB-0300251ENG]
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual Functions, input/output signals, buffer memories, parameter settings,
(Application) programming, and troubleshooting of the Motion module/Simple Motion module
[IB-0300253ENG]
MELSEC iQ-F FX5 Motion Module User's Manual (CC-Link IE TSN) Functions, parameter settings, troubleshooting, and buffer memories of the CC-
[IB-0300568ENG] Link IE TSN network
MELSEC iQ-F FX5 Motion Module/Simple Motion Module Function Block Specifications, functions, and input/output labels of function blocks for the
Reference Motion module/Simple Motion module
[BCN-B62005-719]

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)

14
TERMS
Unless otherwise specified, this manual uses the following terms.
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.
CANopen An open network whose standards are promoted by the non-profit organization CiA. An application layer is
defined in which communication profiles and device profiles are defined, and this application layer is applied to
the CC-Link IE TSN CAN application protocol.
CC-Link One of the field-based networks that can handle control and information at the same time.
CC-Link IE Controller Network One of the control system networks. A backbone network that supports large-scale distributed controller control
and bundles field and motion networks.
CC-Link IE Field Basic Network A network that achieves cyclic transmission by software. Applicable to small-scale equipment that does not
require high-speed control.
CC-Link IE Field Network A high speed and large capacity open field network that is based on Ethernet (1000BASE-T).
CC-Link IE TSN An open network that uses “TSN (Time-Sensitive Networking)”, which is an extension of the Ethernet standard,
to ensure real-time control and handle information from other open networks simultaneously.
Command generation axis An axis that performs only command generation. "Command generation axis" is not included in the number of
controlled axes of the controller.
Communication cycle Cyclic transmission communication cycle of the cyclic master.
Cyclic transmission A function by which data is periodically exchanged among stations on the network.
Dedicated instruction An instruction for using functions of the module.
Device Various types of memory in a module. Some devices are handled in units of bits and some in units of words.
Extension module CC-Link IE Remote module without TSN network communication function. In the case of a multi-axis servo
amplifier, axes other than axis A are extension modules.
Field network Network used to efficiently control various sensors and drive systems with less wiring in the factory automation
field.
Gateway In general, protocol conversion is required to connect networks that differ from each other due to differences in
signaling methods and functions. This function bridges these different networks to enable mutual communication.
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 label: a module specific label (module label), which is generated automatically by GX Works3,
and an optional label, which can be created for any specified device.
GX Works3 The product name of the software package for the MELSEC programmable controllers.
Intelligent device station A station that exchanges I/O signals (bit data) and I/O data (word data) with another station by cyclic
transmission on CC-Link IE Field Network. This station can perform transient transmission.
This station responds to a transient transmission request from another station and also issues a transient
transmission request to another station.
Intelligent function module A module that has functions other than input and output, such as an A/D converter module and D/A converter
module.
Label A variable used in a program.
Link dedicated instruction Dedicated instruction for the programmable controller to send messages to the specified station using transient
transmission.
Link device A device in a module on CC-Link IE TSN.
Local station A station that performs cyclic transmission and transient transmission with the master station and other local
stations.
Master station A station that controls a network. Only one station exists per network. The transmission range of each station for
cyclic transmission is assigned to the master station.
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. From the module used, GX Works3 automatically generates this label, which can be used
as a global label in a CPU module.
Motion control station A device station that exchanges cyclic data by motion control.
Motion network A network for high performance/functional drive control. (SSCNET, etc.)
MR Configurator2 The product name of the setup software for the servo amplifier.
MR-J3(W)-B Servo amplifier model MR-J3-_B_(-RJ)/MR-J3W-_B.
MR-J4(W)-B Servo amplifier model MR-J4-_B_(-RJ)/MR-J4W_-_B.

15
 Term Description
MR-J4-B-RJ Servo amplifier model MR-J4-_B_-RJ.
MR-J5-G Servo amplifier model MR-J5-_G_(-RJ).
MR-J5(W)-G Servo amplifier model MR-J5-_G_(-RJ)/MR-J5W_-_G/MR-J5D_-_G_.
MR-JE-B(F) Servo amplifier model MR-JE-_B(F).
MR-JET-G Servo amplifier model MR-JET-_G.
Node Nodal point at the time of the data link.
Object Various data held by the CANopen-compatible device station.
Object dictionary In CANopen, various data such as control parameters/command values held by devices are handled as objects
consisting of an Index, Sub Index, object name, data type, etc. These sets are called object dictionaries.
PDO mapping Write operation to the PDO mapping object (RPDO/TPDO) at the device station, which determines the number of
PDO allocated to the device and the assignment of objects in the PDO.
Profile A file that specifies the specific information of a device (model name, model name, etc.) and the information
required for installation, operation, and maintenance.
Relay station A station that relays data link to other station. Link device data of a network module are transferred to another
network module via this station. Multiple network modules are connected to one programmable controller.
Remote device station A station that exchanges I/O signals (bit data) and I/O data (word data) with another station by cyclic
transmission.
Remote I/O station A station that exchanges I/O signals (bit data) with the master station by cyclic transmission on CC-Link IE Field
Network.
Remote station A station that performs bit basis and word basis cyclic and transient transmissions with the master station on CC-
Link IE TSN network.
Servo amplifier axis A servo amplifier or virtual servo amplifier controlled by a controller. "Servo amplifier axis" is included in the
number of controlled axes of the controller.
SSCNET*1 High speed synchronous communication network between Simple Motion module and servo amplifier.
SSCNET/H*1
Standard station A device station other than a motion control station.
Station Each of the nodes connected to the network is called a station.
Station No. Each station is numbered and this number is called the station No.
Transient transmission A function of non-periodic data communication among nodes (station) on network.
A function used to send messages to the target station when requested by a link dedicated instruction or the
engineering tool. Communication is available with station on another network via relay station, or gateway.

*1 SSCNET: Servo System Controller NETwork

16
GENERIC TERMS AND ABBREVIATIONS
Unless otherwise specified, this manual uses the following generic terms and abbreviations.
Generic term/abbreviation Description
CC-Link IE A generic term for CC-Link IE Field Network, CC-Link IE Controller Network, CC-Link IE Field Basic Network,
and CC-Link IE TSN network.
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.
Device station A generic term for a local station and remote station on CC-Link IE TSN.
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.
FB An abbreviation for function blocks. A graphical programming language for programmable controllers that is one
of the five languages defined in the IEC 61131-3 standard.
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.
GOT An abbreviation for Graphic Operation Terminal. A display device for industrial (FA) equipment.
Manual pulse generator An abbreviation for a (user-arranged) manual pulse generator.
Motion module An abbreviation for the MELSEC iQ-F series Motion module.
Motion system A generic term for software that performs the motion control and the network control.
Network module A generic term for the following modules:
• Ethernet interface module
• Module on CC-Link IE TSN (the Motion module and a module on a remote station)
• CC-Link IE Controller Network module
• Module on CC-Link IE Field Network (a master/local module, and a module on a remote I/O station, a remote
device station, and an intelligent device station)
• MELSECNET/H network module
• MELSECNET/10 network module
PDO An abbreviation for Process Data Object. A collection of the application objects transmitted periodically between
multiple CANopen nodes.
RWr An abbreviation for a remote register of the link device. This refers to 16-bit (1-word) data input from a device
station to the master station. (Not applicable for some local stations.)
RWw An abbreviation for a remote register of the link device. This refers to 16-bit (1-word) data output from the master
station to a device station. (Not applicable for some local stations.)
RX An abbreviation for remote input of the link device. This refers to bit data input from a device station to the master
station. (Not applicable for some local stations.)
RY An abbreviation for remote output of the link device. This refers to bit data output from the master station to a
device station. (Not applicable for some local stations.)
SDO An abbreviation for Service Data Object. A message used to access the object entries inside the object dictionary
of an optional CANopen node. Used for non-periodic transmission between stations.
Servo network A generic term for the network between the Simple Motion module/Motion module and drive units.
• SSCNET/H, SSCNET
• CC-Link IE TSN
Simple Motion module An abbreviation for the MELSEC iQ-F series Simple Motion module.

17
 1 OUTLINE OF ADVANCED SYNCHRONOUS
CONTROL
The outline, specifications and the operation method of synchronous control using the Simple Motion module/Motion module
are explained in this chapter.
This chapter helps to understand what can be done using the positioning system and which procedure to use for a specific
purpose.
There are restrictions in the function that can be used by the software of the Simple Motion module/Motion module and the
version of the 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)

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

18
1.1 Outline of Synchronous Control
"Synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change
1
gear or cam, etc.
"Synchronous control" synchronizes movement with the input axis (servo input axis, command generation axis or
synchronous encoder axis), by setting "the parameters for advanced synchronous control" and starting synchronous control
on each output axis.
Synchronous
Positioning start encoder Synchronous control start Synchronous control start
Synchronous control start

Manual pulse generator/ Simple Motion module/

Synchronous encoder input Motion module

Synchronous parameter
Synchronous
encoder axis Main shaft Composite Main shaft gear
parameter
(main input axis) main shaft gear
Synchronous encoder axis

Positioning data
Positioning control Command generation
axis parameter
Command generation axis Main shaft
*3 clutch
Main shaft
Servo input axis (sub input axis)
Speed
parameter change
Speed
Servo input axis Auxiliary Auxiliary change gear *2
*1 shaft shaft gear *2
gear clutch
Composite
auxiliary shaft
gear
Speed
change
gear *2 Cam data

Auxiliary
shaft axis Cam
Output axis

Servo Servo Servo

Servo amplifier amplifier amplifier
amplifier

Servo Servo Servo

Servo motor motor motor
motor

It is possible to control without amplifier

by setting the virtual servo amplifier.

*1 It is possible to drive the servo input axis except for the positioning control (home position return, manual control, speed-torque control,
synchronous control).
For details on the positioning control, the home position return, the manual control and the speed-torque control, refer to the following
manual.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)
*2 Speed change gear can be arranged on one of "Main shaft side", "Auxiliary shaft side" or "After composite auxiliary shaft gear".
*3 For the drive method of the command generation axis, refer to the following.
Page 39 Command Generation Axis

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

1.1 Outline of Synchronous Control 19
 List of synchronous control module
The module is used in synchronous control as follows.

Input axis module

Synchronous encoder
axis parameter
Synchronous encoder axis Synchronous parameter

Command generation Main shaft module

axis parameter
Command generation axis Main shaft Composite main Main shaft
(main input axis) shaft gear gear
Servo input axis
parameter
Servo input axis

Main shaft
Input axis module
Main shaft clutch
(sub input axis)
Synchronous encoder Speed
Speed change
axis parameter change
Speed gear gear module
Synchronous encoder axis Auxiliary Auxiliary change
shaft shaft gear
gear clutch
Command generation Composite
Auxiliary
axis parameter auxiliary
shaft gear shaft module
Command generation axis

Speed
Servo input axis Speed change
change
parameter gear module Cam data
gear
Servo input axis
Auxiliary
shaft axis
Speed change Cam Output axis
Auxiliary
shaft module gear module module
Output axis

Synchronous encoder Command generation Servo input axis

axis parameter axis parameter parameter
Synchronous encoder axis Command generation axis Servo input axis

Input axis module

• Input axis module can be set to one of servo input axis, command generation axis or synchronous encoder
axis.
• Speed change gear can be arranged on one of main shaft side, auxiliary shaft side or after composite
auxiliary shaft gear.
• Set the movement amount of input axis module as large as possible to prevent the speed fluctuation of
output axis module in the synchronous control. If the movement amount of input axis module is small, the
speed fluctuation of output axis module may occur depending on the setting for advanced synchronous
parameter.
• The following items can be monitored in the "Synchronous Control Image" window using the Simple Motion
Module Setting Function/Motion Module Setting Function; each synchronous control monitor data and the
rotation direction of main shaft main input axis, main shaft sub input axis, auxiliary shaft axis, and output
axis (cam axis command position value).

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

20 1.1 Outline of Synchronous Control
■Input axis
• Input axis module
Name Parts Function description Maximum number of usable Reference 1
Number per module Number
4-axis module 8-axis module per axis

Servo input  • Used to drive the input axis with the position of 4 8  Page 32 Servo
axis the servo motor controlled by the Simple Motion Input Axis
module/Motion module.
Command  • Used to drive the input axis by generating only 4 8  Page 39
generation axis the positioning command based on the Command
positioning data of the command generation axis. Generation Axis
Synchronous  • Used to drive the input axis with input pulse from 4  Page 60
encoder axis the synchronous encoder. Synchronous
Encoder Axis

■Output axis
• Main shaft module
Name Parts Function description Maximum number of usable Reference
Number per module Number
4-axis module 8-axis module per axis

Main shaft • The input axis on the main side of the main shaft 4 8 1 Page 112 Main
main input axis module. Shaft Module
• The reference position on the main shaft.

Main shaft sub • The input axis on the sub side of the main shaft 4 8 1 Page 112 Main
input axis module. Shaft Module
• It is used to input the compensation amount for
the position of the main shaft main input axis.
Composite • The composite movement amount of the main 4 8 1 Page 112 Main
main shaft gear shaft main input axis and the main shaft sub input Shaft Module
axis are transmitted to the main shaft gear.

Main shaft gear • The converting movement amount after 4 8 1 Page 112 Main
composite main shaft gear is transmitted by the Shaft Module
setting gear ratio.

Main shaft • The movement amount of the main shaft is 4 8 1 Page 112 Main
clutch transmitted by the clutch ON/OFF. Shaft Module
Page 129 Clutch

• Auxiliary shaft module

Name Parts Function description Maximum number of usable Reference
Number per module Number
4-axis module 8-axis module per axis

Auxiliary shaft • The input axis of the auxiliary shaft module. 4 8 1 Page 121
axis Auxiliary Shaft
Module

Auxiliary shaft • The converting movement amount of the auxiliary 4 8 1 Page 121
gear shaft is transmitted by the setting gear ratio. Auxiliary Shaft
Module
Auxiliary shaft • The movement amount of the auxiliary shaft is 4 8 1 Page 121
clutch transmitted by the clutch ON/OFF. Auxiliary Shaft
Module
Page 129 Clutch
Composite • The composite movement amount of the main 4 8 1 Page 121
auxiliary shaft shaft and the auxiliary shaft are transmitted. Auxiliary Shaft
gear Module

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

1.1 Outline of Synchronous Control 21
 • Speed change gear module
Name Parts Function description Maximum number of usable Reference
Number per module Number
4-axis module 8-axis module per axis

Speed change • It is used to change the speed by setting speed 4 8 1 Page 140 Speed
gear change ratio during the operation. Change Gear
Module

• Output axis module

Name Parts Function description Maximum number of usable Reference
Number per module Number
4-axis module 8-axis module per axis

Output axis • The cam conversion is processed based on the 4 8 1 Page 142 Output
input movement amount and the setting cam Axis Module
data, so that the command position value is
output as the command to the servo amplifier.

■Cam data
Name Function description Maximum number of usable Reference
Number per module
Cam data • It controls the operation pattern of the output axis (two-way Up to 256 Page 94 CAM FUNCTION
operation and feed operation), which is corresponding to the
input movement amount of the output axis module.

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

22 1.1 Outline of Synchronous Control
1.2 Performance Specifications
1
Performance specifications
Item Number of settable axes
4-axis module 8-axis module
Input axis Servo input axis 4 axes/module 8 axes/module
Command generation 4 axes/module 8 axes/module
axis
Synchronous encoder 4 axes/module
axis
Composite main shaft gear 1/output axis
Main shaft main input axis 1 axis/output axis
Main shaft sub input axis 1 axis/output axis
Main shaft gear 1/output axis
Main shaft clutch*1 1/output axis
Auxiliary shaft 1 axis/output axis
Auxiliary shaft gear 1/output axis
Auxiliary shaft clutch*1 1/output axis
Composite auxiliary shaft gear 1/output axis
Speed change gear 1/output axis
Output axis (Cam axis) 4 axes/module 8 axes/module

*1 The accuracy of the start and clutch ON/OFF for the synchronous encoder in the high speed input request becomes the accuracy of
operation cycle [FX5-SSC-G].

Cam specifications
Item Specification
Memory capacity Cam storage area [FX5-SSC-S]
4-axis module: 64k bytes
8-axis module: 128k bytes
[FX5-SSC-G]
4-axis/8-axis module: 128k bytes
Cam open area 1024k bytes
Number of cam registration*1 Cam storage area 4-axis module: Up to 64
8-axis module: Up to 128
(Dependent on memory capacity, cam resolution and coordinate number)
Cam open area Up to 256
(Dependent on memory capacity, cam resolution and coordinate number)
Comment Up to 32 characters per cam data
Cam data Stroke ratio data format Cam resolution 256/512/1024/2048/4096/8192/16384
Stroke ratio -214.7483648 to 214.7483647 [%]
Coordinate data format Coordinate number 2 to 8192
Coordinate data Input value: 0 to 2147483647
Output value: -2147483648 to 2147483647

*1 The maximum number of cam registration by the cam resolution is shown below. (In case it created by the same cam resolution.)

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

1.2 Performance Specifications 23
 ■Stroke ratio data format
• FX5-SSC-S
Cam resolution Maximum number of cam registration
Cam storage area Cam open area
4-axis module 8-axis module 4-axis module 8-axis module
256 64 128 256
512 32 64 256
1024 16 32 256
2048 8 16 128
4096 4 8 64
8192 2 4 32
16384 1 2 16

• FX5-SSC-G
Cam resolution Maximum number of cam registration
Cam storage area Cam open area
4-axis module 8-axis module 4-axis module 8-axis module
256 128 256
512 64 256
1024 32 256
2048 16 128
4096 8 64
8192 4 32
16384 2 16

■Coordinate data format

• FX5-SSC-S
Coordinate number Maximum number of cam registration
Cam storage area Cam open area
4-axis module 8-axis module 4-axis module 8-axis module
128 64 128 256
256 32 64 256
512 16 32 256
1024 8 16 128
2048 4 8 64
4096 2 4 32
8192 1 2 16

• FX5-SSC-G
Cam resolution Maximum number of cam registration
Cam storage area Cam open area
4-axis module 8-axis module 4-axis module 8-axis module
128 128 256
256 64 256
512 32 256
1024 16 128
2048 8 64
4096 4 32
8192 2 16

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

24 1.2 Performance Specifications
Cam operation specifications
Item Specification 1
Operation method of cam data (1) Engineering tool
Write/read/verify to cam storage area
(2) Via buffer memory (Cam data operation function)
Write/read to cam storage area and cam open area
Cam auto-generation function Automatically generate the cam for rotary cutter.
Cam position calculation function Calculate the cam position by the program.
Used to calculate the cam position for the synchronous control initial position before starting
synchronous control.

Synchronous encoder axis specifications

Item Specification
Number of control axes 4
Synchronous encoder axis type Incremental synchronous encoder [FX5-SSC-S]/
Synchronous encoder via servo amplifier/
Synchronous encoder via CPU/
Synchronous encoder via link device [FX5-SSC-G]
Control unit mm, inch, degree, pulse
(Possible to select the decimal places of position unit and speed unit)
Unit conversion Numerator -2147483648 to 2147483647
[Synchronous encoder axis position unit]
Denominator 1 to 2147483647
[pulse]
Length per cycle setting range 1 to 2147483647
[Synchronous encoder axis position unit]
Current value range Current value -2147483648 to 2147483647
[Synchronous encoder axis position unit]
Current value per cycle 0 to (Length per cycle - 1)
[Synchronous encoder axis position unit]
Control method Control instruction Current value change, Counter disable, Counter enable
Current value setting Address setting range: -2147483648 to 2147483647
address [Synchronous encoder axis position unit]

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

1.2 Performance Specifications 25
 1.3 Operation Method of Synchronous Control
Synchronous control execution procedure
The synchronous control is executed using the following procedure.

Preparation
STEP 1 Set the following parameters. One of the following two methods can be used.
• Common parameters
<Method 1>
[FX5-SSC-S] ([Pr.24], [Pr.82], [Pr.89], [Pr.96], Directly set (write) the parameters in the Simple
[Pr.97], [Pr.150], [Pr.151]) Motion module/Motion module using
[FX5-SSC-G] ([Pr.82], [Pr.152]) the engineering tool.
• Positioning parameters <Method 2>
([Pr.1] to [Pr.4], [Pr.7] to [Pr.22], [Pr.25] to [Pr.42], Set (write) the parameters from the CPU module
[Pr.81], [Pr.83], [Pr.84], [Pr.90], [Pr.95], to the Simple Motion module/Motion module
[Pr.116] to [Pr.119]) using the program.
• Extended parameters
([Pr.91] to [Pr.94])

Set "input axis parameters" for advanced

synchronous control.
*1
([Pr.300] to [Pr.304], [Pr.320] to [Pr.329],
[Pr.710] to [Pr.714], [Pr.1010] to [Pr.1013])

*2 Set the cam data.

Set "synchronous parameters" for advanced

*3 synchronous control. ([Pr.400] to [Pr.468])

Create a program that executes to start / change

STEP 2 control / stop synchronous control.
*4 (Set "[Cd.380]Synchronous control start", start and
stop the input axis operation and change the
reduction ratio)

STEP 3 Write the program, which is created

in STEP1 and STEP2, to the CPU module.

Turn ON the target axis bit in

Start STEP 4 Turn ON the synchronous control start bit for the axis "[Cd.380] Synchronous control start"
synchronous that starts synchronous control. and start synchronous control
control by the program in STEP 2.

Verify that it is during synchronous control in

Verify that it is during synchronous control.
"[Md.26] Axis operation status".

Operate the input axis. Operate the input axis by the program in STEP 2.

Monitor the STEP 5 Monitor the synchronous control operation status.

Monitor using the engineering tool.
synchronous Execute the control change for the speed change
Changing the control by the program in STEP 2.
control change ratio, cam No., etc.

Complete
STEP 6 Stop the input axis. Stop the input axis by the program in STEP 2.
synchronous
control
Verify the input axis is stopped and turn OFF the Turn OFF the target axis bit in
synchronous control start bit for the axis that stops "[Cd.380] Synchronous control start"
synchronous control. to stop synchronous control
by the program in STEP 2.

End of control
*1 Page 32 INPUT AXIS MODULE
*2 Page 94 CAM FUNCTION
*3 Page 112 ADVANCED SYNCHRONOUS CONTROL, Page 165 Synchronous Control Initial Position Parameters
*4 Page 198 Sample Program of Synchronous Control

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

26 1.3 Operation Method of Synchronous Control
 Precautions
• Mechanical elements such as limit switches are considered as already installed. 1
• Parameter settings for positioning control apply for all axes with the Simple Motion module/Motion module.
• Be sure to execute the home position return when the home position return request flag is ON.

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

1.3 Operation Method of Synchronous Control 27
 Starting/ending for synchronous control
Set the advanced synchronous control parameters for each output axis to start synchronous control.
The status changes to synchronous control after the advanced synchronous control parameters are analyzed at the start of
synchronous control, and the output axes synchronize with input axis operations.
[Cd.380] Synchronous control start
(Target axis bit)

[Md.141] BUSY
(Target axis bit)
[Md.26] Axis operation status Standby (0) Analyzing (5) Synchronous control (15) Standby (0)

[Md.321] Synchronous encoder

axis position value
per cycle t

[Md.407] Cam axis position

value per cycle t

[Md.20] Command position

value t

Synchronous control system control data

Setting item Setting details Setting value Default value Buffer memory
address
[Cd.380] • Synchronous control begins if the target axis bit ■Set the target axis in bits.*1 0 36320
Synchronous is turned ON. (bit0: axis 1 to bit7: axis 8*2)
control start • Synchronous control ends if the bit is turned OFF: Synchronous control end
OFF during synchronous control. ON: Synchronous control start
Fetch cycle: Operation cycle

*1 When the synchronous control analysis mode is executed simultaneously or the synchronous control analysis mode and the
synchronous control start are executed simultaneously for multiple axes, perform the setting for the synchronous control start in batches
for each word. If the axes are set continuously in bits, the synchronous control analysis mode and the synchronous control start may not
operate depending on the timing.
*2 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.

Starting method for synchronous control

Synchronous control can be started by turning the target axis bit from OFF to ON in "[Cd.380] Synchronous control start" after
setting the advanced synchronous control parameters.
"5: Analyzing" is set in "[Md.26] Axis operation status" at the synchronous control start, and the advanced synchronous control
parameters are analyzed. "[Md.141] BUSY" turns ON after completion of analysis, and "15: Synchronous control" is set in
"[Md.26] Axis operation status".
Start the input axis operation after confirming that "15: Synchronous control" is set in "[Md.26] Axis operation status".

Ending method for synchronous control

Synchronous control can be ended by turning the target axis bit from ON to OFF in "[Cd.380] Synchronous control start" after
the input axis operation is stopped.
"[Md.141] BUSY" turns OFF at the synchronous control end, and "0: Standby" is set in "[Md.26] Axis operation status" at the
output axis stop.
Synchronous control can also be ended by turning the target axis bit from ON to OFF in "[Cd.380] Synchronous control start"
during the input axis operation. However, it is recommended to end after stopping the input axis operation since the output
axis stops immediately.
Refer to the following for the stop operation of output axis at the synchronous control end.
Page 30 Stop operation of output axis

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

28 1.3 Operation Method of Synchronous Control
Starting history
The starting history is updated when starting synchronous control. "9020: Synchronous control operation" is stored in "[Md.4]
1
Start No.".

Status when starting synchronous control

The following bits in "[Md.31] Status" are turned OFF when starting synchronous control in the same way as for the positioning
control start.
Bit Details
b0 In speed control flag
b1 Speed-position switching latch flag
b2 Command in-position flag
b4 Home position return complete flag
b5 Position-speed switching latch flag
b10 Speed change 0 flag

• If bit for multiple axes are turned ON simultaneously in "[Cd.380] Synchronous control start", control is not
started simultaneously since the analysis is processed for each axis in numerical order. When multiple axes
must be started simultaneously, start the input axis operation after confirming that all axes are configured for
the synchronous control.
• If the input axis operates during the analysis at the synchronous control start, the movement amount of the
input axis, the current value change, or the amount of change by the home position return is reflected
immediately after the synchronous control start. The output axis might rapidly accelerate depending on the
movement amount or the amount of change of the input axis. Start the input axis operation after confirming
that are configured for synchronous control.
• The analysis process for synchronous control start might take time depending on the setting of the
advanced synchronous control parameter.
[FX5-SSC-S]
When "0: Cam axis position value per cycle restoration" is set in "[Pr.462] Cam axis position restoration
object"
Cam resolution 256: Up to about 1.0 ms, Cam resolution 16384: Up to about 40 ms
[FX5-SSC-G]
When "0: Cam axis position value per cycle restoration" is set in "[Pr.462] Cam axis position restoration
object"
(Operation cycle 0.500 ms) Cam resolution 256: Up to about 2.2 ms, Cam resolution 16384: Up to about 40
ms
(Operation cycle 1.000 ms) Cam resolution 256: Up to about 0.6 ms, Cam resolution 16384: Up to about 15
ms
Set "1: Cam reference position restoration" or "2: Cam axis command position value restoration" in "[Pr.462]
Cam axis position restoration object" to start synchronous control at high speed.
• When the advanced synchronous control parameter is set to the value outside the setting range, the
synchronous control does not start, and the input axis error No. is stored in the monitor data.

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

1.3 Operation Method of Synchronous Control 29
 Stop operation of output axis
If the following causes occur in stopping the output axis during synchronous control, synchronous control is completed after
stops processing for the output axis ("[Md.141] BUSY" is OFF, "[Md.26] Axis operation status" is standby).
Synchronous alignment must be executed for the output axis to restart the synchronous control. (Page 142 Output Axis
Module)
Stop cause Stop process
The target axis bit of "[Cd.380] Synchronous control start" is turned from ON to OFF. Immediate stop
Software stroke limit error occurrence
Emergency stop
Forced stop
Stop group1 to 3*1 (Stop with hardware stroke limit or stop command) Deceleration stop

*1 Refer to "Stop" in the following manual.

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

Immediate stop
The operation stops without decelerate. The Simple Motion module/Motion module immediately stops the command, but the
operation will coast for the droop pulses accumulated in the deviation counter of the servo amplifier.

[Md.407] Cam axis position

value per cycle t

[Md.20] Command position

value
(Cam operation) t

[Md.22] Speed command t

[Cd.380] Synchronous control Immediate stop

start (Target axis bit)

[Md.141] BUSY
(Target axis bit)

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

30 1.3 Operation Method of Synchronous Control
Deceleration stop
The output axis stops with deceleration according to the setting in "[Pr.37] Stop group 1 rapid stop selection" to "[Pr.39] Stop
1
group 3 rapid stop selection". The deceleration time set in "[Pr.446] Synchronous control deceleration time" is used for
deceleration stop, and the shorter time set for the rapid stop time between "[Pr.36] Rapid stop deceleration time" and "[Pr.446]
Synchronous control deceleration time" is used for rapid stop. The slope of deceleration is as follows.

[Pr.8] Speed limit value

Slope of deceleration =
Deceleration time (Rapid stop deceleration time)
The cam axis position value per cycle is not updated, and only the command position value is updated when the deceleration
stop begins. Therefore, the path of the command position value is drawn regardless of the cam operation with deceleration
stop.
When decelerating to stop the output axis in synchronization with the input axis, the deceleration stop should be performed to
the input axis.

[Md.407] Cam axis position

value per cycle
t

[Md.20] Command position

value
(Cam operation) t

[Md.22] Speed command t

[Cd.380] Synchronous control Deceleration stop

start (Target axis bit)

Axis stop signal

[Md.141] BUSY
(Target axis bit)

1 OUTLINE OF ADVANCED SYNCHRONOUS CONTROL

1.3 Operation Method of Synchronous Control 31
 2 INPUT AXIS MODULE
The settings for the parameter and monitor data for the input axis module that used with synchronous control are explained in
this chapter.
Refer to the following manual for details on the connection and control for the servo amplifier and the synchronous encoder
that are used for input axis module.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)

2.1 Servo Input Axis

Overview of servo input axis
The servo input axis is used to drive the input axis based on the position of the servo motor that is being controlled by the
Simple Motion module/Motion module.
The status of a servo input axis can also be monitored even before the synchronous control start since the setting of a servo
input axis is valid after the system's power supply ON.
The status of a servo input axis can be monitored after the system's power supply ON.
The following shows the relationship between the position of the servo motor and the servo input axis.
Servo motor position
Command position value
Actual position value
[Pr.300] Servo input axis type
Servo command value
Feedback value

[Pr.301] Servo input axis

smoothing time Input smoothing
constant processing

[Pr.302] Servo input axis phase

compensation advance
time Phase [Md.302] Servo input axis phase
compensation compensation amount
[Pr.303] Servo input axis phase processing
compensation time
constant

[Pr.304] Servo input axis Rotation [Md.303] Servo input axis rotation
rotation direction direction direction restriction
restriction restriction amount

[Md.300] Servo input axis position

value
Position value of
servo input axis
[Md.301] Servo input axis speed

2 INPUT AXIS MODULE

32 2.1 Servo Input Axis
Control method for servo input axis
All controls (including synchronous control) can be executed for a servo input axis.
Refer to the following manual for the controls other than the synchronous control.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)

2
If the virtual servo amplifier function is set in the servo input axis, synchronous control can be executed by the
input value as virtual.
Refer to "Virtual Servo Amplifier Function" in the following manual for details on virtual servo amplifier
function.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)

If "1: Command position value" or "2: Actual position value" is set in "[Pr.300] Servo input axis type", set "1:
Update command position value" in "[Pr.21] Command position value during speed control" to start the speed
position change control. If "0: Do not update command position value" or "2: Clear command position value to
zero" is set in "[Pr.21] Command position value during speed control", the error "Speed-position switching
control start in servo input axis not possible" (error code: 1BA7H [FX5-SSC-S], or error code: 1DF7H [FX5-
SSC-G]) will occur and the control will not start.

Units for the servo input axis

The position units and speed units for the servo input axis are shown below for the setting "[Pr.300] Servo input axis type" and
"[Pr.1] Unit setting".

■Servo input axis position units

Setting value of "[Pr.300] Setting value of "[Pr.1] Unit Servo input axis position Range
Servo input axis type" setting" unit
1: Command position value 0: mm ×10-4 mm -214748.3648 to 214748.3647 [mm]
2: Actual position value (10-1 μm) (-214748364.8 to 214748364.7 [μm])
1: inch ×10-5 inch -21474.83648 to 21474.83647 [inch]
2: degree ×10-5 degree -21474.83648 to 21474.83647 [degree]
3: pulse pulse -2147483648 to 2147483647 [pulse]
3: Servo command value  pulse -2147483648 to 2147483647 [pulse]
4: Feedback value

■Servo input axis speed units

Setting value of "[Pr.300] Setting value of "[Pr.1] Unit Servo input axis speed unit Range
Servo input axis type" setting"
1: Command position value 0: mm ×10-2 mm/min -21474836.48 to 21474836.47 [mm/min]
2: Actual position value
1: inch ×10-3 inch/min -2147483.648 to 2147483.647 [inch/min]
2: degree ×10-3 degree/min*1 -2147483.648 to 2147483.647 [degree/min]*1
3: pulse pulse/s -2147483648 to 2147483647 [pulse/s]
3: Servo command value  pulse/s -2147483648 to 2147483647 [pulse/s]
4: Feedback value

*1 This will be the speed unit " × 10-2 degree/min" (Range: -21474836.48 to 21474836.47 [degree/min]), when "[Pr.83] Speed control 10 ×
multiplier setting for degree axis" is valid.

When "1: Command position value" or "3: Servo command value" is set in "[Pr.300] Servo input axis type",
and the servo input axis becomes servo OFF by the servo alarm or forced stop, the amount of value change
may be large. This can be prevented by setting "2: Actual position value" or "4: Feedback value" in "[Pr.300]
Servo input axis type".

2 INPUT AXIS MODULE

2.1 Servo Input Axis 33
 Servo input axis parameters
n: Axis No. - 1
Setting item Setting details Setting value Default value Buffer memory
address
[Pr.300] • Set the current value type to be ■Set in decimal. 0 32800+10n
Servo input axis type generated of the input value for the 0: Invalid
servo input axis. 1: Command position value
Fetch cycle: At power supply ON 2: Actual position value
3: Servo command value
4: Feedback value
[Pr.301] • Set to smooth the input value. ■Set in decimal. 0 32801+10n
Servo input axis smoothing time Fetch cycle: At power supply ON 0 to 5000 [ms]
constant
[Pr.302] • Set the time to advance or delay ■Set in decimal. 0 32802+10n
Servo input axis phase compensation the phase. -2147483648 to 2147483647 [μs] 32803+10n
advance time Fetch cycle: Operation cycle
[Pr.303] • Set the time constant to affect the ■Set in decimal. 10 32804+10n
Servo input axis phase compensation phase compensation. 0 to 65535 [ms]*1
time constant Fetch cycle: At power supply ON
[Pr.304] • Set this parameter to restrict the ■Set in decimal. 0 32805+10n
Servo input axis rotation direction input movement amount to one 0: Without rotation direction
restriction direction. restriction
Fetch cycle: At power supply ON 1: Enable only for current value
increase direction
2: Enable only for current value
decrease direction

*1 Set the value as follows in a program.

0 to 32767: Set as a decimal.
32768 to 65535: Convert into a hexadecimal and set.

[Pr.300] Servo input axis type

Set the current value type to be generated of the input value for the servo input axis.
Setting value Details
0: Invalid Servo input axis is invalid.
1: Command position value Generate the input value based on "[Md.20] Command position value".
2: Actual position value Generate the input value based on the actual position value, which is converted into units of the encoder feedback
pulses from the servo amplifier.
3: Servo command value Generate the input value based on the command pulse for the servo amplifier (a value that the command position
value is converted into encoder pulse units).
4: Feedback value Generate the input value based on the encoder feedback pulse from the servo amplifier.

Simple Motion module/Motion module

1: Command 3: Servo command

position value Unit → Pulse conversion value
Servo
(Backlash compensation) amplifier
2: Actual
4: Feedback value
position value Pulse → Unit conversion

2 INPUT AXIS MODULE

34 2.1 Servo Input Axis
[Pr.301] Servo input axis smoothing time constant
Set the averaging time to execute a smoothing process for the input movement amount from the servo input axis.
The smoothing process can moderate speed fluctuation, when the "Actual position value" or "Feedback value" is used as
input values. The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
Input value speed
before smoothing
2
t
Averaging by
Input value speed smoothing time constant
after smoothing

[Pr.301] Servo input axis smoothing [Pr.301] Servo input axis smoothing
time constant time constant

[Pr.302] Servo input axis phase compensation advance time

Set the time to advance or delay the phase (input response) of the servo input axis.
Refer to the following for the delay time inherent to the system using the servo input axis.
Page 157 Phase Compensation Function
Setting value Details
1 to 2147483647 [μs] Advance the phase (input response) according to the setting time.
0 [μs] Do not execute phase compensation.
-2147483648 to -1 [μs] Delay the phase (input response) according to the setting time.

If the setting time is too long, the system experiences overshoot or undershoot at acceleration/deceleration of the input speed.
In this case, set longer time to affect the phase compensation amount in "[Pr.303] Servo input axis phase compensation time
constant".

[Pr.303] Servo input axis phase compensation time constant

Set the time constant to affect the phase compensation amount for the first order delay.
63 [%] of the phase compensation amount are reflected in the time constant setting.
[Pr.302] Servo input axis phase
compensation advance time

Servo input axis

position value Current value before phase compensation
Current value after
phase compensation
t

Speed before phase

compensation
t
Speed after phase
compensation
t
Speed before [Md.302] Servo input axis
phase  phase compensation
[Md.302] Servo input compensation amount
axis phase 63%
compensation 63%
t
amount

[Pr.303] Servo input axis phase [Pr.303] Servo input axis phase
compensation time constant compensation time constant

2 INPUT AXIS MODULE

2.1 Servo Input Axis 35
 [Pr.304] Servo input axis rotation direction restriction
Set this parameter to restrict the input movement amount for the servo input axis to one direction.
This helps to avoid reverse operation caused by machine vibration, etc. when "Actual position value" or "Feedback value" is
used as input values.
Setting value Details
0: Without rotation direction restriction Rotation direction restriction is not executed.
1: Enable only for current value increase direction Enable only the input movement amount in the increasing direction of the
servo input axis position value.
2: Enable only for current value decrease direction Enable only the input movement amount in the decreasing direction of the
servo input axis position value.

The input movement amount in the reverse direction of the enabled direction accumulates as a rotation direction restricted
amount, and will be reflected when the input movement amount moves in the enabled direction again. Therefore, the servo
input axis position value does not deviate when the reverse operation is repeated.
The rotation direction restricted amount is set to 0 when the following operations are executed for the servo input axis.
• A servo amplifier is connected
• The home position return is executed
• The current value is changed

For "1: Enable only for current value increase direction" is set in "[Pr.304] Servo input axis rotation direction restriction".
Speed before rotation
direction restriction

[Md.301] Servo input axis speed

(Speed after rotation
direction restriction)
t

[Md.303] Servo input axis

rotation direction t
restriction amount
The input movement amount is accumulated as a rotation
direction restricted amount, and will be reflected when
the input movement amount in the enabled direction.

2 INPUT AXIS MODULE

36 2.1 Servo Input Axis
Servo input axis monitor data
n: Axis No. - 1
Monitor item Storage details Monitor value Buffer memory
address
[Md.300]
Servo input axis position value
• The position value for the servo input axis
is stored.
■Monitoring is carried out in decimal.
-2147483648 to 2147483647
33120+10n
33121+10n
2
Refresh cycle: Operation cycle [Servo input axis position units*1]
[Md.301] • The speed for the servo input axis is ■Monitoring is carried out in decimal. 33122+10n
Servo input axis speed stored. -2147483648 to 2147483647 33123+10n
Refresh cycle: Operation cycle [Servo input axis speed units*2]
[Md.302] • The current phase compensation amount ■Monitoring is carried out in decimal. 33124+10n
Servo input axis phase compensation is stored. -2147483648 to 2147483647 33125+10n
amount Refresh cycle: Operation cycle [Servo input axis position units*1]
[Md.303] • While the rotation direction is restricted, ■Monitoring is carried out in decimal. 33126+10n
Servo input axis rotation direction restriction the accumulation for the input movement -2147483648 to 2147483647 33127+10n
amount amount in the opposite direction of the [Servo input axis position units*1]
enabled direction is stored.
Refresh cycle: Operation cycle

*1 Servo input axis position units (Page 33 Servo input axis position units)
*2 Servo input axis speed units (Page 33 Servo input axis speed units)

[Md.300] Servo input axis position value

The position value for the servo input axis is stored in servo input axis position units (Page 33 Servo input axis position
units) as follows.
The position value for the servo input axis is the value after processing the smoothing, the phase compensation and the
rotation direction restriction.
Setting value of "[Pr.300] Servo input axis type" Storage details
1: Command position value • The accumulative position value started with "[Md.20] Command position value"/
2: Actual position value "[Md.101] Actual position value" for the connection to the servo amplifier is stored. It is
also stored in the range from -21474.83648 to 21474.83647 [degree] for degree units.
• When the "[Md.20] Command position value"/"[Md.101] Actual position value" is
changed by the home position return or the current value change, the value is changed
to the new current value.
3: Servo command value • When the absolute position detection system setting is invalid, the accumulative
4: Feedback value position value that starts from 0 for the connected servo amplifier is stored.
• When the absolute position detection system setting is valid, the accumulative position
value that starts from the absolute position command/encoder feedback pulse for the
connected servo amplifier is stored.
• The servo input axis position value will not change, even if the home position return or
the current value is changed.

[Md.301] Servo input axis speed

The speed for the servo input axis is stored in servo input axis speed units (Page 33 Servo input axis speed units).
The speed for the servo input axis is the value after processing smoothing, phase compensation, and rotation direction
restriction.

[Md.302] Servo input axis phase compensation amount

The phase compensation amount for a servo input axis is stored in servo input axis position units (Page 33 Servo input
axis position units).
The phase compensation amount for a servo input axis is the value after processing smoothing and phase compensation.

2 INPUT AXIS MODULE

2.1 Servo Input Axis 37
 [Md.303] Servo input axis rotation direction restriction amount
While the rotation direction is restricted for a servo input axis, the accumulation for input movement amount in the opposite
direction of the enabled direction is stored in servo input axis position units (Page 33 Servo input axis position units) as
follows.
Setting value of "[Pr.304] Servo input axis rotation Storage details
direction restriction"
1: Enable only for current value increase direction A negative accumulation is stored during rotation direction restriction.
0 is stored if there is no restriction.
2: Enable only for current value decrease direction A positive accumulation is stored during rotation direction restriction.
0 is stored if there is no restriction.

Rotation direction restriction is processed after phase compensation processing. Therefore, if undershoot occurs from phase
compensation during deceleration stop, the rotation direction restriction amount might remain.

2 INPUT AXIS MODULE

38 2.1 Servo Input Axis
2.2 Command Generation Axis
Overview of command generation axis
The command generation axis is an axis that executes only the command generation that is generated when "1: Valid" is set
in "[Pr.340] Command generation axis valid setting". It can be controlled individually from the axis connected with a servo
2
amplifier.
The command generation axis is used to drive the input axis based on the positioning data or the JOG operation.
[FX5-SSC-S]
The axis set in "[Pr.100] Servo series" is defined as "servo amplifier axis" against "command generation axis".
[FX5-SSC-G]
The axis set in "[Pr.101] Virtual servo amplifier setting", "[Pr.141] IP address", and "[Pr.142] Multidrop number" is defined as
"servo amplifier axis" against "command generation axis".

Control method for the command generation axis

The command generation axis operates following to the positioning data and control data of the command generation axis.
The controls that can be used for the command generation axis are shown below.
: Available, : Not available
Control mode Control Availability
Linear control ABS linear 1, INC linear 1 
ABS linear 2, INC linear 2 
ABS linear 3, INC linear 3
ABS linear 4, INC linear 4
Circular interpolation control ABS circular sub, ABS circular right, ABS circular left 
INC circular sub, INC circular right, INC circular left
Fixed-feed Fixed-feed 1, Fixed-feed 2, Fixed-feed 3, Fixed-feed 4 
Speed control Forward run speed 1, Reverse run speed 1 
Forward run speed 2, Reverse run speed 2 
Forward run speed 3, Reverse run speed 3
Forward run speed 4, Reverse run speed 4
Speed-position control Forward run speed/position, Reverse run speed/position 
Position-speed control Forward run position/speed, Reverse run position/speed 
Current value change 
Simultaneous start 
JOG operation 
Manual pulse generator operation 
Home position return 

The control details are common with "major positioning controls". For details, refer to "MAJOR POSITIONING CONTROL" in
the following manual.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)

2 INPUT AXIS MODULE

2.2 Command Generation Axis 39
 The sub functions that can be used for the command generation axis are shown below.
: Combination possible, : Combination restricted, : Combination not possible
Sub function Control mode
ABS linear INC linear Forward Reverse Forward Reverse Current JOG
1 1 run speed run speed run speed/ run speed/ value operation
1 1 position position change
Home position return retry        
function
Home position shift function        
Backlash compensation        
function
Electronic gear function        
Near pass function *1 *1 *1 *1 *1 *1 *1 
Speed limit function        
Torque limit function        
Software stroke limit function        
Hardware stroke limit        
function
Forced stop function        
Speed change function        
Override function        
Acceleration/deceleration        
time change function
Torque change function        
Target position change *2 *2      
function
Pre-reading start function        
Stop command processing        
for deceleration stop function
Step function        
Skip function        
M code output function       *3 
Teaching function        
Command in-position        
function
Acceleration/deceleration        
processing function
Deceleration start flag     *4 *4  
function
Speed control 10 × multiplier        
setting for degree axis
function
Operation setting for        
incompletion of home
position return function

*1 The near pass function is validated only when the machine of the standard specification carries out the position control with the
continuous path control mode.
*2 Invalid during the continuous path control mode.
*3 Execute the current value change using the positioning data. It is not output using the positioning start No.9003.
*4 Valid only when the deceleration start during positioning control.

2 INPUT AXIS MODULE

40 2.2 Command Generation Axis
The following shows the support status of sub functions excluding the above.
: Combination possible, : Combination not possible
Function Combination status
Sub function Absolute position system 
Continuous operation interrupt function 
Follow up function 
2
■Change command generation axis parameters and positioning data
The command generation axis does not store parameters or positioning data in the buffer memory. Therefore, rewrite the
parameters and the positioning data using the following methods.
• When using GX Works3
Set the command generation axis parameters and positioning data using GX Works3. After that, execute writing to the Simple
Motion module or writing to the Motion Module.
• When using command generation axis control data
[Change command generation axis parameters]
Use the following control data. For details, refer to Page 56 Write/read method for command generation axis parameter
and positioning data.
• [Cd.300] Command generation axis parameter No. designation
• [Cd.301] Command generation axis parameter setting value
• [Cd.302] Command generation axis parameter control request

[Change command generation axis positioning data]

Use the following control data. For details, refer to Page 56 Write/read method for command generation axis parameter
and positioning data.
• [Cd.303] Command generation axis positioning data No. designation
• [Cd.304] Command generation axis positioning data designation
• [Cd.305] Command generation axis positioning data setting value
• [Cd.306] Command generation axis positioning data control request

■Setting for command generation axis

Set "1: Valid" in "[Pr.340] Command generation axis valid setting" using the methods above. The command generation axis
setting is fetched at the power ON. Therefore, to disconnect the command generation axis, turn ON the Simple Motion
module/Motion module power supply again after setting "0: Invalid" in "[Pr.340] Command generation axis valid setting".

■Start request
Specify the positioning data No. in "[Cd.3] Positioning start No." and set "1: ON" in "[Cd.184] Positioning start". The start
complete signal ([Md.31] Status: b14) and "[Md.141] BUSY" turn ON, and the positioning operation starts.

■The data that can be used

Buffer memory addresses of the data that can be used for the servo amplifier axis and the command generation axis are
different.
For the buffer memory address for the servo amplifier axis, refer to "List of Buffer Memory Addresses" in the following manual.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)
For the buffer memory address for the command generation axis, refer to the following.
Page 188 List of Buffer Memory Addresses (for Synchronous Control)

■Troubleshooting
Output the axis error and warning which are same as the servo amplifier axis to "[Md.23] Axis error No." and "[Md.24] Axis
warning No." of the command generation axis.

2 INPUT AXIS MODULE

2.2 Command Generation Axis 41
 Units for the command generation axis
The position units and speed units for the command generation axis are shown below based on the setting "[Pr.1] Unit
setting".

■Command generation axis position units

Setting value of "[Pr.1] Unit Command generation axis position Range
setting" unit
0: mm ×10-1 μm -214748364.8 to 214748364.7 [μm]
1: inch ×10-5 inch -21474.83648 to 21474.83647 [inch]
2: degree ×10-5 degree 0.00000 to 359.99999 [degree]
3: pulse pulse -2147483648 to 2147483647 [pulse]

■Command generation axis speed units

Setting value of "[Pr.1] Unit Command generation axis speed unit Range
setting"
0: mm ×10-2 mm/min -21474836.48 to 21474836.47 [mm/min]
1: inch ×10-3 inch/min -2147483.648 to 2147483.647 [inch/min]
-3 *1
2: degree ×10 degree/min -2147483.648 to 2147483.647 [degree/min]*1
3: pulse pulse/s -2147483648 to 2147483647 [pulse/s]

-2
*1 This will be the speed unit "×10 degree/min" (Range: -21474836.48 to 21474836.47 [degree/min]), when "[Pr.83] Speed control 10 ×
multiplier setting for degree axis" is valid.

Operation at forced stop

When the command generation axis starts while "[Pr.82] Forced stop valid/invalid selection" is set to valid, the error "Start not
possible" (error code: 1928H [FX5-SSC-S], or error code: 1A28H [FX5-SSC-G]) occurs and the command generation axis
does not start. When the forced stop input signal turns OFF during operation, the axis stops rapidly according to the setting of
"[Pr.36] Rapid stop deceleration time" and "1: Stopped" is set in "[Md.26] Axis operation status".
The forced stop setting can be changed by "[Pr.82] Forced stop valid/invalid selection". "[Pr.82] Forced stop valid/invalid
selection" and "forced stop input signal" are common with the servo amplifier axis.

2 INPUT AXIS MODULE

42 2.2 Command Generation Axis
Command generation axis parameters
All command generation axis parameters are prepared for each command generation axis. However, change the parameters
using GX Works3 or control data because the parameters are not in the buffer memory.
Setting item Setting details Setting value Default value Buffer memory
address 2
[Pr.340] Set valid/invalid of the command ■Set in decimal. 0 
Command generation axis valid generation axis to be used. 0: Invalid
setting Fetch cycle: At power supply ON 1: Valid
[Pr.346] Set the length per cycle of the ■Set in decimal. 0 
Command generation axis length per command generation axis. 0: Invalid
cycle Fetch cycle: At power supply ON 1 to 2147483647
[Command generation axis position
units*1]

*1 Command generation axis position units (Page 42 Command generation axis position units)

[Pr.340] Command generation axis valid setting

Set valid/invalid of the command generation axis.
Setting value Details
0: Invalid Command generation axis is invalid.
1: Valid Command generation axis is valid.

[Pr.346] Command generation axis length per cycle

Set the length per cycle for the command generation axis position value per cycle.
The current value of command generation axis is stored in "[Md.347] Command generation axis position value per cycle" at
ring counter based on the setting value.
The unit settings are in command generation axis position units (Page 42 Command generation axis position units).
Set a value within the range from 1 to 2147483647. If a value out of the range is input, the axis error "Outside command
generation axis length per cycle setting error" (error code: 1BADH [FX5-SSC-S], or error code: 1DFDH [FX5-SSC-G]) occurs
and the axis operates as that the length per cycle is 0.
If "0" is set, "[Md.347] Command generation axis position value per cycle" is not updated.

2 INPUT AXIS MODULE

2.2 Command Generation Axis 43
 List of parameters that can be used
Each parameter specification is common with the servo amplifier axis. For specification details, refer to "MAJOR
POSITIONING CONTROL" in the following manual.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)
: Available, : Not available

■Servo network configuration parameters [FX5-SSC-G]

Name Servo amplifier axis Command generation axis
[Pr.101] Virtual servo amplifier setting  
[Pr.140] Driver command discard detection setting  
[Pr.141] IP address  
[Pr.142] Multidrop number  

■Common parameters
Name Servo amplifier axis Command generation axis
[Pr.24] Manual pulse generator/Incremental synchronous encoder input  
selection [FX5-SSC-S]
[Pr.82] Forced stop valid/invalid selection : Servo amplifier axis and command generation axis in common
[Pr.89] Manual pulse generator/Incremental synchronous encoder input type  
selection [FX5-SSC-S]
[Pr.96] Operation cycle setting [FX5-SSC-S] : Servo amplifier axis and command generation axis in common
[Pr.97] SSCNET setting [FX5-SSC-S]  
[Pr.150] Input terminal logic selection [FX5-SSC-S]  
[Pr.151] Manual pulse generator/ Incremental synchronous encoder input logic  
selection [FX5-SSC-S]
[Pr.152] Control axis number upper limit [FX5-SSC-G]  
[Pr.156] Manual pulse generator smoothing time constant [FX5-SSC-G]  

■Basic parameters1
Name Servo amplifier axis Command generation axis
[Pr.1] Unit setting  : Fetch cycle is at power supply
ON.
[Pr.2] Number of pulses per rotation (AP)  
[Pr.3] Movement amount per rotation (AL)  
[Pr.4] Unit magnification (AM)  
[Pr.7] Bias speed at start  

■Basic parameters2
Name Servo amplifier axis Command generation axis
[Pr.8] Speed limit value  
[Pr.9] Acceleration time 0  
[Pr.10] Deceleration time 0  

2 INPUT AXIS MODULE

44 2.2 Command Generation Axis
■Detailed parameters1
Name Servo amplifier axis Command generation axis
[Pr.11] Backlash compensation amount  
[Pr.12] Software stroke limit upper limit value  : Initial value 0*1
[Pr.13] Software stroke limit lower limit value  : Initial value 0*1
[Pr.14] Software stroke limit selection   2
[Pr.15] Software stroke limit valid/invalid setting  : Initial value 1*1
[Pr.16] Command in-position width  
[Pr.17] Torque limit setting value  
[Pr.18] M code ON signal output timing  
[Pr.19] Speed switching mode  
[Pr.20] Interpolation speed designation method  
[Pr.21] Command position value during speed control  *2
[Pr.22] Input signal logic b0: Lower limit  
selection
b1: Upper limit  
b3: Stop signal  
b6: Proximity dog signal  
[Pr.81] Speed-position function selection  *3
[Pr.116] FLS signal selection  
[Pr.117] RLS signal selection  
[Pr.118] DOG signal selection  
[Pr.119] STOP signal selection  

*1 Different from the servo amplifier axis, the initial value of software stroke limit is invalid.
*2 It operates fixed to 1.
*3 When using the Simple Motion Module Setting Function, use GX Works3 version "Ver.1.105K" or later.

■Detailed parameters2
Name Servo amplifier axis Command generation axis
[Pr.25] Acceleration time 1  
[Pr.26] Acceleration time 2  
[Pr.27] Acceleration time 3  
[Pr.28] Deceleration time 1  
[Pr.29] Deceleration time 2  
[Pr.30] Deceleration time 3  
[Pr.31] JOG speed limit value  
[Pr.32] JOG operation acceleration time selection  
[Pr.33] JOG operation deceleration time selection  
[Pr.34] Acceleration/deceleration process selection  
[Pr.35] S-curve ratio  
[Pr.36] Rapid stop deceleration time  
[Pr.37] Stop group 1 rapid stop selection  
[Pr.38] Stop group 2 rapid stop selection  
[Pr.39] Stop group 3 rapid stop selection  
[Pr.40] Positioning complete signal output time  
[Pr.41] Allowable circular interpolation error width  
[Pr.42] External command function selection  
[Pr.83] Speed control 10 × multiplier setting for degree axis  
[Pr.84] Restart allowable range when servo OFF to ON  
[Pr.90] Operation setting for b4 to b7: Torque initial value selection  
speed-torque control mode
b8 to b11: Speed initial value selection  
b12 to b15: Condition selection at mode  
switching
[Pr.95] External command signal selection  
[Pr.127] Speed limit value input selection at control mode switching  

2 INPUT AXIS MODULE

2.2 Command Generation Axis 45
 ■Home position return basic parameters
Name Servo amplifier axis Command generation axis
[Pr.43] Home position return method  
[Pr.44] Home position return direction  
[Pr.45] Home position address  
[Pr.46] Home position return speed  
[Pr.47] Creep speed [FX5-SSC-S]  
[Pr.48] Home position return retry [FX5-SSC-S]  

■Home position return detailed parameters

Name Servo amplifier axis Command generation axis
[Pr.50] Setting for the movement amount after proximity dog ON [FX5-SSC-S]  
[Pr.51] Home position return acceleration time selection  
[Pr.52] Home position return deceleration time selection  
[Pr.53] Home position shift amount [FX5-SSC-S]  
[Pr.54] Home position return torque limit value [FX5-SSC-S]  
[Pr.55] Operation setting for incompletion of home position return  
[Pr.56] Speed designation during home position shift [FX5-SSC-S]  
[Pr.57] Dwell time during home position return retry [FX5-SSC-S]  

■Extended parameters
Name Servo amplifier axis Command generation axis
[Pr.91] Optional data monitor: Data type setting 1  
[Pr.92] Optional data monitor: Data type setting 2  
[Pr.93] Optional data monitor: Data type setting 3  
[Pr.94] Optional data monitor: Data type setting 4  
[Pr.512] Optional SDO 1 [FX5-SSC-G]  
[Pr.591] Optional data monitor: Data type expansion setting 1 [FX5-SSC-G]  
[Pr.592] Optional data monitor: Data type expansion setting 2 [FX5-SSC-G]  
[Pr.593] Optional data monitor: Data type expansion setting 3 [FX5-SSC-G]  
[Pr.594] Optional data monitor: Data type expansion setting 4 [FX5-SSC-G]  

2 INPUT AXIS MODULE

46 2.2 Command Generation Axis
Command generation axis control data
All command generation axis control data is prepared for each command generation axis.
n: Axis No. - 1
Setting item Setting details Setting value Default value Buffer memory
address 2
[Cd.300] Specify the parameter No. to be ■Set in decimal. 0 61970+128n
Command generation axis parameter written. Parameter No.
No. designation Fetch cycle: At request 1 to 400
[Cd.301] Specify the setting value to be ■Set in decimal. 0 61972+128n
Command generation axis parameter written. -2147483648 to 2147483647 61973+128n
setting value Fetch cycle: At request
[Cd.302] Set the writing command. ■Set in hexadecimal. 0000H 61971+128n
Command generation axis parameter Fetch cycle: Main cycle*1 0000H: Not request
control request 0001H: Write request
0002H: Read request
FFFFH: Write/read error
[Cd.303] Specify the positioning data No. to be ■Set in decimal. 0 61974+128n
Command generation axis written. Data No.
positioning data No. designation Fetch cycle: At request 1 to 100
[Cd.304] Specify [Da._] of the positioning data ■Set in decimal. 0 61975+128n
Command generation axis No. to be written (positioning data, Data No. specification
positioning data designation block start data, condition data). [Da.1]: 1
Fetch cycle: At request [Da.2]: 2

[Da.26]: 26
[Cd.305] Specify the setting value to be ■Set in decimal. 0 61976+128n
Command generation axis written. -2147483648 to 2147483647 61977+128n
positioning data setting value Fetch cycle: At request
[Cd.306] Set the writing command. ■Set in hexadecimal. 0000H 61978+128n
Command generation axis Fetch cycle: Main cycle*1 0000H: Not request
positioning data control request 0001H: Write request
0002H: Read request
FFFFH: Write/read error

*1 With the exception of positioning control, main cycle processing is executed during the next available time. It changes by status of axis
start.

[Cd.300] to [Cd.302] Command generation axis parameter

Refer to the following for details.
Page 56 Write/read method for command generation axis parameter and positioning data

[Cd.303] to [Cd.306] Command generation axis positioning data

Refer to the following for details.
Page 56 Write/read method for command generation axis parameter and positioning data

2 INPUT AXIS MODULE

2.2 Command Generation Axis 47
 List of control data that can be used
The specification is common with the servo amplifier axis. For specification details, refer to "MAJOR POSITIONING
CONTROL" in the following manual.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)
: Available, : Not available

■System control data

Name Servo amplifier axis Command generation axis
[Cd.1] Flash ROM write request : Servo amplifier axis and command generation axis in common
[Cd.2] Parameter initialization request : Servo amplifier axis and command generation axis in common
[Cd.41] Deceleration start flag valid : Servo amplifier axis and command generation axis in common
[Cd.42] Stop command processing for deceleration stop selection : Servo amplifier axis and command generation axis in common
[Cd.44] External input signal operation device (Axis 1 to 8)  
[Cd.55] Input value for manual pulse generator via CPU [FX5-SSC-G]  
[Cd.102] SSCNET control command [FX5-SSC-S]  
[Cd.137] Amplifier-less operation mode switching request [FX5-SSC-S]  
[Cd.158] Forced stop input [FX5-SSC-G]  
[Cd.190] PLC READY signal : Servo amplifier axis and command generation axis in common
[Cd.191] All axis servo ON signal  

■Axis control data

Name Servo amplifier axis Command generation axis
[Cd.3] Positioning start No.  *1
[Cd.4] Positioning starting point No.  
[Cd.5] Axis error reset  
[Cd.6] Restart command  
[Cd.7] M code OFF request  
[Cd.8] External command valid  
[Cd.9] New position value  
[Cd.10] New acceleration time value  
[Cd.11] New deceleration time value  
[Cd.12] Acceleration/deceleration time change value during speed change,  
enable/disable
[Cd.13] Positioning operation speed override  
[Cd.14] New speed value  
[Cd.15] Speed change request  
[Cd.16] Inching movement amount  
[Cd.17] JOG speed  
[Cd.18] Interrupt request during continuous operation  
[Cd.19] Home position return request flag OFF request  
[Cd.20] Manual pulse generator 1 pulse input magnification  
[Cd.21] Manual pulse generator enable flag  
[Cd.22] New torque value/forward new torque value  
[Cd.23] Speed-position switching control movement amount change register  
[Cd.24] Speed-position switching enable flag  
[Cd.25] Position-speed switching control speed change register  
[Cd.26] Position-speed switching enable flag  
[Cd.27] Target position change value (New address)  
[Cd.28] Target position change value (New speed)  
[Cd.29] Target position change request flag  
[Cd.30] Simultaneous starting own axis start data No.  
[Cd.31] Simultaneous starting axis start data No.1  
[Cd.32] Simultaneous starting axis start data No.2  

2 INPUT AXIS MODULE

48 2.2 Command Generation Axis
Name Servo amplifier axis Command generation axis
[Cd.33] Simultaneous starting axis start data No.3  
[Cd.34] Step mode  
[Cd.35] Step valid flag  
[Cd.36] Step start information  
[Cd.37] Skip command
[Cd.38] Teaching data selection




2
[Cd.39] Teaching positioning data No.  
[Cd.40] ABS direction in degrees  
[Cd.43] Simultaneous starting axis  
[Cd.45] Speed-position switching device selection  *2
[Cd.46] Speed-position switching command  
[Cd.100] Servo OFF command  
[Cd.101] Torque output setting value  
[Cd.108] Gain changing command flag  
[Cd.112] Torque change function switching request  
[Cd.113] Reverse new torque value  
[Cd.130] Servo parameter write request [FX5-SSC-S]  
[Cd.131] Parameter No. Parameter No. setting  
(Setting for servo parameters
Parameter group
to be changed) [FX5-SSC-S]
Writing mode
[Cd.132] Change data [FX5-SSC-S]  
[Cd.136] PI-PID switching request  
[Cd.138] Control mode switching request  
[Cd.139] Control mode setting  
[Cd.140] Command speed at speed control mode  
[Cd.141] Acceleration time at speed control mode  
[Cd.142] Deceleration time at speed control mode  
[Cd.143] Command torque at torque control mode  
[Cd.144] Torque time constant at torque control mode (Forward direction)  
[Cd.145] Torque time constant at torque control mode (Negative direction)  
[Cd.146] Speed limit value at torque control mode  
[Cd.147] Speed limit value at continuous operation to torque control mode  
[Cd.148] Acceleration time at continuous operation to torque control mode  
[Cd.149] Deceleration time at continuous operation to torque control mode  
[Cd.150] Target torque at continuous operation to torque control mode  
[Cd.151] Torque time constant at continuous operation to torque control  
mode (Forward direction)
[Cd.152] Torque time constant at continuous operation to torque control  
mode (Negative direction)
[Cd.153] Control mode auto-shift selection  
[Cd.154] Control mode auto-shift parameter  
[Cd.180] Axis stop  
[Cd.181] Forward run JOG start  
[Cd.182] Reverse run JOG start  
[Cd.183] Execution prohibition flag  
[Cd.184] Positioning start  

*1 The setting range is 1 to 100: Positioning data No. and 9003: Current value changing.
*2 It is fixed to the initial value 2.

■Axis control data (transient function) [FX5-SSC-G]

Name Servo amplifier axis Command generation axis
[Cd.160] Optional SDO transfer request 1  
[Cd.164] Optional SDO transfer data 1  

2 INPUT AXIS MODULE

2.2 Command Generation Axis 49
 Command generation axis monitor data
n: Axis No. - 1
Monitor item Storage details Monitor value Buffer memory
address
[Md.345] The accumulative position value for the ■Monitoring is carried out in decimal. 61000+120n
Command generation axis accumulative command generation axis is stored. -2147483648 to 2147483647 61001+120n
position value Refresh cycle: Operation cycle [Command generation axis position units*1]
[Md.347] The position value per cycle for the ■Monitoring is carried out in decimal. 61002+120n
Command generation axis position value command generation axis is stored. 0 to (Command generation axis length per 61003+120n
per cycle Refresh cycle: Operation cycle cycle - 1)
[Command generation axis position units*1]

*1 Command generation axis position units (Page 42 Command generation axis position units)

[Md.345] Command generation axis accumulative position value

The accumulative position value for the command generation axis is stored in the "[Pr.1] Unit setting". The axis whose unit
setting is other than "degree" is set to "command position value = accumulative position value".

[Md.347] Command generation axis position value per cycle

The position value per cycle for the command generation axis is stored in the range from 0 to ("[Pr.346] Command generation
axis length per cycle" - 1).

2 INPUT AXIS MODULE

50 2.2 Command Generation Axis
List of monitor data that can be used
The specification is common with the servo amplifier axis. For specification details, refer to "MAJOR POSITIONING
CONTROL" in the following manual.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)
: Available, : Not available
2
■System monitor data
Name Servo amplifier axis Command generation axis
[Md.3] Start information Start history  
[Md.4] Start No.  
[Md.54] Start (Year: month)  
[Md.5] Start (Day: hour)  
[Md.6] Start (Minute: second)  
[Md.60] Start (ms)  
[Md.7] Error judgment  
[Md.8] Start history pointer  
[Md.19] Number of write accesses to flash ROM : Servo amplifier axis and command generation axis in common
[Md.50] Forced stop input : Servo amplifier axis and command generation axis in common
[Md.51] Amplifier-less operation mode status [FX5-SSC-S]  
[Md.52] Communication between amplifiers axes searching flag [FX5-SSC-  
S]
[Md.53] SSCNET control status [FX5-SSC-S]  
[Md.59] Module information  
[Md.130] F/W version : Servo amplifier axis and command generation axis in common
[Md.131] Digital oscilloscope running flag : Servo amplifier axis and command generation axis in common
[Md.132] Operation cycle setting : Servo amplifier axis and command generation axis in common
[Md.133] Operation cycle over flag : Servo amplifier axis and command generation axis in common
[Md.134] Operation time : Servo amplifier axis and command generation axis in common
[Md.135] Maximum operation time : Servo amplifier axis and command generation axis in common
[Md.140] Module status b0: READY : Servo amplifier axis and command generation axis in common
b1: Synchronization flag : Servo amplifier axis and command generation axis in common
[Md.141] BUSY b0: Axis 1 BUSY  *1
b1: Axis 2 BUSY
b2: Axis 3 BUSY
b3: Axis 4 BUSY
b4: Axis 5 BUSY
b5: Axis 6 BUSY
b6: Axis 7 BUSY
b7: Axis 8 BUSY

*1 The command generation axis is different from the servo amplifier axis in that the command generation axis stores the buffer memory
address in each axis.

2 INPUT AXIS MODULE

2.2 Command Generation Axis 51
 ■Axis monitor data
Name Servo amplifier axis Command generation axis
[Md.20] Command position value  
[Md.21] Machine feed value  
[Md.22] Speed command  
[Md.23] Axis error No.  
[Md.24] Axis warning No.  
[Md.25] Valid M code  
[Md.26] Axis operation status  
[Md.27] Current speed  
[Md.28] Axis speed command  
[Md.29] Speed-position switching control positioning movement amount  
[Md.30] External input signal b0: Lower limit signal  
b1: Upper limit signal  
b3: Stop signal  
b4: External command signal/switching  
signal
b6: Proximity dog signal  
[Md.31] Status b0: In speed control flag  
b1: Speed-position switching latch flag  
b2: Command in-position flag  
b3: Home position return request flag  
b4: Home position return complete flag  
b5: Position-speed switching latch flag  
b9: Axis warning detection  
b10: Speed change 0 flag  
b12: M code ON  
b13: Error detection  
b14: Start complete  
b15: Positioning complete  
[Md.32] Target value  
[Md.33] Target speed  
[Md.34] Movement amount after proximity dog ON [FX5-SSC-S]  
[Md.35] Torque limit stored value/forward torque limit stored value  
[Md.36] Special start data instruction code setting value  
[Md.37] Special start data instruction parameter setting value  
[Md.38] Start positioning data No. setting value  
[Md.39] In speed limit flag  
[Md.40] In speed change processing flag  
[Md.41] Special start repetition counter  
[Md.42] Control system repetition counter  
[Md.43] Start data pointer being executed  
[Md.44] Positioning data No. being executed  
[Md.45] Block No. being executed  
[Md.46] Last executed positioning data No.  
[Md.47] Positioning data being Positioning identifier  
executed
Positioning address  
Arc address  
Command speed  
Dwell time  
M code  
Axis to be interpolated  
[Md.48] Deceleration start flag  
[Md.100] Home position return re-travel value [FX5-SSC-S]  

2 INPUT AXIS MODULE

52 2.2 Command Generation Axis
Name Servo amplifier axis Command generation axis
[Md.101] Actual position value  
[Md.102] Deviation counter value  
[Md.103] Motor rotation speed  
[Md.104] Motor current value  
[Md.106] Servo amplifier software No. [FX5-SSC-S]
[Md.107] Parameter error No. [FX5-SSC-S]




2
[Md.108] Servo status1 b0: READY ON  
b1: Servo ON  
b2, b3: Control mode  
b4: Gain switching  
b5: Fully closed control switching  
b7: Servo alarm  
b12: In-position  
b13: Torque limit  
b14: Absolute position lost  
b15: Servo warning  
[Md.109] Regenerative load ratio/Optional data monitor output 1  
[Md.110] Effective load torque/Optional data monitor output 2  
[Md.111] Peak torque ratio/Optional data monitor output 3  
[Md.112] Optional data monitor output 4  
[Md.113] Semi/Fully closed loop status  
[Md.114] Servo alarm  
[Md.115] Servo alarm detail number [FX5-SSC-G]  
[Md.116] Encoder option information  
[Md.117] Statusword [FX5-SSC-G]  
[Md.119] Servo status2 b0: Zero point pass  
b3: Zero speed  
b4: Speed limit  
b8: PID control  
[Md.120] Reverse torque limit stored value  
[Md.122] Speed during command  
[Md.123] Torque during command  
[Md.124] Control mode switching status  
[Md.125] Servo status3 b11: Touch probe 1 enabled [FX5-SSC-G]  
b14: Continuous operation to torque  
control mode
b15: In unsupported control mode [FX5-  
SSC-G]
[Md.126] Servo status4 b13: Toggle status for latch completion at  
the rising edge of touch probe 1
b14: Toggle status for latch completion at  
the falling edge of touch probe 1
[Md.160] Optional SDO transfer result 1 [FX5-SSC-G]  
[Md.164] Optional SDO transfer status 1 [FX5-SSC-G]  
[Md.190] Controller position value restoration complete status [FX5-SSC-G]  
[Md.500] Servo status7 [FX5-SSC-S]  
[Md.502] Driver operation alarm No. [FX5-SSC-S]  
[Md.514] Home position return operating status [FX5-SSC-G]  

2 INPUT AXIS MODULE

2.2 Command Generation Axis 53
 Command generation axis positioning data
All positioning data is not in the buffer memory. Therefore, change the data using GX Works3 or control data. The
specification of command generation axis positioning data is common with "major positioning controls". However, the
positioning data is 100 points for each axis. The control methods that can be used are "ABS linear 1, INC linear 1, Forward
run: speed 1, Reverse run: speed 1, Forward run: speed/position, Reverse run: speed/position".
For details of "major positioning controls", refer to "MAJOR POSITIONING CONTROL" in the following manual.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)

List of positioning data that can be used

The specification is common with the servo amplifier axis. For specification details, refer to "MAJOR POSITIONING
CONTROL" in the following manual.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)
: Available, : Not available

■Positioning data
Name Servo amplifier axis Command generation axis
[Da.1] Operation pattern  
[Da.2] Control method  
[Da.3] Acceleration time No.  
[Da.4] Deceleration time No.  
[Da.6] Positioning address/movement amount  
[Da.7] Arc address  
[Da.8] Command speed  
[Da.9] Dwell time/JUMP destination positioning data No.  
[Da.10] M code/Number of LOOP to LEND repetitions  
[Da.10] Condition data No.  
[Da.20] Axis to be interpolated No.1  
[Da.21] Axis to be interpolated No.2  
[Da.22] Axis to be interpolated No.3  

When the speed control is selected in "[Da.1] Operation pattern", set invalid to "[Pr.15] Software stroke limit
valid/invalid setting" as necessary.

■Setting range of "[Da.2] Control method"

Name Servo amplifier axis Command generation axis
01h: ABS linear 1  
02h: INC linear 1  
03h: Fixed-feed 1  
04h: Forward run speed 1  
05h: Reverse run speed 1  
06h: Forward run speed/position  
07h: Reverse run speed/position  
08h: Forward run position/speed  
09h: Reverse run position/speed  
0Ah: ABS linear 2  
0Bh: INC linear 2  
0Ch: Fixed-feed 2  
0Dh: ABS circular sub  
0Eh: INC circular sub  
0Fh: ABS circular right  
10h: ABS circular left  

2 INPUT AXIS MODULE

54 2.2 Command Generation Axis
Name Servo amplifier axis Command generation axis
11h: INC circular right  
12h: INC circular left  
13h: Forward run speed 2  
14h: Reverse run speed 2  
15h: ABS linear 3
16h: INC linear 3




2
17h: Fixed-feed 3  
18h: Forward run speed 3  
19h: Reverse run speed 3  
1Ah: ABS linear 4  
1Bh: INC linear 4  
1Ch: Fixed-feed 4  
1Dh: Forward run speed 4  
1Eh: Reverse run speed 4  
80h: NOP  
81h: Current value changing  
82h: JUMP instruction  
83h: LOOP  
84h: LEND  

■Block start data

Name Servo amplifier axis Command generation axis
[Da.11] Shape  
[Da.12] Start data No.  
[Da.13] Special start instruction  
[Da.14] Parameter  

■Condition data
Name Servo amplifier axis Command generation axis
[Da.15] Condition target  
[Da.16] Condition operator  
[Da.17] Address  
[Da.18] Parameter 1  
[Da.19] Parameter 2  
[Da.23] Number of simultaneously starting axes  
[Da.24] Simultaneously starting axis No.1  
[Da.25] Simultaneously starting axis No.2  
[Da.26] Simultaneously starting axis No.3  

2 INPUT AXIS MODULE

2.2 Command Generation Axis 55
 Write/read method for command generation axis parameter and
positioning data
The command generation axis parameter and positioning data are not stored in the buffer memory, so that each setting value
changes by the control data. The fetch timing of each parameter and positioning data is in accordance with each specification.
Therefore, some parameter is not used for control until PLC READY ON or the power supply ON.

• Execute the writing of the parameter and positioning data by the write method procedure shown below. If
the writing order is wrong, an unpredictable value might be set.
• The command generation axis control data and positioning data written by this method are erased at the
power supply OFF. When it is necessary to save the data, write to the flash ROM of the Simple Motion
module/Motion module by "[Cd.1] Flash ROM write request".

Write method for command generation axis parameter

1. Specify the command generation axis parameter No. to "[Cd.300] Command generation axis parameter No.
designation".

2. When "340" is set, "[Pr.340] Command generation axis valid setting" is specified. When "1" is set, "[Pr.1] Unit setting" is
specified.

3. Specify the setting value to the command generation axis parameter with 2 words in "[Cd.301] Command generation axis
parameter setting value".

4. Set "1: Write request" to "[Cd.302] Command generation axis parameter control request".

5. "[Cd.301] Command generation axis parameter setting value" is written to the command generation axis parameter No.
specified in "[Cd.300] Command generation axis parameter No. designation". When the writing is succeeded, "0: Not
request" is set in "[Cd.302] Command generation axis parameter control request".

6. When the parameter No. which is not defined to the command generation axis is specified, "FFFFH: Write/read error" is
set in "[Cd.302] Command generation axis parameter control request". "[Cd.302] Command generation axis parameter
control request" is detected always. It is not required to return to "0: Not request" from "FFFFH: Write/read error"
manually.

7. The command generation axis control data and positioning data written by this method are erased at the power supply
OFF. When it is necessary to save the data, write to the flash ROM of the Simple Motion module/Motion module by
"[Cd.1] Flash ROM write request".
The timing that the command generation axis parameter to be written becomes valid is common with the servo amplifier axis.
For specification details, refer to "MAJOR POSITIONING CONTROL" in the following manual.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)

[Pr.1] Unit setting 0 2: degree

[Cd.300] Command generation axis

parameter No. designation 0 1: [Pr.1] Unit setting

[Cd.301] Command generation axis

parameter setting value 0 2: degree

[Cd.302] Command generation axis

0: Not request 1: Write request 0: Not request
parameter control request

Start of parameter writing Completion of parameter writing

When the writing is failed, "FFFFH: Write/read error" occurs.

2 INPUT AXIS MODULE

56 2.2 Command Generation Axis
Read method for command generation axis parameter
1. Specify the command generation axis parameter No. to "[Cd.300] Command generation axis parameter No.
designation".

2. Set "2: Read request" to "[Cd.302] Command generation axis parameter control request".

3. The setting value to the command generation axis parameter is read with 2 words in "[Cd.301] Command generation axis 2
parameter setting value". "0: Not request" is set in "[Cd.302] Command generation axis parameter control request".

4. When the parameter No. which is not defined to the command generation axis is specified, "FFFFH: Write/read error" is
set in "[Cd.302] Command generation axis parameter control request". "[Cd.302] Command generation axis parameter
control request" is detected always. It is not required to return to "0: Not request" from "FFFFH: Write/read error"
manually.

[Pr.1] Unit setting 2: degree

[Cd.300] Command generation axis

parameter No. designation 0 1: [Pr.1] Unit setting

[Cd.301] Command generation axis

parameter setting value 0 2: degree

[Cd.302] Command generation axis

0: Not request 2: Read request 0: Not request
parameter control request

Start of parameter reading Completion of reading

When the reading is failed, "FFFFH: Write/read error" occurs.

2 INPUT AXIS MODULE

2.2 Command Generation Axis 57
 Write method for command generation axis positioning data
1. Specify the command generation axis positioning data No. to "[Cd.303] Command generation axis positioning data No.
designation". When "1" is set, "1" of the positioning data is specified.

2. Specify the command generation axis positioning data [Da._] to "[Cd.304] Command generation axis positioning data
designation". When "1" is set, "[Da.1] Operation pattern" is specified.

3. Specify the setting value to the command generation axis positioning data No. and the command generation axis
positioning data with 2 words to the low-order without space in "[Cd.305] Command generation axis positioning data
setting value". To write ABS linear 1 in "[Da.2] Control method", specify "0000 0001H". When "0000 0100H" is specified,
"0" is written.

4. Set "1: Write request" to "[Cd.306] Command generation axis positioning data control request". "[Cd.305] Command
generation axis positioning data setting value" is written to the positioning data of the command generation axis
positioning data No. specified in "[Cd.303] Command generation axis positioning data No. designation" and "[Cd.304]
Command generation axis positioning data designation". When the writing is succeeded, "0: Not request" is set in
"[Cd.306] Command generation axis positioning data control request".

5. When the positioning data No. and the positioning data which are not defined to the command generation axis are
specified, "FFFFH: Write/read error" is set in "[Cd.306] Command generation axis positioning data control request".
"[Cd.306] Command generation axis positioning data control request" is detected always. It is not required to return to "0:
Not request" from "FFFFH: Write/read error" manually.

6. The command generation axis control data and positioning data written by this method are erased at the power supply
OFF. When it is necessary to save the data, write to the flash ROM of the Simple Motion module/Motion module by
"[Cd.1] Flash ROM write request".
The timing that the command generation axis positioning data to be written becomes valid is common with the servo amplifier
axis. For specification details, refer to "MAJOR POSITIONING CONTROL" in the following manual.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)
Positioning data No.1
0 1: ABS linear 1
[Da.1] Operation pattern

[Cd.303] Command generation axis

positioning data No. designation 0 1: 1 of positioning data No.

[Cd.304] Command generation axis

0 1: [Da.1] Operation pattern
positioning data designation

[Cd.305] Command generation axis

0 1: ABS linear 1
positioning data setting value

[Cd.306] Command generation axis

0: Not request 1: Write request 0: Not request
positioning data control request

Start of positioning data writing Completion of writing

When the writing is failed, "FFFFH: Write/read error" occurs.

2 INPUT AXIS MODULE

58 2.2 Command Generation Axis
Read method for command generation axis positioning data
1. Specify the command generation axis positioning data No. to "[Cd.303] Command generation axis positioning data No.
designation". When "1" is set, "1" of the positioning data is specified.

2. Specify the command generation axis positioning data [Da._] to "[Cd.304] Command generation axis positioning data
designation". When "1" is set, "[Da.1] Operation pattern" is specified. 2
3. Set "2: Read request" to "[Cd.306] Command generation axis positioning data control request".

4. "[Cd.305] Command generation axis positioning data setting value" is read with 2 words to the positioning data of the
command generation axis positioning data No. specified in "[Cd.303] Command generation axis positioning data No.
designation" and "[Cd.304] Command generation axis positioning data designation". When the reading is succeeded, "0:
Not request" is set in "[Cd.306] Command generation axis positioning data control request".

5. When the parameter No. which is not defined to the command generation axis is specified, "FFFFH: Write/read error" is
set in "[Cd.306] Command generation axis positioning data control request". "[Cd.306] Command generation axis
positioning data control request" is detected always. It is not required to return to "0: Not request" from "FFFFH: Write/
read error" manually.
Positioning data No.1
1: ABS linear 1
[Da.1] Operation pattern

[Cd.303] Command generation axis

positioning data No. designation 0 1: 1 of positioning data No.

[Cd.304] Command generation axis

0 1: [Da.1] Operation pattern
positioning data designation

[Cd.305] Command generation axis

0 1: ABS linear 1
positioning data setting value

[Cd.306] Command generation axis

0: Not request 2: Read request 0: Not request
positioning data control request

Start of positioning data reading Completion of reading

When the reading is failed, "FFFFH: Write/read error" occurs.

2 INPUT AXIS MODULE

2.2 Command Generation Axis 59
 2.3 Synchronous Encoder Axis
Overview of synchronous encoder axis
The synchronous encoder is used to drive the input axis based on input pulse from a synchronous encoder that is connected
externally.
The status of a synchronous encoder axis can also be monitored after the system's power supply turns ON.
[FX5-SSC-S]

[Pr.24] Manual pulse generator/Incremental

synchronous encoder input selection
[Pr.89] Manual pulse generator/Incremental
synchronous encoder input type
selection Input pulse of synchronous
[Pr.151] Manual pulse generator/Incremental encoder
synchronous encoder input logic
selection
[Pr.320] Synchronous encoder axis type
[Pr.329] Resolution of synchronous encoder
via CPU

Counter disable/
Counter enable

[Pr.321] Synchronous encoder

axis unit setting
[Pr.322] Synchronous encoder
axis unit conversion: Unit conversion
Numerator
[Pr.323] Synchronous encoder
axis unit conversion:
Denominator

[Pr.325] Synchronous encoder Input smoothing

axis smoothing time
constant
processing

[Pr.326] Synchronous encoder

axis phase
compensation
advance time Phase compensation
[Md.323] Synchronous encoder axis phase
[Pr.327] Synchronous encoder processing compensation amount
axis phase
compensation time
constant

[Pr.328] Synchronous encoder Rotation direction

axis rotation direction [Md.324] Synchronous encoder axis rotation direction
restriction
restriction restriction amount

Current value change

[Md.320] Synchronous encoder axis position
Position value value
[Pr.324] Synchronous encoder
axis length per cycle of synchronous [Md.321] Synchronous encoder axis position
encoder axis value per cycle
[Md.322] Synchronous encoder axis speed

2 INPUT AXIS MODULE

60 2.3 Synchronous Encoder Axis
[FX5-SSC-G]

[Pr.320] Synchronous encoder axis type

[Pr.329] Resolution of synchronous encoder via CPU
[Pr.710] Synchronous encoder axis: Link device type
Input pulse of synchronous
[Pr.711] Synchronous encoder axis: Link device start No.
encoder
[Pr.712] Synchronous encoder axis: Link device count direction setting
[Pr.713] Synchronous encoder axis: Ring counter maximum value
[Pr.714] Synchronous encoder axis: Ring counter minimum value
2
[Pr.1010] Synchronous encoder axis start request:
Link device type
[Pr.1011] Synchronous encoder axis start request:
Link device start No. Counter disable/
[Pr.1012] Synchronous encoder axis start request: Counter enable
Link device bit specification
[Pr.1013] Synchronous encoder axis start request:
Link device logic setting

[Pr.321] Synchronous encoder axis unit setting

[Pr.322] Synchronous encoder axis unit
conversion: Numerator Unit conversion
[Pr.323] Synchronous encoder axis unit
conversion: Denominator

[Pr.325] Synchronous encoder axis smoothing

Input smoothing
time constant processing

[Pr.326] Synchronous encoder axis phase

compensation advance time Phase compensation
[Md.323] Synchronous encoder axis phase
processing compensation amount
[Pr.327] Synchronous encoder axis phase
compensation time constant

[Pr.328] Synchronous encoder axis rotation Rotation direction

[Md.324] Synchronous encoder axis rotation
direction restriction restriction direction restriction amount

[Pr.1010] Synchronous encoder axis start request:

Link device type
[Pr.1011] Synchronous encoder axis start request:
Link device start No. Current value change
[Pr.1012] Synchronous encoder axis start request:
Link device bit specification
[Pr.1013] Synchronous encoder axis start request:
Link device logic setting

[Md.320] Synchronous encoder axis position

value
Current value
[Pr.324] Synchronous encoder axis length per cycle of synchronous [Md.321] Synchronous encoder axis position
value per cycle
encoder axis
[Md.322] Synchronous encoder axis speed

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 61
 Synchronous encoder axis type
The following 4 types of synchronous encoders can be used for the synchronous encoder axis.
Refer to the following for the setting method for each synchronous encoder axis.
Page 64 Setting method for synchronous encoder
Synchronous encoder axis type Details
Incremental synchronous encoder [FX5-SSC-S] The incremental synchronous encoder that is connected to the manual pulse generator/incremental
synchronous encoder input of the Simple Motion module is used as the synchronous encoder axis.
Synchronous encoder via servo amplifier Used to use a synchronous encoder connected to the servo amplifier which supports the scale
measurement mode as a synchronous encoder axis.
Synchronous encoder via CPU Used to operate a gray code encoder that is connected to the input part of the CPU module or the extension
input module as a synchronous encoder axis.
Synchronous encoder via link device [FX5-SSC- Used to use a synchronous encoder connected to a CC-Link IE TSN network device as a synchronous
G] encoder axis.

When using an incremental synchronous encoder 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 set "[Pr.320]
Synchronous encoder axis type" to "201: Synchronous encoder via CPU".

Control method for synchronous encoder axis

The following controls can be executed for the synchronous encoder axis by using "[Cd.320] Synchronous encoder axis
control start" and "[Cd.321] Synchronous encoder axis control method".
Setting value of "[Cd.321] Synchronous Control details
encoder axis control method"
0: Current value change "[Md.320] Synchronous encoder axis position value" and "[Md.321] Synchronous encoder axis position
value per cycle" are changed based on the setting of "[Cd.322] Synchronous encoder axis position value
setting address".
1: Counter disable Input from the synchronous encoder is disabled.
2: Counter enable Input from the synchronous encoder is enabled.

Units for the synchronous encoder axis

The position units and speed units for the synchronous encoder axis are shown below for the setting of "[Pr.321] Synchronous
encoder axis unit setting".

■Synchronous encoder axis position units

Setting value of "[Pr.321] Synchronous encoder axis unit setting" Synchronous encoder Range
Control unit Number of decimal places for axis position unit
position
0: mm 0 mm -2147483648 to 2147483647 [mm]
  
9 ×10-9 mm -2.147483648 to 2.147483647 [mm]
1: inch 0 inch -2147483648 to 2147483647 [inch]
  
9 ×10-9 inch -2.147483648 to 2.147483647 [inch]
2: degree 0 degree -2147483648 to 2147483647 [degree]
  
9 ×10-9 degree -2.147483648 to 2.147483647 [degree]
3: pulse 0 pulse -2147483648 to 2147483647 [pulse]
  
9 ×10-9 pulse -2.147483648 to 2.147483647 [pulse]

2 INPUT AXIS MODULE

62 2.3 Synchronous Encoder Axis
■Synchronous encoder axis speed units
Setting value of "[Pr.321] Synchronous encoder axis unit setting" Synchronous encoder Range
Control unit Speed time unit Number of decimal axis speed unit
places for speed
0: mm 0: second [s] 0 mm/s -2147483648 to 2147483647 [mm/s]
   2
9 ×10-9 mm/s -2.147483648 to 2.147483647 [mm/s]
1: minute [min] 0 mm/min -2147483648 to 2147483647 [mm/min]
  
9 ×10-9 mm/min -2.147483648 to 2.147483647 [mm/min]
1: inch 0: second [s] 0 inch/s -2147483648 to 2147483647 [inch/s]
  
9 ×10-9 inch/s -2.147483648 to 2.147483647 [inch/s]
1: minute [min] 0 inch/min -2147483648 to 2147483647 [inch/min]
  
9 ×10-9 inch/min -2.147483648 to 2.147483647 [inch/min]
2: degree 0: second [s] 0 degree/s -2147483648 to 2147483647 [degree/s]
  
9 ×10-9 degree/s -2.147483648 to 2.147483647 [degree/s]
1: minute [min] 0 degree/min -2147483648 to 2147483647 [degree/min]
  
-9
9 ×10 degree/min -2.147483648 to 2.147483647 [degree/min]
3: pulse 0: second [s] 0 pulse/s -2147483648 to 2147483647 [pulse/s]
  
9 ×10-9 pulse/s -2.147483648 to 2.147483647 [pulse/s]
1: minute [min] 0 pulse/min -2147483648 to 2147483647 [pulse/min]
  
9 ×10-9 pulse/min -2.147483648 to 2.147483647 [pulse/min]

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 63
 Setting method for synchronous encoder

Incremental synchronous encoder [FX5-SSC-S]

■Setting method
Connect the synchronous encoder to the "Manual pulse generator/Incremental synchronous encoder input" of the Simple
Motion module.
Set the input method for the incremental synchronous encoder signal using the following parameters. (It may be common to
use the same set up for the manual pulse generator input.)
• [Pr.24] Manual pulse generator/Incremental synchronous encoder input selection
• [Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection
• [Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection

The synchronous encoder axis operates completely independently with the manual pulse generator operation.
The parameter and control data for the manual pulse generator operation except the 3 parameters listed
above has not influence on control of synchronous encoder axis. Therefore, they can also be controlled
simultaneously by common input pulses.

When the synchronous encoder axis connection is valid after the system's power supply is ON, it will be "Synchronous
encoder axis position value = 0", "Synchronous encoder axis position value per cycle = 0" and "Counter enabling status".

■Setting example
The following shows an example for setting an incremental synchronous encoder as synchronous encoder axis 2 of the
Simple Motion module.

Simple Motion
module

Incremental
synchronous
encoder
Synchronous
encoder axis 2

Axis 1 Axis 2 Axis 3

Set "1: Incremental synchronous encoder" in "[Pr.320] Synchronous encoder axis type" for the synchronous encoder axis 2.
And, set the input method for incremental synchronous encoder signal in the following parameters.
• "[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection": "0: A-phase/B-phase multiplied by 4"
• "[Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection": "0: Differential output type"
• "[Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection": "0: Differential output type"

2 INPUT AXIS MODULE

64 2.3 Synchronous Encoder Axis
Synchronous encoder via servo amplifier [FX5-SSC-S]
There are restrictions in the function and the encoder that can be used by the version of the servo amplifier.

■Setting method
Used to use a rotary encoder connected to the servo amplifier which supports the scale measurement mode as a
synchronous encoder axis. 2
The following servo amplifiers can be used.
• MR-J4-B
• MR-J4-B-RJ
Refer to the following servo amplifier instruction manuals for the version which supports the scale measurement function and
the encoder which can be used.
SSCNET/H Interface AC Servo MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual

Linear encoders and A/B/Z-phase differential output type rotary encoders cannot be used.

A synchronous encoder connected to the specified servo amplifier axis can be used by the following settings.
Setting item Setting method Setting method of Simple Motion Module Setting
Function
Synchronous encoder Set "101 to 108: Synchronous encoder via servo amplifier Set the synchronous encoder axis parameter according to the
axis setting (Connectable servo amplifier: axis 1 to axis 8*1)" in "[Pr.320] setting below.
Synchronous encoder axis type". • [Pr.320] Type
101: Synchronous encoder via servo amplifier
• [Pr.320] Axis No. of connected servo amplifier
Axis No. of servo amplifier to connect
Encoder type setting Set the servo parameter "Scale measurement function selection Set "ABS" or "INC" from the "External synchronous encoder
(Absolute/Incremental) (PA22)" according to the setting below. input" list of the amplifier setting dialog.
0_ _ _H: Disabled (The amplifier setting dialog can be opened from the "System
1_ _ _H: Used in absolute position detection system Configuration" window in the "System Setting".)
2_ _ _H: Used in incremental system

*1 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.
When "1_ _ _H" is set in the servo parameter "Scale measurement function selection (PA22)", the synchronous encoder axis
position value and the synchronous encoder axis position value per cycle are restored after the servo amplifier axis is
connected. Therefore, connection becomes valid, and will be on the counter enabling status. (The current value setting by
current value change is required beforehand.)
When "2_ _ _H" is set in the servo parameter "Scale measurement function selection (PA22)", "0" is set to the initial value of
the synchronous encoder axis position value and the synchronous encoder axis position value per cycle after the servo
amplifier axis is connected. Therefore, connection becomes valid, and will be on the counter enabling status.
If the corresponding servo amplifier axis is not connected, the connection of the synchronous encoder axis will be invalid.

When "1_ _ _H" is set in the servo parameter "Scale measurement function selection (PA22)" and the
synchronous encoder movement amount (encoder pulse units) on disconnection or during the power supply
OFF exceeds "2147483647" or "-2147483648", the synchronous encoder axis position value is restored with
its opposite sign.

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 65
 ■Point of the setting method
• "Scale measurement function selection (PA22)" is set to the servo amplifier set by "ABS" or "INC" from the "External
synchronous encoder input" list of the amplifier setting dialog using the Simple Motion Module Setting Function.
• When the servo parameter "Scale measurement function selection (PA22)" is changed, it is required to switch the power of
servo amplifier off once after the parameter is transferred to the servo amplifier, and then switch it on again.
• If the servo amplifier set by the servo parameter "Scale measurement function selection (PA22)" does not support the
"Scale measurement mode", "AL.37" (parameter error) will occur in the servo amplifier. Refer to the servo amplifier
instruction manual for details of the servo parameter "Scale measurement function selection (PA22)".
• The synchronous encoder via servo amplifier can be controlled up to 4. However, there is no restriction for the number of
connections. Therefore, the error check is not executed even when the external synchronous encoders are set more than 4
in the "System Setting" using the Simple Motion Module Setting Function.
• The following information of the synchronous encoder via servo amplifier can be output with the optional data monitor. The
setting details of the optional data monitor for the synchronous encoder information are shown below.
Information of synchronous Setting detail for optional data monitor
encoder
Scale position within one-revolution 24: Load side encoder information 1 (Used point: 2words)
Scale absolute counter 25: Load side encoder information 2 (Used point: 2words)

• A serial absolute synchronous encoder Q171ENC-W8 can be used in an incremental system by setting "2_ _ _H" in the
servo parameter "Scale measurement function selection (PA22)" even if the battery of the servo amplifier is dismounted.

■Setting example
The following shows an example for setting a serial absolute synchronous encoder Q171ENC-W8 using MR-J4-_B-RJ as
synchronous encoder axis 1 of the Simple Motion module.
Simple Motion
module

MR-J4-_B-RJ

Q171ENC-W8
Axis 1 Axis 2 Axis 3 (4194304 pulses/rev)

Synchronous
encoder axis 1
Set the parameters as below.
• Set "103: Synchronous encoder via servo amplifier (servo amplifier axis 1)" in "[Pr.320] Synchronous encoder axis type" of
synchronous encoder axis 1.
• Set "32: MR-J4-_B" in "[Pr.100] Servo series" of the axis to connect Q171ENC-W8.
• Set "1_ _ _H" or "2_ _ _H" in the servo parameter "Scale measurement function selection (PA22)". (Set "ABS" or "INC" from
the "External synchronous encoder input" list of the amplifier setting dialog using the Simple Motion Module Setting
Function.)
• Set "1_ _ _H" in the servo parameter "Function selection C-8 (PC26)".

2 INPUT AXIS MODULE

66 2.3 Synchronous Encoder Axis
■Restrictions
• The servo amplifier axis selected as "Synchronous encoder via servo amplifier" in"[Pr.320] Synchronous encoder axis type"
does not operate in the fully closed control mode even though "_ _1_H" is set in the servo parameter "Operation mode
selection (PA01)".
• The information about the synchronous encoder is output to "[Md.112] Optional data monitor output 4" of the servo amplifier
axis selected as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis type", and "[Pr.94] 2
Optional data monitor: Data type setting 4" is ignored. (Set the total points to be within 3 words for the optional data monitor.
Otherwise, the monitor setting is ignored.)
• When the servo alarms about the serial absolute synchronous encoder connection occur in the servo amplifier axis
selected as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis type", the status becomes
servo OFF. "AL.25" (Absolute position erased), "AL.70" (Load-side encoder initial communication error 1), or "AL.71" (Load-
side encoder normal communication error 1) occurs in the servo amplifier.
• The error "Synchronous encoder via servo amplifier invalid error" (error code: 1BAAH) occurs in the following cases.
• Other than "32: MR-J4-_B" is set in "[Pr.100] Servo series" of the axis No. selected as "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous
encoder axis type".
• The servo amplifier axis which is not set in the system setting is set to the servo amplifier axis No. to connect to "Synchronous encoder via servo amplifier".
• The servo axis, which "Invalid" is set to from the "External synchronous encoder input" list of the amplifier setting dialog using the Simple Motion Module
Setting Function, is set to the servo amplifier axis No. to connect to "Synchronous encoder via servo amplifier".
• A linear scale is connected.

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 67
 Synchronous encoder via servo amplifier [FX5-SSC-G]
■Setting method
Used to use an encoder connected to the servo amplifier which supports the scale measurement mode as a synchronous
encoder axis.
To use the scale measurement function, set the following CiA402 objects automatically to the PDO mapping. For details of
each object, refer to the following manual.
MR-J5-G/MR-J5W-G User's Manual (Object Dictionary)
• Scale cycle counter (Obj. 2D36H)
• Scale ABS counter (Obj. 2D37H)
• Scale measurement encoder reception status (Obj. 2D3CH)
The following servo amplifiers can be used for the Motion module. Refer to the servo amplifier manual for the encoders that
can be used with the scale measurement function.
• MR-J5-_G_
• MR-J5-_G-_RJ
• MR-J5D_-_G-_
• MR-JET_-GN
• MR-JET_GN-HS

• When the software version is "1.002" or earlier, do not use encoders other than the rotary encoders (HK-KT,
HK-MT).
• When the software version is "1.003" or later, do not use encoders other than the following.
Rotary encoder (HK-KT, HK-MT)
Linear encoder (incremental type)
Linear encoder A/B/Z-phase differential output type (incremental type)
Rotary encoder A/B/Z-phase differential output type (incremental type)

A synchronous encoder connected to the specified servo amplifier axis can be used by the following settings.
Setting item Setting method
Synchronous encoder axis setting Set "101 to 108: Synchronous encoder via servo amplifier (Connectable servo amplifier: axis 1 to axis 8*1)" in "[Pr.320]
Synchronous encoder axis type".
[Setting method of Motion Module Setting Function]
Set the synchronous encoder axis parameter according to the setting below.
• [Pr.320] Type
101: Synchronous encoder via servo amplifier
• [Pr.320] Axis No. of connected servo amplifier
Axis No. of servo amplifier to connect
Encoder type setting (Absolute/ To enable the scale measurement function, set the servo parameter "Scale measurement function selection (PA22.3)"
Incremental) according to the setting below before connecting to the Motion module.
Refer to the servo amplifier manual for the parameter details and scale measurement encoder connection method.
■MR-J5-G*2
0: Disabled (initial value)
1: Used in absolute position detection system
2: Used in incremental system
■MR-JET-_GN, MR-JET-_GN-HS*3
0: Disabled (initial value)
2: Used in incremental system

A/B/Z-phase input encoder When connecting an A/B/Z-phase differential output type encoder to the scale measurement encoder by using MR-
connection setting selection JET-_GN and MR-JET-_GN-HS, set the servo parameter "A/B/Z-phase input encoder connection setting selection
(PC26.0)" to 2: "Enabled (supporting A/B/Z-phase input encoder only)".*3
Encoder resolution setting Set the servo parameter "Load-side encoder resolution setting (PE51)" to 0.*3*4
If other than 0 is set while the A/B/Z-phase differential output type rotary encoder is used, the synchronous encoder
axis position value and the synchronous encoder axis position value per cycle may change suddenly. For details, refer
to the precautions.

*1 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.
*2 Supported by MR-J5-G with F/W version A5 or later.
*3 Supported by MR-JET-G with F/W version E4 or later.
*4 Supported by MR-J5-G with F/W version B2 or later.

2 INPUT AXIS MODULE

68 2.3 Synchronous Encoder Axis
When "1: Used in absolute position detection system" is set in the servo parameter "Scale measurement function selection
(PA22.3)", the synchronous encoder axis position value and the synchronous encoder axis position value per cycle are
restored after the servo amplifier axis is connected. Therefore, connection becomes valid, and will be on the counter enabling
status.
When "2: Used in incremental system" is set in the servo parameter "Scale measurement function selection (PA22.3)", "0" is
set to the initial value of the synchronous encoder axis position value and the synchronous encoder axis position value per
cycle after the servo amplifier axis is connected. Therefore, connection becomes valid, and will be on the counter enabling
2
status.
If the corresponding servo amplifier axis is not connected, the connection of the synchronous encoder axis will be invalid.

Precautions
• When "1: Used in absolute position detection system" is set in the servo parameter "Scale measurement function selection
(PA22.3)" and the synchronous encoder movement amount (encoder pulse units) on disconnection or during the power
supply OFF exceeds "2147483647" or "-2147483648", the synchronous encoder axis position value is restored with its
opposite sign.
• If other than 0 is set to the servo parameter "Load-side encoder resolution setting (PE51)" while the A/B/Z-phase differential
output type rotary encoder is used, the following may occur.
- Since the Scale cycle counter (Obj. 2D36H) changes suddenly when passing through the first Z-phase, the synchronous
encoder axis position value and the synchronous encoder axis position value per cycle also change suddenly.
- If the incorrect encoder resolution is set to the servo parameter "Load-side encoder resolution setting (PE51)", the value of
the Scale cycle counter (Obj. 2D36H) becomes incorrect, and therefore the synchronous encoder axis position value and
the synchronous encoder axis position value per cycle may change suddenly.

■Point of the setting method

• When the servo parameters "Scale measurement function selection (PA22.3)" and "Load-side encoder resolution setting
(PE51)" are changed, it is required to switch the power of servo amplifier off once after the parameter is transferred to the
servo amplifier, and then switch it on again.
• If the servo amplifier set by the servo parameter "Scale measurement function selection (PA22.3)" does not support the
"Scale measurement mode", "AL.37" (parameter error) will occur in the servo amplifier. Refer to the servo amplifier manual
for details of the servo parameter "Scale measurement function selection (PA22.3)".
• The following information of the synchronous encoder via servo amplifier can be output with the optional data monitor. The
setting details of the optional data monitor for the synchronous encoder information are shown below.
Information of synchronous Setting detail for optional data monitor
encoder
Scale position within one-revolution H2B12: Load side encoder information 1 (Used point: 2words)
Scale absolute counter H2B13: Load side encoder information 2 (Used point: 2words)

• A scale measurement encoder can be used in an incremental system by setting "2: Used in incremental system" in the
servo parameter "Scale measurement function selection (PA22.3)" even when using a scale measurement encoder that
supports the absolute position detection.

■Restrictions
• The scale measurement function can only be used when semi closed control mode is selected. Refer to the servo amplifier
manual for details.
• When "1: Used in absolute position detection system" is set in the servo parameter "Scale measurement function selection
(PA22.3)", "AL.25.2 (Scale measurement encoder - Absolute position erased)" occurs in the relevant servo amplifier after
the encoder cable is connected and the power supply is turned ON for the first time.
• The error "Synchronous encoder via servo amplifier invalid error" (Error code: 1DFAH) occurs in the following cases.
• When "[Pr.141] IP address" of an unset axis or a virtual servo amplifier axis is selected as the axis No. for "Synchronous encoder via servo amplifier" in
"[Pr.320] Synchronous encoder axis type".
• When a servo amplifier axis not having the servo parameter "Scale measurement function selection (PA22.3)" enabled is set as the connection servo
amplifier axis No. in "Synchronous encoder via servo amplifier" and connected to the servo amplifier.
• When the axis No. selected as the "Synchronous encoder via servo amplifier" in "[Pr.320] Synchronous encoder axis type" has a servo amplifier other than
the MR-J5-_GN or MR-J5-_GN-RJ connected.
• When a linear scale is connected. : software version 1.002 or earlier
• When a linear encoder (absolute position type) is connected. : software version 1.003 or later

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 69
 ■Setting example
The following shows an example where the MR-J5-_G-RJ set as Axis 3 is used for synchronous encoder axis 1 of the Motion
module and the rotary servo motor HK-KT series is used as the scale measurement encoder.
Motion module

MR-J5-_G-RJ
(IP address: 192.168.3.1)

Servo motor encoder signal

Drive system

CN2
CN2L
Axis 3 Servo motor

Load-side encoder signal

2- or 4-channel rotary encoder
HK series servo motor (67108864 pulse/rev)

Set the parameters as below.

• Set "103: Synchronous encoder via servo amplifier (servo amplifier axis 3)" in "[Pr.320] Synchronous encoder axis type" of
synchronous encoder axis 1.
• Set the IP address of the target servo amplifier (192.168.3.1) in "[Pr.141] IP address" of Axis 3 to be used in the scale
measurement function.
• Set "1: Used in absolute position detection system" or "2: Used in incremental system" in the MR-J5-_G-RJ servo
parameter "Scale measurement function selection (PA22.3)".

2 INPUT AXIS MODULE

70 2.3 Synchronous Encoder Axis
Synchronous encoder via CPU
■Setting method
Used to operate a gray code encoder that is connected to the input part of the CPU module or the extension input module as
a synchronous encoder axis.
By setting "201: Synchronous encoder via CPU" in "[Pr.320] Synchronous encoder axis type", the synchronous encoder is 2
controlled by the encoder value which is the input value of "[Cd.325] Input value for synchronous encoder via CPU".
The encoder value can be used as a cycle counter within the range from 0 to (Resolution of synchronous encoder via CPU -
1).
Connection is invalid just after the system's power supply is ON. When "1" is set in "[Cd.324] Connection command of
synchronous encoder via CPU", the synchronous encoder axis position value and the synchronous encoder axis position
value per cycle are restored based on "[Cd.325] Input value for synchronous encoder via CPU". Therefore, connection
becomes valid, and will be on the counter enabling status.
The synchronous encoder axis is controlled based on the amount of change of "[Cd.325] Input value for synchronous encoder
via CPU" while it is connecting.

■Setting example
The following shows an example for setting a synchronous encoder via CPU as synchronous encoder axis 4 of the Simple
Motion module. (Resolution of the gray code encoder: 4096 pulses/rev)

Simple Motion
module

Gray code encoder

Synchronous
encoder axis 4

Axis 1 Axis 2 Axis 3

Set "201: Synchronous encoder via CPU" in "[Pr.320] Synchronous encoder axis type" of synchronous encoder axis 4.
Set "4096" in "[Pr.329] Resolution of synchronous encoder via CPU" of synchronous encoder axis 4.
Read the encoder value of the gray code encoder with a program, and update "[Cd.325] Input value for synchronous encoder
via CPU" of the synchronous encoder axis 4 at every time.

■Restrictions
• "[Cd.325] Input value for synchronous encoder via CPU" is taken every operation cycle, but it is asynchronous with the
scan time of the CPU module. Therefore, speed fluctuation of the synchronous encoder axis becomes larger if the refresh
cycle of "[Cd.325] Input value for synchronous encoder via CPU" becomes long. Update "[Cd.325] Input value for
synchronous encoder via CPU" in a cycle less than the operation cycle or use smooth speed fluctuation with the smoothing
function.
• The synchronous encoder current value that is restored for the synchronous encoder connection gets restored into a
converted value from the following range based on the synchronous encoder movement amount on disconnection.
Setting value of "[Pr.329] Range of restored synchronous encoder current value
Resolution of
synchronous encoder via
CPU"
1 or more -(Resolution of synchronous encoder via CPU / 2) to (Resolution of synchronous encoder via CPU / 2 - 1) [pulse]*1
0 or less -2147483648 to 2147483647 [pulse]

*1 If the resolution of a synchronous encoder via CPU is an odd number, round down a negative value after the decimal point, round up a
positive value after decimal point.

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 71
 Using an incremental synchronous encoder with FX5-SSC-G
When using an incremental synchronous encoder 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 incremental synchronous encoder data using
the high-speed counter function of the CPU module.
For FX5-SSC-G, set "[Pr.320] Synchronous encoder axis type" to "201: Synchronous encoder via CPU".
For details of the high-speed counter function, refer to the following manual.
MELSEC iQ-F FX5 User’s 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)
For the detailed settings of the synchronous encoder via CPU for FX5-SSC-G, refer to the following.
Page 71 Synchronous encoder via CPU

Motion module

Incremental
synchronous
encoder
Synchronous
encoder axis 4

Axis 1 Axis 2 Axis 3

2 INPUT AXIS MODULE

72 2.3 Synchronous Encoder Axis
Synchronous encoder via link device [FX5-SSC-G]
Used to use a synchronous encoder connected to a CC-Link IE TSN network device as a synchronous encoder axis.

The synchronous encoder via link device can be used for the software version 1.004 or later.
2
■Setting method
By setting "301: Synchronous encoder via link device (INC)" or "302: Synchronous encoder via link device (ABS)" to "[Pr.320]
Synchronous encoder axis type", the device assigned to the synchronous encoder input axis by the link device external signal
assignment function can be used.
Setting value of "[Pr.320] Details
Synchronous encoder
axis type"
301: Synchronous encoder via Immediately after the link is established for the device station to which the target link device is assigned, the connection is
link device (INC) disabled.
When "1: Connect synchronous encoder via link device" is set to "[Cd.326] Connection command of synchronous encoder
via link device", "0" is set to the synchronous encoder axis position value and the synchronous encoder axis position value
per cycle, the connection is enabled and the counter is enabled.
302: Synchronous encoder via Immediately after the link is established for the device station to which the target link device is assigned, the connection is
link device (ABS) disabled.
When "[Cd.326] Connection command of synchronous encoder via link device" is set to "1: Connect synchronous encoder
via link device", the synchronous encoder axis position value and the synchronous encoder axis position value per cycle are
restored based on the link device value assigned to the synchronous encoder input axis to enable the connection. The link is
enabled and the counter is enabled.

Confirm that the link device assigned to the synchronous encoder input axis can be used, and set "1: Connect
synchronous encoder via link device" to "[Cd.326] Connection command of synchronous encoder via link
device". If you set "1: Connect synchronous encoder via link device" before the link device is available, the
position value may be restored in the incorrect position. Refer to the manual of the device station for the
judgment conditions that can be used.
The following is an example of judgment conditions.
<Example> When using an NSD Corporation CC-Link IE TSN compatible encoder (EZA-MACTS-02C)
• READY of RX data is ON
For details, refer to the following.
Page 74 Setting example

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 73
 ■Setting example
The following shows an example of using an NSD Corporation CC-Link IE TSN compatible encoder (EZA-MACTS-02C) as a
synchronous encoder.
(Synchronous encoder: An encoder value of which the scaling data (total number of divisions of positioning data) is
575275008 pulses (8778 rotations × 65536/1 rotation) is used for control.)
For details of encoder, please contact the following.
• Contact: https://www.nsdcorp.com/
Motion module MR-J5-G MR-J5-G
(IP address: 192.168.3.1) (IP address: 192.168.3.2)

EZA-MACTS-02C
(IP address: 192.168.3.3)

• Register a profile
Register the profile of EZA-MACTS-02C.
For details, refer to the following manual.
GX Works3 Operating Manual
[Tool][Profile Management][Register]

2 INPUT AXIS MODULE

74 2.3 Synchronous Encoder Axis
• Network configuration settings
Add EZA-MACTS-02C to the network configuration.

Drag & Drop

Once the profile is registered, the

corresponding encoder can be selected.

In the network configuration settings, since EZA-MACTS-02C (IP address 192.168.3.3) is used as a standard station,
uncheck "Motion Control Station".

Check this box when using "Parameter Automatic Setting".

With EZA-MACTS-02C, scaling data (number of divisions
of positioning data) can be set using Parameter Automatic
Setting.

Set "Communication Period Setting" to "Basic Period".

If it is not Basic Period, the synchronous encoder data
cannot be updated every operation cycle, and values
such as "[Md.320] Synchronous encoder axis position
value" become abnormal.

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 75
 • Setting the link device external signal assignment parameters
Configure the synchronous encoder axis on "Input axis parameter setting" screen of the Simple Motion module setting.

Set the synchronous encoder axis type to

"302: Synchronous encoder via link device (ABS)".

Set RWr30 to use the positioning data.

Link device type 33h: RWr (2 word)
Link device start No. H0030
(When the start No. of RWr is 0030H)

Set the ring counter maximum value and ring counter minimum
value according to the range of RWr30 (positioning data).

[Link device input signal setting]

Setting item Setting value
[Pr.710] Synchronous encoder axis: Link device type 33h: RWr (2 word)
[Pr.711] Synchronous encoder axis: Link device start No. H0030
[Pr.712] Synchronous encoder axis: Link device count direction setting 0
[Pr.713] Synchronous encoder axis: Ring counter maximum value*1 575275007
[Pr.714] Synchronous encoder axis: Ring counter minimum value*1 0

*1 Set according to the range of positioning data of EZA-MACTS-02C.

The setting range for "[Pr.713] Synchronous encoder axis: Ring counter maximum value" is -2147483648 to 2147483647. Therefore,
when setting "Scaling_Data (scaling data)" of EZA-MACTS-02C as 8778 × 2n (2n = number of divisions per rotation), the maximum
value that can be set for "Scaling_Data (scaling data)" is 1150550016 (8778 revolutions × 131072). Since the range of positioning data
is 0 to 1150550015, set "1150550015" to "[Pr.713] Synchronous encoder axis: Ring counter maximum value" and "0" to "[Pr.714]
Synchronous encoder axis: Ring counter minimum value".

• Synchronous encoder axis connection method

The link device assigned to the synchronous encoder input axis must be connected after it becomes usable.
Therefore, after READY (when the start No. of RX is 0000H: RX1B) of EZAMACTS-02C becomes "ON", set "[Cd.326]
Connection command of synchronous encoder via link device" to "1: Connect synchronous encoder via link device" to be
connected.

Precautions
After connecting to the Motion module, when using the position value preset function of EZA-MACTS-02C, the relationship of
the encoder axis position becomes incorrect. Therefore, change the synchronous encoder axis position value.

2 INPUT AXIS MODULE

76 2.3 Synchronous Encoder Axis
■Restrictions
• Refer to "Link Device External Signal Assignment Function" in the following manual for details.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)
• Make sure that the movement amount per 1 operation cycle satisfies the following formula.
If not satisfied, the actual movement amount of the synchronous encoder may not match the movement amount counted by
the Motion module. 2
|(Ring counter maximum value) - (Ring counter minimum value) + 1|
(Movement amount in 1 operation cycle) <
2
• The synchronous encoder axis position value and the synchronous encoder axis position value per cycle may not be
updated if cyclic transmission is not completed by the beginning of the operation cycle. In this case, the change is reflected
in the next cycle. The synchronous encoder axis position value can be averaged by setting "[Pr.325] Synchronous encoder
axis smoothing time constant".
• When "[Pr.320] Synchronous encoder axis type" is "302: Synchronous encoder via link device (ABS)", do not use an
incremental type encoder. The synchronous encoder axis current value and the synchronous encoder axis position value
per cycle are not restored correctly.
• If the value of the synchronous encoder input is outside the range of the ring counter when the link is connected, the input
is ignored.

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 77
 Synchronous encoder axis parameters
j: Synchronous encoder axis No. - 1
Setting item Setting details Setting value Default Buffer
value memory
address
[Pr.320] • Set the synchronous encoder axis type to be ■Set in decimal. 0 34720+20j
Synchronous encoder used. 0: Invalid
axis type Fetch cycle: At power supply ON 1: Incremental synchronous encoder [FX5-
SSC-S]
101 to 108: Synchronous encoder via servo
amplifier (Connectable servo amplifier: Axis 1
to axis 8*1)
201: Synchronous encoder via CPU
301: Synchronous encoder via link device
(INC) [FX5-SSC-G]
302: Synchronous encoder via link device
(ABS) [FX5-SSC-G]
[Pr.321] • Set the unit of the synchronous encoder ■Set in hexadecimal. 0003H 34721+20j
Synchronous encoder axis.
H____
axis unit setting • Set the position unit within the range from ×
1 to 10-9 [control unit]. Control unit
• Set the speed unit within the range from × 1 0: mm, 1: inch,
to 10-9 [control unit/s or control unit/min].
2: degree, 3: pulse
Fetch cycle: At power supply ON Number of decimal
places for position
0 to 9
Speed time unit
0: second [s],
1: minute [min]
Number of decimal
places for speed
0 to 9
[Pr.322] • Set the numerator to convert the unit from ■Set in decimal. 1 34722+20j
Synchronous encoder the encoder pulse of the synchronous -2147483648 to 2147483647 34723+20j
axis unit conversion: encoder axis into the synchronous encoder [Synchronous encoder axis position units*2]
Numerator axis unit.
Fetch cycle: At power supply ON
[Pr.323] • Set the denominator to convert the unit from ■Set in decimal. 1 34724+20j
Synchronous encoder the encoder pulse of the synchronous 1 to 2147483647 [pulse] 34725+20j
axis unit conversion: encoder axis into the synchronous encoder
Denominator axis unit.
Fetch cycle: At power supply ON
[Pr.324] • Set the length per cycle of the synchronous ■Set in decimal. 4000 34726+20j
Synchronous encoder encoder axis. 1 to 2147483647 34727+20j
axis length per cycle Fetch cycle: At power supply ON [Synchronous encoder axis position units*2]
[Pr.325] • Set the time to smooth for the input value. ■Set in decimal. 0 34728+20j
Synchronous encoder Fetch cycle: At power supply ON 0 to 5000 [ms]
axis smoothing time
constant
[Pr.326] • Set the time to advance or delay the phase. ■Set in decimal. 0 34730+20j
Synchronous encoder Fetch cycle: Operation cycle -2147483648 to 2147483647 [μs] 34731+20j
axis phase
compensation advance
time
[Pr.327] • Set the time constant to affect the phase ■Set in decimal. 10 34732+20j
Synchronous encoder compensation. 0 to 65535 [ms]*3
axis phase Fetch cycle: At power supply ON
compensation time
constant
[Pr.328] • Set this parameter to restrict the input ■Set in decimal. 0 34733+20j
Synchronous encoder movement amount to one direction. 0: Without rotation direction restriction
axis rotation direction Fetch cycle: At power supply ON 1: Enable only for current value increase
restriction direction
2: Enable only for current value decrease
direction

2 INPUT AXIS MODULE

78 2.3 Synchronous Encoder Axis
 Setting item Setting details Setting value Default Buffer
value memory
address
[Pr.329] • Set the resolution of the synchronous ■Set in decimal. 0 34734+20j
Resolution of encoder when the synchronous encoder -2147483648 to 2147483647 [pulse] 34735+20j
synchronous encoder axis type is set to synchronous encoder via
via CPU CPU.
• If 0 or less is set, the input value of 2
synchronous encoder via CPU is processed
as 32-bit counter.
Fetch cycle: At power supply ON

*1 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.
*2 Synchronous encoder axis position units (Page 62 Synchronous encoder axis position units)
*3 Set the value as follows in a program.
0 to 32767: Set as a decimal
32768 to 65535: Convert into a hexadecimal and set

[Pr.320] Synchronous encoder axis type

Set the synchronous encoder type to be generated of the input value for the synchronous encoder axis.
Setting value Details
0: Invalid Synchronous encoder axis is invalid.
1: Incremental synchronous encoder [FX5-SSC-S] Generate the input value based on the incremental synchronous encoder input.
101 to 108: Synchronous encoder via servo amplifier Generate the input value based on the synchronous encoder input via servo amplifier connected to the
(Connectable servo amplifier: Axis 1 to axis 8*1) specified servo amplifier (axis 1 to axis 8).
201: Synchronous encoder via CPU Generate the input value with the value set in the buffer memory by the CPU module as the encoder
value.
301: Synchronous encoder via link device (INC) Use an arbitrary value of link device as synchronous encoder input. When the link is established, the
[FX5-SSC-G] synchronous encoder axis position value and the synchronous encoder axis position value per cycle
become "0".
302: Synchronous encoder via link device (ABS) Use an arbitrary value of link device as synchronous encoder input. When the link is established, the
[FX5-SSC-G] synchronous encoder axis position value and the synchronous encoder axis position value per cycle
are restored based on the link device value assigned to the synchronous encoder input axis.

*1 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.

[Pr.321] Synchronous encoder axis unit setting

Set the position and speed unit of the synchronous encoder axis. Refer to the following for details.
Page 62 Units for the synchronous encoder axis

[Pr.322] Synchronous encoder axis unit conversion: Numerator

The input movement amount of synchronous encoder is configured in encoder pulse units.
The units can be arbitrarily converted through unit conversation with setting "[Pr.322] Synchronous encoder axis unit
conversion: Numerator]" and "[Pr.323] Synchronous encoder axis unit conversion: Denominator".
Set "[Pr.322] Synchronous encoder axis unit conversion: Numerator]" and "[Pr.323] Synchronous encoder axis unit
conversion: Denominator" according to the controlled machine.
Synchronous encoder axis Synchronous encoder input [Pr.322] Synchronous encoder axis unit conversion: Numerator
movement amount (Movement = movement amount ×
amount after unit conversion) (Encoder pulse units) [Pr.323] Synchronous encoder axis unit conversion: Denominator

The movement amount corresponding to "[Pr.323] Synchronous encoder axis unit conversion: Denominator" is set in "[Pr.322]
Synchronous encoder axis unit conversion: Numerator" in synchronous encoder axis position units (Page 62
Synchronous encoder axis position units). The input movement amount can be reversed by the setting negative values.
Set "[Pr.323] Synchronous encoder axis unit conversion: Denominator" based on encoder pulse units from the synchronous
encoder. Set a value within the range from 1 to 2147483647.

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 79
 [Pr.323] Synchronous encoder axis unit conversion: Denominator
The input movement amount of synchronous encoder is configured in encoder pulse units.
The units can be arbitrarily converted through unit conversation with setting "[Pr.322] Synchronous encoder axis unit
conversion: Numerator]" and "[Pr.323] Synchronous encoder axis unit conversion: Denominator".
Set "[Pr.322] Synchronous encoder axis unit conversion: Numerator]" and "[Pr.323] Synchronous encoder axis unit
conversion: Denominator" according to the controlled machine.
Synchronous encoder axis Synchronous encoder input [Pr.322] Synchronous encoder axis unit conversion: Numerator
movement amount (Movement = movement amount ×
amount after unit conversion) (Encoder pulse units) [Pr.323] Synchronous encoder axis unit conversion: Denominator

The movement amount corresponding to "[Pr.323] Synchronous encoder axis unit conversion: Denominator" is set in "[Pr.322]
Synchronous encoder axis unit conversion: Numerator" in synchronous encoder axis position units (Page 62
Synchronous encoder axis position units). The input movement amount can be reversed by the setting negative values.
Set "[Pr.323] Synchronous encoder axis unit conversion: Denominator" based on encoder pulse units from the synchronous
encoder. Set a value within the range from 1 to 2147483647.

2 INPUT AXIS MODULE

80 2.3 Synchronous Encoder Axis
[Pr.324] Synchronous encoder axis length per cycle
Set the length per cycle for the synchronous encoder axis position value per cycle.
The position value of synchronous encoder axis is stored in "[Md.321] Synchronous encoder axis position value per cycle" at
ring counter based on the setting value.
The unit settings are in synchronous encoder axis position units (Page 62 Synchronous encoder axis position units).
2
Set a value within the range from 1 to 2147483647.

■Setting example of the unit conversion and the length per cycle.
The following shows an example a rotary encoder is connected which resolution is 4000 [pulse/rev] to the motor axis side on
the rotation table that drives by 1/5 pulley system, and the control unit is degree.
• Position unit: 0.1 [degree]
• Speed unit: 0.001 [degree/min]
• Length per cycle: 360.0 [degree] (1 cycle of the rotation table)
Setting item Setting details Setting value
[Pr.321] Control unit 2: degree 3112H
Synchronous encoder axis unit
Number of decimal places for position 1
setting
Speed time unit 1: minute [min]
Number of decimal places for speed 3
[Pr.322] Synchronous encoder axis unit conversion: Numerator 360.0 [degree] × 1 3600 [× 0.1 degree]
[Pr.323] Synchronous encoder axis unit conversion: Denominator 4000 [pulse] × 5 20000 [pulse]
[Pr.324] Synchronous encoder axis length per cycle 360.0 [degree] 3600 [× 0.1 degree]

Synchronous encoder [pulse]

input pulse
40000
[Pr.322], [Pr.323]
Synchronous encoder 20000
axis unit conversion
t

[Md.320] Synchronous [ × 0.1 degree]

encoder axis
position value 7200
3600
t

[Md.321] Synchronous [ × 0.1 degree]

encoder axis [Pr.324] Synchronous encoder axis length per cycle
position value 3600
per cycle t

[Md.322] Synchronous [ × 0.001 degree/min]

encoder axis speed
(Speed after unit
conversion) t

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 81
 [Pr.325] Synchronous encoder axis smoothing time constant
Set the averaging time to execute a smoothing process for the input movement amount from synchronous encoder.
The smoothing process can moderate speed fluctuation of the synchronous encoder input.
The input response is delayed depending on the time corresponding to the setting by smoothing process setting.
Input value speed
before smoothing

t
Averaging by
Input value speed smoothing time constant
after smoothing

[Pr.325] Synchronous encoder axis [Pr.325] Synchronous encoder axis

smoothing time constant smoothing time constant

[Pr.326] Synchronous encoder axis phase compensation advance time

Set the time to advance or delay the phase (input response) of the synchronous encoder axis.
Refer to the following for the delay time inherent to the system using the synchronous encoder axis.
Page 157 Phase Compensation Function
Setting value Details
1 to 2147483647 [μs] Advance the phase (input response) according to the setting time.
0 [μs] Do not execute phase compensation.
-2147483648 to -1 [μs] Delay the phase (input response) according to the setting time.

If the setting time is too long, the system experiences overshoot or undershoot at acceleration/deceleration of the input speed.
In this case, set a longer time to affect the phase compensation amount in "[Pr.327] Synchronous encoder axis phase
compensation time constant".

[Pr.327] Synchronous encoder axis phase compensation time constant

Set the time constant to affect the phase compensation amount for the first order delay.
63 [%] of the phase compensation amount are reflected in the time constant setting.
[Pr.326] Synchronous encoder axis phase
compensation advance time

Synchronous encoder
axis position value Current value before phase compensation
Current value after
phase compensation
t

Speed before phase

compensation
t
Speed after phase
compensation

[Pr.326] Synchronous encoder t

Speed before
phase  axis phase
compensation compensation advance
[Md.323] Synchronous time
encoder axis 63%
phase 63%
t
compensation
amount
[Pr.327] Synchronous encoder axis [Pr.327] Synchronous encoder axis
phase compensation time phase compensation time
constant constant

2 INPUT AXIS MODULE

82 2.3 Synchronous Encoder Axis
[Pr.328] Synchronous encoder axis rotation direction restriction
Set this parameter to restrict the input movement amount for the synchronous encoder axis to one direction.
This helps to avoid reverse operation caused by such as machine vibration of the synchronous encoder input.
Setting value Details
0: Without rotation direction
restriction
Rotation direction restriction is not executed. 2
1: Enable only for current value Enable only the input movement amount in the increasing direction of the synchronous encoder axis position value.
increase direction
2: Enable only for current value Enable only the input movement amount in the decreasing direction of the synchronous encoder axis position value.
decrease direction

The input movement amount in the reverse direction of the enabled direction accumulates as a rotation direction restricted
amount, and it will be reflected when the input movement amount moves in the enabled direction again. Therefore, the
position value of synchronous encoder axis does not deviate when the reverse operation is repeated.
The rotation direction restricted amount is set to 0 at the synchronous encoder axis connection and current value change.
For "1: Enable only for current value increase direction" is set in "[Pr.328] Synchronous encoder axis rotation direction restriction".
Speed before rotation
direction restriction

[Md.322] Synchronous
encoder axis speed
(Speed after rotation
direction restriction) t

[Md.324] Synchronous encoder

axis rotation direction t
restriction amount
The input movement amount is accumulated as a rotation
direction restricted amount, and will be reflected when the
input movement amount moves in the enabled direction.

[Pr.329] Resolution of synchronous encoder via CPU

Set the resolution of connected synchronous encoder when "201: Synchronous encoder via CPU" is set in "[Pr.320]
Synchronous encoder axis type".
If 1 or more is set, "[Cd.325] Input value for synchronous encoder via CPU" is processed as the cycle counter within the range
from 0 to (resolution of synchronous encoder via CPU - 1).
If 0 or less is set, "[Cd.325] Input value for synchronous encoder via CPU" is processed as 32 bit counter within the range
from -2147483648 to 2147483647.

If 1 or more is set in "[Pr.329] Resolution of synchronous encoder via CPU", set the cycle counter from 0 to
(resolution of synchronous encoder via CPU - 1) in "[Cd.325] Input value for synchronous encoder via CPU"
as the input value.

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 83
 Synchronous encoder axis parameters via link device [FX5-SSC-
G]
j: Synchronous encoder axis No. - 1
Setting item Setting details Setting value Default Buffer
value memory
address
[Pr.710] Set the link device type for use. ■Set in hexadecimal. 0000H 35520+20j
Synchronous encoder Fetch cycle: At power supply ON Other than below: Invalid
axis: Link device type 21H: RX (1 word)
22H: RY (1 word)
23H: RWr (1 word)
24H: RWw (1 word)
31H: RX (2 word)
32H: RY (2 word)
33H: RWr (2 word)
34H: RWw (2 word)
[Pr.711] Set the link device No. for use. ■Set in hexadecimal. 0000H 35521+20j
Synchronous encoder Fetch cycle: At power supply ON RX/RY: 0 to 1FFFH
axis: Link device start RWr/RWw: 0 to 3FFH
No.
[Pr.712] Set the relationship between the link device ■Set in decimal. 0 35526+20j
Synchronous encoder count direction and the assigned signal count 0: Plus count (The signal is plus counted while
axis: Link device count direction. the link device is plus counted.)
direction setting (Valid for only 0th bit) 1: Minus count (The signal is minus counted
Fetch cycle: At power supply ON while the link device is plus counted.)
[Pr.713] Set the maximum value and the minimum ■Set in decimal. 0 35522+20j
Synchronous encoder value when the link device value is the ring 1 word: -32768 to 32767 35523+20j
axis: Ring counter counter. 2 words: -2147483648 to 2147483647
maximum value • When the ring counter maximum value is
equally set to the ring counter minimum
value, the setting depends on the link device
type setting.
• When the link device type is a 1-word device
[Pr.714] and a value outside the range of 1 word is 35524+20j
Synchronous encoder set, the setting is ignored. (-32768 to 32767) 35525+20j
axis: Ring counter • When the ring counter maximum value is
minimum value smaller than the ring counter minimum
value, the error "Outside the link device
maximum/minimum value specification
range" (error code: 1F12H) occurs.
Fetch cycle: At power supply ON
[Pr.1010] Set the link device type for use. ■Set in hexadecimal. 0000H 35530+20j
Synchronous encoder Fetch cycle: At power supply ON Other than below: Invalid
axis start request: Link 11H: RX
device type 12H: RY
13H: RWr
14H: RWw
[Pr.1011] Set the link device No. for use. ■Set in hexadecimal. 0000H 35531+20j
Synchronous encoder Fetch cycle: At power supply ON RX/RY: 0 to 1FFFH
axis start request: Link RWr/RWw: 0 to 3FFH
device start No.
[Pr.1012] Set the bit No. that is used when "13H: RWr" ■Set in hexadecimal. 0000H 35532+20j
Synchronous encoder and "14H: RWw" are set to "[Pr.1010] 00H to 0FH
axis start request: Link Synchronous encoder axis start request: Link
device bit specification device type".
Fetch cycle: At power supply ON
[Pr.1013] Set the logic for the assigned signal. ■Set in decimal. 0 35533+20j
Synchronous encoder (Valid for only 0th bit and 1st bit) 0: Negative logic
axis start request: Link Fetch cycle: At power supply ON 1: Positive logic
device logic setting 2: Falling detection
3: Rising detection

• Set [Pr.710] to [Pr.714] when an arbitrary value of link device is used as the synchronous encoder input.
• Set [Pr.1010] to [Pr.1013] when an arbitrary value of link device is used as the synchronous encoder axis start request.

2 INPUT AXIS MODULE

84 2.3 Synchronous Encoder Axis
[Pr.710] Synchronous encoder axis: Link device type
Set the link device type for use.

[Pr.711] Synchronous encoder axis: Link device start No.

Set the link device No. for use. 2
If the link device No. out of the range is set, the error "Outside the link device start No. range" (error code: 1F10H) occurs and
the synchronous encoder input via link device cannot be used.

[Pr.712] Synchronous encoder axis: Link device count direction setting

Set the relationship between the link device count direction and the assigned signal count direction.
(Valid for only 0th bit)
0: Plus count (The signal is plus counted while the link device is plus counted.)
1: Minus count (The signal is minus counted while the link device is plus counted.)

[Pr.713] Synchronous encoder axis: Ring counter maximum value

Set the maximum value when the link device value is ring counter.
When the ring counter maximum value is equally set to the ring counter minimum value, the setting depends on the link
device type setting.
When the link device type is set to 1 word: 32767 or 65535
When the link device type is set to 2 words: 2147483647 or 4294967295
• When the link device type is a 1-word device and a value outside the range of 1 word is set, the setting is ignored.
• When the ring counter maximum value is smaller than the ring counter minimum value, the error "Outside the link device
maximum/minimum value specification range" (error code: 1F12H) occurs.

[Pr.714] Synchronous encoder axis: Ring counter minimum value

Set the minimum value when the link device value is ring counter.
When the ring counter maximum value is equally set to the ring counter minimum value, the setting depends on the link
device type setting.
When the link device type is set to 1 word: -32768 or 0
When the link device type is set to 2 words: -2147483648 or 0
• When the link device type is a 1-word device and a value outside the range of 1 word is set, the setting is ignored.
• When the ring counter maximum value is smaller than the ring counter minimum value, the error "Outside the link device
maximum/minimum value specification range" (error code: 1F12H) occurs.

[Pr.1010] Synchronous encoder axis start request: Link device type

Set the link device type for use.

[Pr.1011] Synchronous encoder axis start request: Link device start No.
Set the link device No. for use.
If the link device No. out of the range is set, the error "Outside link device start No. range" (error code: 1F10H) occurs and the
synchronous encoder axis start via link device cannot be used.

[Pr.1012] Synchronous encoder axis start request: Link device bit specification
Set the bit No. that is used when "13H: RWr" and "14H: RWw" are set to "[Pr.1010] Synchronous encoder axis start request:
Link device type".
If the value out of the range is set, the error "Outside the link device bit specification range" (error code: 1F11H) occurs and
the synchronous encoder axis start via link device cannot be used.

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 85
 [Pr.1013] Synchronous encoder axis start request: Link device logic setting
Set the logic for the assigned signal.
(Valid for only 0th bit and 1st bit)

2 INPUT AXIS MODULE

86 2.3 Synchronous Encoder Axis
Synchronous encoder axis control data
j: Synchronous encoder axis No. - 1
Setting item Setting details Setting value Default Buffer
value memory
address
2
[Cd.320] • If set to "1", the synchronous encoder axis control is ■Set in decimal. 0 35040+10j
Synchronous encoder axis started. 1: Start for synchronous encoder
control start • If set to "101 to 108", the synchronous encoder axis axis control
control starts based on the highspeed input request 101 to 108: High-speed input start
(external command signal). for synchronous encoder axis
• If set to "201", the synchronous encoder axis control control (axis 1 to axis 8*1)
starts based on the synchronous encoder axis control 201: Start request for synchronous
request. [FX5-SSC-G] encoder axis control (assigned link
• The Simple Motion module/Motion module resets the device) [FX5-SSC-G]
value to "0" automatically after completion of the
synchronous encoder axis control.
Fetch cycle: Operation cycle
[Cd.321] • Set the control method for the synchronous encoder ■Set in decimal. 0 35041+10j
Synchronous encoder axis axis. 0: Current value change
control method Fetch cycle: At start (Synchronous encoder control) 1: Counter disable
2: Counter enable
[Cd.322] • Set a new current value for changing the current value. ■Set in decimal. 0 35042+10j
Synchronous encoder axis Fetch cycle: At start (Synchronous encoder control) -2147483648 to 2147483647 35043+10j
position value setting [Synchronous encoder axis
address position units*2]
[Cd.323] • If set to "1" for resetting error and warning for the ■Set in decimal. 0 35044+10j
Synchronous encoder axis synchronous encoder axis, the error No. and warning 1: Error reset request
error reset No. are set to 0, and the error detection and warning
detection bits status are turned OFF.
• The Simple Motion module/Motion module resets the
value to "0" automatically after completion of the error
reset.
• In the case of the synchronous encoder axis parameter
error, even if the error is reset, the setting valid flag of
the synchronous encoder axis status has been OFF.
Fetch cycle: Main cycle*3
[Cd.324] • If set to "1", the synchronous encoder via CPU is ■Set in decimal. 0 35045+10j
Connection command of connected. 1: Connect synchronous encoder
synchronous encoder via • If set to "0", the synchronous encoder via CPU is via CPU
CPU disconnected. 0: Disconnect synchronous
Fetch cycle: Main cycle*3 encoder via CPU
[Cd.325] • Set a value to be used every time as the input value for ■Set in decimal. 0 35046+10j
Input value for synchronous the synchronous encoder for the synchronous encoder -2147483648 to 2147483647 35047+10j
encoder via CPU via CPU. [pulse]
Fetch cycle: Operation cycle
[Cd.326] • If set to "1", the synchronous encoder via link device is ■Set in decimal. 0 35048+10j
Connection command of connected. 1: Connect synchronous encoder
synchronous encoder via link • If set to "0", the synchronous encoder via link device is via link device
device [FX5-SSC-G] disconnected. 0: Disconnect synchronous
Fetch cycle: Main cycle*3 encoder via link device

*1 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.
*2 Synchronous encoder axis position units (Page 62 Synchronous encoder axis position units)
*3 With the exception of positioning control, main cycle processing is executed during the next available time. It changes by status of axis
start.

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 87
 [Cd.320] Synchronous encoder axis control start
If set to "1", the synchronous encoder axis control is started.
[Md.320] Synchronous encoder axis
position value

100
t
[Cd.320] Synchronous encoder axis
0 1 0
control start

[Cd.321] Synchronous encoder axis

control method 0: Current value change

[Cd.322] Synchronous encoder axis

100
position value setting address

If set to "101 to 108", the synchronous encoder axis control starts based on the high-speed input request [DI] for the specified
servo amplifier axis.
Set "4: High speed input request" in "[Pr.42] External command function selection" and set "1: Validates an external
command" in "[Cd.8] External command valid" for the specified servo amplifier axis to start from a high speed input request
[DI]. Also, set the external command signal to be used in "[Pr.95] External command signal selection".
Set the control method for the synchronous encoder axis in "[Cd.321] Synchronous encoder axis control method".
The Simple Motion module/Motion module resets the value to "0" automatically after completion of the synchronous encoder
axis control.

[Md.320] Synchronous encoder axis

position value

100
t
[Pr.42] External command function
4: High speed input request
selection (Axis 3)
[Pr.95] External command signal
3: DI3
selection
[Cd.8] External command valid
1: External command valid
(Axis 3)

High speed input request [DI] (Axis 3)

[Cd.320] Synchronous encoder axis

0 103: Axis 3 0
control start
[Cd.321] Synchronous encoder axis
0: Current value change
control method
[Cd.322] Synchronous encoder axis
100
position value setting address

2 INPUT AXIS MODULE

88 2.3 Synchronous Encoder Axis
[FX5-SSC-G]
When "201" is set, the synchronous encoder axis control is started by the link device input assigned to the synchronous
encoder axis start request by the link device external signal assignment function.
The synchronous encoder axis control method is specified in "[Cd.321] Synchronous encoder axis control method".
After synchronous encoder axis control is completed, "0" is automatically stored by the Motion module.
The detection accuracy of the start request signal is the operation cycle.
2
[Md.320] Synchronous encoder axis
position value 100
t
[Pr.1010] Synchronous encoder axis start
request: Link device type 11H: RX
(Synchronous encoder axis axis 3)
[Pr.1011] Synchronous encoder axis start
request: Link device start No. 0001H
(Synchronous encoder axis axis 3)

[Pr.1013] Synchronous encoder axis start

request: Link device logic setting 1: Positive logic
(Synchronous encoder axis axis 3)

Link device RX01

[Md.325] Synchronous encoder axis status

b6: Start request flag
(Synchronous encoder axis axis 3)
[Cd.320] Synchronous encoder axis
0 201 0
control start

[Cd.321] Synchronous encoder axis

control method 0: Current value change

[Cd.322] Synchronous encoder axis 100

position value setting address

[Cd.321] Synchronous encoder axis control method

Set the control method for the synchronous encoder axis.
Setting value Details
0: Current value change The synchronous encoder axis position value and the synchronous encoder axis position value per cycle are changed as
follows. Set the new position value in "[Cd.322] Synchronous encoder axis position value setting address".
[Md.320] "[Cd.322] Synchronous encoder axis position value setting address"
Synchronous encoder axis position
value
[Md.321] A value that is converted "[Cd.322] Synchronous encoder axis position value setting
Synchronous encoder axis position address" into the range from 0 to "[Pr.324] Synchronous encoder axis length per cycle
value per cycle - 1".
1: Counter disable Input from the synchronous encoder is invalid. Smoothing processing, phase compensation processing and rotation direction
restriction processing are continued. While these processes are valid, the input axis speed may not stop immediately when the
counter disable is selected.
2: Counter enable Input from the synchronous encoder is valid.

[Cd.322] Synchronous encoder axis position value setting address

Set a new current value in synchronous encoder axis position units to apply to the current value change for the synchronous
encoder axis (Page 62 Synchronous encoder axis position units).

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 89
 [Cd.323] Synchronous encoder axis error reset
If set to "1", "[Md.326] Synchronous encoder axis error No." and "[Md.327] Synchronous encoder axis warning No." are set to
0 and then "b4: Error detection flag" and "b5: Warning detection flag" of "[Md.325] Synchronous encoder axis status" are
turned OFF. The synchronous encoder connection becomes valid if there is no error.
The Simple Motion module resets the value to "0" automatically after completion of the error reset.
However, the setting of the synchronous encoder axis will not be valid even if the error is reset for the setting error of the
synchronous encoder axis parameter. Reconfigure the parameter and turn the power supply ON again.

[Cd.324] Connection command of synchronous encoder via CPU

Use this data when "201: Synchronous encoder via CPU" is set in "[Pr.320] Synchronous encoder axis type".
If set to"1", the synchronous encoder is connected. Once connected, the synchronous encoder current value is restored
based on the "[Cd.325] Input value for synchronous encoder via CPU".
If set to "0", the synchronous encoder is disconnected.

[Cd.325] Input value for synchronous encoder via CPU

Use this data when "201: Synchronous encoder via CPU" is set in "[Pr.320] Synchronous encoder axis type".
Set a value to be used every time as the input value for the synchronous encoder in encoder pulse units.
If 1 or more is set in "[Pr.329] Resolution of synchronous encoder via CPU", it is processed as a cycle counter within the range
from 0 to (resolution of synchronous encoder via CPU - 1).

[Cd.326] Connection command of synchronous encoder via link device [FX5-SSC-G]

Use this data when "301: Synchronous encoder via link device (INC)" or "302: Synchronous encoder via link device (ABS)" is
set in "[Pr.320] Synchronous encoder axis type".
When set to "1", the synchronous encoder is connected. When connected, the following applies depending on "[Pr.320]
Synchronous encoder axis type".
Setting value of "[Pr.320] Synchronous encoder axis type" Details
301: Synchronous encoder via link device (INC) The synchronous encoder axis position value is "0".
302: Synchronous encoder via link device (ABS) The synchronous encoder axis position value is restored based on the link
device value assigned to the synchronous encoder axis.

If the setting is "0", the synchronous encoder is disconnected.

Also, when the device station is disconnected, the value is set to "0".

2 INPUT AXIS MODULE

90 2.3 Synchronous Encoder Axis
Synchronous encoder axis monitor data
j: Synchronous encoder axis No. - 1
Monitor item Storage details Monitor value Buffer
memory
address
2
[Md.320] • The position value for the synchronous encoder ■Monitoring is carried out in decimal. 35200+20j
Synchronous encoder axis position axis is stored. -2147483648 to 2147483647 35201+20j
value Refresh cycle: Operation cycle [Synchronous encoder axis position units*1]
[Md.321] • The position value per cycle for a synchronous ■Monitoring is carried out in decimal. 35202+20j
Synchronous encoder axis position encoder axis is stored. 0 to (Synchronous encoder axis length per 35203+20j
value per cycle Refresh cycle: Operation cycle cycle - 1)
[Synchronous encoder axis position units*1]
[Md.322] • The speed for a synchronous encoder axis is ■Monitoring is carried out in decimal. 35204+20j
Synchronous encoder axis speed stored. -2147483648 to 2147483647 35205+20j
Refresh cycle: Operation cycle [Synchronous encoder axis speed units*2]
[Md.323] • The phase compensation amount is stored. ■Monitoring is carried out in decimal. 35206+20j
Synchronous encoder axis phase Refresh cycle: Operation cycle -2147483648 to 2147483647 35207+20j
compensation amount [Synchronous encoder axis position units*1]
[Md.324] • While the rotation direction is restricted, the ■Monitoring is carried out in decimal. 35208+20j
Synchronous encoder axis rotation accumulation for the input movement amount in -2147483648 to 2147483647 35209+20j
direction restriction amount the opposite direction of the enabled direction is [Synchronous encoder axis position units*1]
stored.
Refresh cycle: Operation cycle
[Md.325] • The status for a synchronous encoder axis is ■Monitoring is carried out in hexadecimal. 35210+20j
Synchronous encoder axis status monitored. Buffer memory
Refresh cycle: Operation cycle b15 b12 b8 b4 b0

Not used
Stored items Meaning
b0 Setting valid flag
b1 Connecting valid flag
b2 Counter enable flag
0: OFF
b3 Position value setting request flag
1: ON
b4 Error detection flag
b5 Warning detection flag
b6 Start request flag [FX5-SSC-G]

[Md.326] • The error code for the synchronous encoder axis ■Monitoring is carried out in hexadecimal. 35211+20j
Synchronous encoder axis error No. is stored. (MELSEC iQ-F FX5 Motion Module/
Refresh cycle: Operation cycle Simple Motion Module User's Manual
(Application))
[Md.327] • The warning code for the synchronous encoder ■Monitoring is carried out in hexadecimal. 35212+20j
Synchronous encoder axis warning axis is stored. (MELSEC iQ-F FX5 Motion Module/
No. Refresh cycle: Operation cycle Simple Motion Module User's Manual
(Application))

*1 Synchronous encoder axis position units (Page 62 Synchronous encoder axis position units)
*2 Synchronous encoder axis speed units (Page 63 Synchronous encoder axis speed units)

[Md.320] Synchronous encoder axis position value

The position value for the synchronous encoder axis is stored in synchronous encoder axis position units (Page 62
Synchronous encoder axis position units).
The synchronous encoder position for an incremental synchronous encoder is "0" immediately after the power supply ON.

[Md.321] Synchronous encoder axis position value per cycle

The position value per cycle for a synchronous encoder axis is stored in the range from 0 to ("[Pr.324] Synchronous encoder
axis length per cycle" - 1).
The unit is synchronous encoder axis position units (Page 62 Synchronous encoder axis position units).

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 91
 [Md.322] Synchronous encoder axis speed
The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units (Page 63 Synchronous
encoder axis speed units).
If the speed for the synchronous encoder axis exceeds the monitor range (Page 60 Overview of synchronous encoder
axis), the warning "Input axis speed display over" (warning code: 0BD2H [FX5-SSC-S], or warning code: 0E42H [FX5-SSC-
G]) will occur. In this case, use a smaller number of decimal places for the speed in "[Pr.321] Synchronous encoder axis unit
setting" or set the speed time units to "0: second [s]".

[Md.323] Synchronous encoder axis phase compensation amount

The phase compensation amount for a synchronous encoder axis is stored in the synchronous encoder axis position units
(Page 62 Synchronous encoder axis position units).
The phase compensation amount for the synchronous encoder axis is the value after smoothing processing and phase
compensation processing.

[Md.324] Synchronous encoder axis rotation direction restriction amount

While the rotation direction is restricted for a synchronous encoder axis, the accumulation for input movement amount in the
opposite direction of the enabled direction is stored in synchronous encoder axis position units (Page 62 Synchronous
encoder axis position units) as follows.
Setting value of "[Pr.328] Synchronous encoder axis rotation Storage details
direction restriction"
1: Enable only for current value increase direction A negative accumulation is stored during rotation direction restriction.
0 is stored if there is no restriction.
2: Enable only for current value decrease direction A positive accumulation is stored during rotation direction restriction.
0 is stored if there is no restriction.

Rotation direction restriction is processed after phase compensation processing. Therefore, if undershoot occurs from phase
compensation during deceleration stop, the rotation direction restriction amount might remain.

2 INPUT AXIS MODULE

92 2.3 Synchronous Encoder Axis
[Md.325] Synchronous encoder axis status
The each status for a synchronous encoder axis is monitored with the following each bits.
Bit Storage item Storage details
b0 Setting valid flag At power supply ON, this flag turns ON when the synchronous encoder axis parameter ([Pr.320] to [Pr.329]) is
normal and the setting of the synchronous encoder axis is valid. It is turned OFF when the setting is invalid or an
error occurs. 2
b1 Connecting valid flag When the synchronous encoder axis setting is valid, the synchronous encoder connection also becomes valid and
this flag turns ON. This flag turns OFF when the connection is invalid.
When setting an incremental synchronous encoder, this flag turns ON simultaneously the power supply turns ON
regardless of connecting the current encoder.
b2 Counter enable flag This flag turns ON when input from the synchronous encoder is enabled.
If the counter disable control*1 is executed, it is turned OFF, and input from the synchronous encoder becomes
invalid.
If the counter enable control*1 is executed, it is turned ON, and input from the synchronous encoder becomes
valid.
When the synchronous encoder is valid to connect, the initial status is ON (enable) status.
b3 Position value setting This flag turns ON, when a synchronous encoder axis position value change is never executed.
request flag If the position value setting request flag is ON for the synchronous encoder connection, the synchronous encoder
axis position value starts counting with 0. This flag turns OFF when a synchronous encoder axis position value
change is executed.
b4 Error detection flag This flag turns ON when an error occurs for the synchronous encoder axis. The error No. is stored in "[Md.326]
Synchronous encoder axis error No.".
Reset the error in "[Cd.323] Synchronous encoder axis error reset".
b5 Warning detection flag This flag turns ON when a warning occurs for the synchronous encoder axis. The warning No. is stored in
"[Md.327] Synchronous encoder axis warning No.".
Reset the warning in "[Cd.323] Synchronous encoder axis error reset".
b6 Start request flag [FX5- This flag turns ON for only 1 operation cycle when the link device is assigned to the synchronous encoder axis
SSC-G] start request signal and the start is requested.
b7 to b15 Not used Always OFF

*1 Set the control method for synchronous encoder in "[Cd.321] Synchronous encoder axis control method". (Page 87 Synchronous
encoder axis control data)

[Md.326] Synchronous encoder axis error No.

When an error for a synchronous encoder axis is detected, the error code corresponding to the error details is stored.
If set to "1" in "[Cd.323] Synchronous encoder axis error reset", the value is set to "0".

[Md.327] Synchronous encoder axis warning No.

When a warning for a synchronous encoder axis is detected, the warning code corresponding to the warning details is stored.
If set to "1" in "[Cd.323] Synchronous encoder axis error reset", the value is set to "0".

2 INPUT AXIS MODULE

2.3 Synchronous Encoder Axis 93
 3 CAM FUNCTION
The details on cam data and operation for cam function in the output axis (cam axis) are explained in this chapter.
The cam function controls the output axis by creating cam data that corresponds to the operation.
The functions to operate cam data include "Cam data operation function", "Cam auto-generation function", and "Cam position
calculation function".
Refer to the following for the setting of the output axis.
Page 112 ADVANCED SYNCHRONOUS CONTROL
Refer to the following for the cam position calculation function.
Page 180 Cam Position Calculation Function

3.1 Control Details for Cam Function

The output axis for synchronous control is operated with a cam.
The following operations can be performed with cam functions.
• Two-way operation: Reciprocating operation with a constant cam strokes range.
• Feed operation: Cam reference position is updated every cycle.
• Linear operation: Linear operation (cam No.0) in the cycle as the stroke ratio is 100%.
The output axis is controlled by a value (command position value), which is converted from the input value (cam axis position
value per cycle) by cam data.

Two-way operation
Cam data Cam axis position
value per cycle
Cam
conversion t
processing
Command position
(User created cam) value

Feed operation
Cam data Cam axis position
value per cycle
Cam
conversion t
Cam reference
processing Cam reference position
Cam reference position (At 3rd cycle)
Command position position (At 2nd cycle)
(User created cam) value (At 1st cycle)

Linear operation
Cam data Cam axis position
value per cycle
Cam
conversion t
processing Cam reference Cam reference
position position
Cam reference (At 3rd cycle)
Command position position (At 2nd cycle)
(Linear cam: Cam No.0) value (At 1st cycle)

Stroke amount  100%

3 CAM FUNCTION
94 3.1 Control Details for Cam Function
Cam data
The cam data used in the cam function includes "storage data" which is used for reading/writing with EM Configurator and
"open data" which is transmitted to the internal memory at cam control.
Storage data Open data
 (Reading and writing not possible) Linear cam
Stroke ratio data format Stroke ratio data format
Auto-generation data format Cam for rotary cutter
Coordinate data format Coordinate data format
3
Storage data and open data are same for cams using the stroke ratio data format and the coordinate data format. A cam using
the auto-generation data format (storage data) operates after being changed (transmitted) to the stroke ratio data format.
• Data read/written with the engineering tool
To re-edit the cam data read from the Simple Motion module/Motion module with the engineering tool, read/write both of "cam
data (edit data)" and "cam data (converted data)" when reading/writing the cam data. If only "cam data (conversion data)" is
read/written, re-edition may not be executed or the information such as units and strokes may be missed.

■Linear cam control

When "0" is set for "[Pr.440] Cam No.", the cam data operates as a straight line with a 100% stroke ratio at the last point.
The linear cam does not consume the cam open area. Also, it cannot be read/written as storage data.
Cam axis position
value per cycle

t
Cam reference Cam reference
position position
Command position Cam reference (At 3rd cycle)
position (At 2nd cycle)
value (At 1st cycle)

Stroke amount  100%

3 CAM FUNCTION
3.1 Control Details for Cam Function 95
 ■Stroke ratio data format
The stroke ratio data format is defined in equal divisions for one cam cycle based on the cam resolution, and configured with
stroke ratio data from points within the cam resolution.
Refer to the following for setting methods for cam data.
Page 101 Create Cam Data
Setting item Setting details Setting range Default value Cam data
(Engineering operation function
tool)
Cam No. Set the cam No. 0: Linear cam 1 [Cd.601]
1 to 64: User created cam for 4-axis Operation cam No.
module (Cam storage area)
1 to 128: User created cam for 8-axis
module (Cam storage area)
1 to 256: User created cam for 4-/8- axis
module (Cam open area)
Cam data format Set "1". 1: Stroke ratio data format 1 [Cd.604]
(Setting with the engineering tool is not Cam data format
required.)
Cam resolution Set the number of divisions for one cam 256/512/1024/2048/4096/8192/16384 256 [Cd.605]
cycle. Cam resolution/
coordinate number
Cam data starting Set the cam data point corresponding to 0 to (Cam resolution - 1) 0 [Cd.606]
point "Cam axis position value per cycle = 0". Cam data starting point
Stroke ratio data Set the stroke ratio from the 1st to the last -2147483648 to 2147483647 0 [Cd.607]
point. [×10-7%]*1 Cam data value
(The 0th point setting is not required. It is (-214.7483648 to 214.7483647%)
always 0%.)

*1 To display the stroke ratio out of range ±100%, select the "Simple Motion" of "Intelligent Function Module" and set "Yes" to the "Display
Extended Stroke of Cam Graph" on the "Options" window displayed by the menu bar of the engineering tool [Tool]  [Options].

Ex.
Cam resolution: 512
Stroke ratio [%] (Setting range: -214.7483648% to 214.7483647%)
Cam axis length per cycle [Cam axis cycle units]

100.0000000

0
(Cam reference position)

-100.0000000

At the 0th point At the 512th point

(At the last point)

3 CAM FUNCTION
96 3.1 Control Details for Cam Function
■Coordinate data format
The coordinate data format is defined in coordinates of more than 2 points for one cam cycle. The coordinate data is
represented as "(Input value, Output value)".
Input value: Cam axis position value per cycle
Output value: Stroke position from cam reference position
With this format, "[Pr.441] Cam stroke amount" of output axis parameter is ignored and output value of the coordinate data
becomes cam stroke position.
Refer to the following for setting methods for cam data.
Page 101 Create Cam Data 3
Setting item Setting details Setting range Default value Cam data
(Engineering operation function
tool)
Cam No. Set the cam No. 0: Linear cam 1 [Cd.601]
1 to 64: User created cam for 4-axis Operation cam No.
module (Cam storage area)
1 to 128: User created cam for 8-axis
module (Cam storage area)
1 to 256: User created cam for 4-/8- axis
module (Cam open area)
Cam data format Set "2". 2: Coordinate data format 2 [Cd.604]
(Setting with the engineering tool is not Cam data format
required.)
Coordinate number Set the number of coordinate points in one 2 to 8192 2 [Cd.605]
cam cycle. The coordinates are included at Cam resolution/
the 0th point. coordinate number
Cam data starting Setting is not required with coordinate data   [Cd.606]
point format. Cam data starting point
Coordinate data Set all coordinate data (input value: Xn, Input value: 0 [Cd.607]
output value: Yn). 0 to 2147483647 Cam data value
Required to set the coordinate data (X0, [Cam axis cycle units]
Y0) from the 0th point. Output value:
The input value should be larger than the -2147483648 to 2147483647
previous coordinate data (Xn < Xn + 1). [Output axis position units]

Output value: Y
[Output axis position units]

(X3,Y3)
2147483647 (X4,Y4)
(X2,Y2) (X10,Y10)
(X5,Y5)
(X1,Y1) (X9,Y9)

0 Input value: X
(Cam reference (X0,Y0)
position)
(X6,Y6) (X8,Y8)
(X7,Y7)
-2147483648
Cam axis length per cycle [Cam axis cycle units]

3 CAM FUNCTION
3.1 Control Details for Cam Function 97
 When an input value that is 0 or the cam axis length per cycle does not exist in the coordinate data, the coordinate is
calculated from the line segment between the nearest two coordinates.
Output value: Y
[Output axis position units]
Generated line Generated line
segment from segment from
(X0,Y0) and (X1,Y1) (X3,Y3) (X9,Y9) and (X10,Y10)
2147483647 (X4,Y4) (X10,Y10)
(X2,Y2)
(X1,Y1) (X5,Y5)
(X9,Y9)
(X0,Y0)
0 Input value: X
(Cam reference
position)
(X6,Y6) (X8,Y8)
(X7,Y7)
-2147483648
Cam axis length per cycle [Cam axis cycle units]

■Auto-generation data format

A cam pattern is created based on the specified parameter (data for auto-generation). Control cam data is created in the
stroke ratio data format in the cam open area. Therefore, the operation specification during the control conforms to the cam
operation in the stroke ratio data format.
The types of cam patterns for auto-generation data format are as follows.
Auto-generation type Features
Cam for rotary cutter The cam pattern for a rotary cutter can be created easily.

CAUTION
If the cam data is set incorrectly, similarly to the incorrect setting of a target value and command speed in the positioning control, the position and speed
command to the servo amplifier increases, and may cause machine interface and servo alarms such as "Overspeed" and "Command frequency error". When
creating and changing cam data, execute a trial operation and provide the appropriate adjustments. Refer to the following for precautions on test operations
and adjustments. (Page 1 SAFETY PRECAUTIONS)

Command position value of cam axis

The command position value is calculated as shown below.

■Stroke ratio data format

Command position value = Cam reference position + (Cam stroke amount × Stroke ratio corresponding to cam axis position
value per cycle)

■Coordinate data format

Command position value = Cam reference position + Output value corresponding to cam axis position value per cycle
When the cam axis position value per cycle is in the middle of the defined cam data (Stroke ratio data/Coordinate data), the
value is calculated from the nearest cam data.

Cam axis position

value per cycle Calculate the value from the nearest cam data.

Cam data

1 resolution or between 2 coordinates

3 CAM FUNCTION
98 3.1 Control Details for Cam Function
Cam reference position
The cam reference position is calculated as shown below.

■Stroke ratio data format

Cam reference position = The preceding cam reference position + (Cam stroke amount × Stroke ratio at the last point)

■Coordinate data format

Cam reference position = The preceding cam reference position + Output value corresponding to "Input value = Cam axis
length per cycle" - Output value corresponding to "Input value = 0"
3
Cam axis position
value per cycle

t
Cam reference
Cam reference position
Cam reference position (At 3rd cycle)
Command position position (At 2nd cycle)
value (At 1st cycle)

Stroke ratio data format:

Cam stroke amount  Stroke ratio at last point
Coordinate data format:
(The output value corresponding to "Input value = Cam axis length per cycle")
- (The output value corresponding to "Input value = 0")
Create cam data for two-way cam operation as shown below.

■Stroke ratio data format

Create cam data so that the stroke ratio is 0% at the last point.

■Coordinate data format

Create cam data with the same output value for the point where the input value is 0 and the input value is equal to the cam
axis length per cycle.
Cam axis position
value per cycle

Command position
value

Cam reference position

(Does not change because of the stroke
ratio 0% and output value = 0.)

3 CAM FUNCTION
3.1 Control Details for Cam Function 99
 Cam data starting point
This setting is only valid for cam data using the stroke ratio data format.
The cam data point corresponding to "Cam axis position value per cycle = 0" can be set as the cam data starting point.
The default value of the cam data starting point is 0. (The cam axis is controlled with cam data starting from the 0th point
(stroke ratio 0%).)
When a value other than 0 is set for the cam data starting point, cam control is started from the point where the stroke ratio is
not 0%.
The cam data starting point is set for each cam data. The setting range is from 0 to (cam resolution - 1).
Cam axis position
value per cycle

t
Cam reference Cam reference
Command position position
(At 2nd cycle) (At 3rd cycle)
position value

Cam reference
position
(At 1st cycle)
t

Cam data
starting point
At the 0th point At last point

Timing of applying cam control data

■Stroke ratio data format
If "[Pr.440] Cam No." or "[Pr.441] Cam stroke amount" is changed during synchronous control, the new value is accepted and
applied when the cam axis position value per cycle passes through the 0th point of cam data, or is on the 0th point.
The cam reference position is updated when the cam axis position value per cycle passes through the 0th point of cam data.

■Coordinate data format

If "[Pr.440] Cam No." is changed during synchronous control, the new value is accepted and applied when the cam axis
position value per cycle passes through 0, or is on 0.
The cam reference position is updated when the cam axis position value per cycle passes through 0.

3 CAM FUNCTION
100 3.1 Control Details for Cam Function
3.2 Create Cam Data
Memory configuration of cam data
Cam data is arranged in the following 2 areas.
Memory configuration Storage item Details Remark
Cam storage area Cam data Data is written by the following • Data is preserved even when
operations. turning the power supply OFF.
• Write with the engineering tool 3
• When executing "write (Cam
storage area)" with the cam data
operation function
Cam auto-generation data Data is written when the cam auto-
generation request is executed. (Cam
auto-generation function)
Cam open area Cam data Cam data is transmitted from the cam • Data is lost when turning the power
storage area by the following supply OFF.
operations. • The cam data that is used in cam
• Power supply turn ON control is stored.
• Write to the cam storage area
• "[Cd.190] PLC READY signal" OFF
to ON
• When specifying the cam open
area with the cam data operation
function
• When executing the cam auto-
generation function

Previously written cam data can be used after turning the power supply OFF by writing data in the cam storage area. Cam
data should be written in the cam storage area for normal use.
It is possible to write directly to the cam open area via buffer memory when registering cam data that exceeds the memory
capacity in the cam storage area, etc. (Page 106 Cam data operation function) However, writing must be executed to the
cam open area every time due to clearing the data at the power supply OFF.

3 CAM FUNCTION
3.2 Create Cam Data 101
 2) Operation with buffer memory

Simple Motion module/Motion module

Buffer memory
[Cd.600] Cam data operation
request (1: Read)
Coordinate data

[Cd.600] Cam data operation

Stroke ratio request (1: Read)

data

Auto-generation
data
• Rotary cutter

1) Operation with an engineering tool

[Cd.608]
Cam auto- Auto-generation
Write *1 generation
request
data
Engineering tool
• Rotary cutter
Read/
Verify *1 [Cd.608] [Cd.600]
[Cd.600]
Cam auto-generation Cam data operation
Cam data
request request (3: Write)
operation request
(2: Write)
Stroke ratio Stroke ratio
data *2 data [Cd.600]
[Cd.600] Cam data
Cam data operation
operation request request
(2: Write) (3: Write)
Coordinate data Coordinate data
*2

Cam open area *3

Cam storage area (1024k bytes)

Cam control

*1 The operation from the engineering tool is executed toward cam storage area.
*2 Writing to cam storage area is transmitted in the following timing.
- Power supply turn ON
- Write to cam storage area
- "[Cd.190] PLC READY signal" OFF to ON
*3 Data in the cam storage area is cleared when the power supply is turned ON again or reset.

Cam data operation with an engineering tool

Cam data can be modified while viewing the waveform with the engineering tool.
The cam data is written/read/verified to the cam storage area with the engineering tool, however it cannot be executed to the
cam open area.
The waveform generated by the cam auto-generation function can be confirmed by the "Cam graph" on the "Cam Data"
window from the Navigation window  "Cam Data" through reading with the engineering tool.

3 CAM FUNCTION
102 3.2 Create Cam Data
The following cam curve types can be set in the stroke ratio data format.
: Stroke ratio : Acceleration : Range L1 : Range L2

Cum curve type Acceleration curve shape Curve Acceleration/deceleration range

applicable compensation
range ( ): Default value
(P1 to P2) Range L1 Range L2
Constant speed Discontinuous 0.00 to 1.00  

P1 P2
Constant 0.00 to 1.00  
acceleration

P1 P2
Distorted trapezoid Two-dwelling 0.00 to 1.00 0.0001 to 0.2499 
symmetrical (0.1250)

P1 P2
Distorted sine 0.00 to 1.00 0.0001 to 0.4999 
(0.1250)

P1 P2
Distorted constant 0.00 to 1.00 0.0001 to 0.1249 0.0001 to 0.4999
speed (0.0625) (0.2500)

P1 P2
Cycloid 0.00 to 1.00  

P1 P2
5th curve 0.00 to 1.00  

P1 P2

3 CAM FUNCTION
3.2 Create Cam Data 103
 Cum curve type Acceleration curve shape Curve Acceleration/deceleration range
applicable compensation
range ( ): Default value
(P1 to P2) Range L1 Range L2
Trapecloid Two-dwelling 0.00 to 1.00 0.0001 to 0.2499 
asymmetrical (0.1250)

P1 P2
Reverse trapecloid 0.00 to 1.00 0.0001 to 0.2499 
(0.1250)

P1 P2
Double hypotenuse One-dwelling 0.00 to 1.00  

P1 P2
Reverse double 0.00 to 1.00  
hypotenuse

P1 P2
Single hypotenuse Non-dwelling 0.00 to 1.00  
curve

P1 P2

Cam data operation with buffer memory

It is possible to specify the area where cam data is written. The cam data is read from the cam open area. (Page 106
Cam data operation function)
With the cam auto-generation function, auto-generation data is saved in the cam storage area, and the cam data is generated
into the cam open area.

3 CAM FUNCTION
104 3.2 Create Cam Data
Cam data capacity
The size of the created cam data is shown below for the cam storage area/cam open area.
Operation method Data method/Auto-generation Cam storage area Cam open area
type (65536 bytes) (1048576 bytes)
Create with an engineering tool Stroke ratio data format Cam resolution × 4 bytes Cam resolution × 4 bytes
Coordinate data format Coordinate number × 8 bytes Coordinate number × 8 bytes
Create in cam storage area with cam Stroke ratio data format Cam resolution × 4 bytes Cam resolution × 4 bytes
data operation function
Coordinate data format Coordinate number × 8 bytes Coordinate number × 8 bytes
Create in cam open area with cam Stroke ratio data format 0 byte Cam resolution × 4 bytes
3
data operation function
Coordinate data format Coordinate number × 8 bytes
Create with cam auto-generation For a rotary cutter 28 bytes Cam resolution × 4 bytes

When writing with the cam data operation function or when the cam auto-generation function is executed, the writing area free
capacity size may decrease since the size changes depending on the cam resolution change, etc. In this case, write the cam
data with the engineering tool or delete them once.

Delete method of cam data

The data of cam storage area/cam open area can be deleted (initialize) by the parameter initialization function with a
parameter setting and positioning data. The parameter initialization function is executed by setting "1" in "[Cd.2] Parameter
initialization request".
Write the empty data in the cam storage area with the engineering tool to delete only cam data.

Password protection for cam data

The cam data can be protected as shown below by password setting.
Password setting Cam data operation with an engineering Cam data operation with buffer memory
tool
Password for read protection Cam data cannot be read without password for Reading cam data is not operated.
read protection.
Password for write protection Cam data cannot be written without password for Writing cam data and generating cam data auto-
write protection. generation is not operated.

The password for cam data is deleted with cam data by "[Cd.2] Parameter initialization request".

3 CAM FUNCTION
3.2 Create Cam Data 105
 Cam data operation function
This function is used to write/read cam data via buffer memory with the cam operation control data. To operate the points
more than the amount of data for each operation (as follows), the operation should be executed separately.
Cam data format Amount of data for each operation
Stroke ratio data format 4096
Coordinate data format 2048

Cam operation control data

Setting item Setting details Setting value Default Buffer
(Read operation: Stored value) value memory
address
[Cd.600] • Set the command for operating cam data. ■Set in decimal. 0 45000
Cam data operation • The Simple Motion module/Motion module resets the 1: Read (Cam open area)
request value to "0" automatically after completion of cam data 2: Write (Cam storage area)
operation. 3: Write (Cam open area)
Fetch cycle: Main cycle*1
[Cd.601] • Set the operating cam No. ■Set in decimal. 0 45001
Operation cam No. Fetch cycle: At request (Cam data operation request) 4-axis module: 1 to 64 (Cam storage area)
8-axis module: 1 to 128 (Cam storage
area)
4-axis module/8-axis module: 1 to 256
(Cam open area)
[Cd.602] • Set the first position for the operating cam data. ■Set in decimal. 0 45002
Cam data first Fetch cycle: At request (Cam data operation request) • Stroke ratio data format 1 to cam
position resolution
• Coordinate data format 0 to (Coordinate
number - 1)
[Cd.603] • Set the number of operating cam data points. ■Set in decimal. 0 45003
Number of cam data Fetch cycle: At request (Cam data operation request) • Stroke ratio data format 1 to 4096
operation points • Coordinate data format 1 to 2048
[Cd.604] • Write operation: Set cam data format. ■Set in decimal. 0 45004
Cam data format Fetch cycle: At request (Cam data operation request) 1: Stroke ratio data format
• Read operation: The cam data format is stored 2: Coordinate data format
Refresh cycle: At completing condition (Cam data
operation completion)
[Cd.605] • Write operation: Set the cam resolution/the coordinate ■Set in decimal. 0 45005
Cam resolution/ number. • Stroke ratio data format 256/512/1024/
coordinate number Fetch cycle: At request (Cam data operation request) 2048/4096/8192/16384
• Read operation: The cam resolution/the coordinate • Coordinate data format 2 to 8192
number is stored.
Refresh cycle: At completing condition (Cam data
operation completion)
[Cd.606] • Write operation: Set the cam data starting point. ■Set in decimal. 0 45006
Cam data starting Fetch cycle: At request (Cam data operation request) • Stroke ratio data format 0 to (Cam
point • Read operation: The cam data starting point is stored. resolution - 1)
Refresh cycle: At completing condition (Cam data • Coordinate data format Setting not
operation completion) required
• Setting is not required with coordinate data format.
[Cd.607] • Write operation: Set the cam data corresponding to the ■Set in decimal. 0 45008 to 53199
Cam data value cam data format. • Stroke ratio data format
Fetch cycle: At request (Cam data operation request) -2147483648 to 2147483647[×10-7%]
• Read operation: The cam data is stored. • Coordinate data format
Refresh cycle: At completing condition (Cam data Input value: 0 to 2147483647
operation completion) [Cam axis cycle units*2]
Output value: -2147483648 to
2147483647
[Output axis position units*3]

*1 With the exception of positioning control, main cycle processing is executed during the next available time. It changes by status of axis
start.
*2 Cam axis cycle units (Page 143 Units for the output axis)
*3 Output axis position units (Page 143 Units for the output axis)

3 CAM FUNCTION
106 3.2 Create Cam Data
[Cd.600] Cam data operation request
Set the following commands to write/read cam data.
Setting value Details
1: Read (Cam open area) The cam is read from the cam open area and stored to the buffer memory.
2: Write (Cam storage area) The cam data is written to the cam storage area and the cam open area from the buffer memory.
3: Write (Cam open area) The cam data is written to the cam open area from the buffer memory.

The setting value is reset to "0" automatically after completion of cam data operation.
If a warning occurs when requesting cam data operation, the warning No. is stored in "[Md.24] Axis warning No." of axis 1, 3
and the setting value is reset to "0" automatically.
When another request command is set, the operation does not get executed and the setting value is reset to "0" automatically.

[Cd.601] Operation cam No.

Set the cam No. to write/read.

[Cd.602] Cam data first position

Set the first position of the cam data to write/read.
Set the cam data first position within the range from 1 to the cam resolution in cam resolution units using the stroke ratio data
format. The stroke ratio of the 0th cam data is 0% fixed, and this data cannot be written/read.
Set a value within the range from 0 to (Coordinate number - 1) with the coordinate data format.
When writing the new cam data with the coordinate data format, make sure to set "0", and write from the 0th point. If the value
other than "0" is specified, the cam data before the specified position becomes undefined, and the cam data of the
corresponding No. may not be operated.

[Cd.603] Number of cam data operation points

Set the number of operation points to write/read starting from the first position of cam data.
• Stroke ratio data format
The following shows the operation details when the value of "Cam data first position + Cam data operation points - 1" is larger
than the cam resolution in the stroke ratio data format.
Operation Details
Reading The cam data from the first position to the cam resolution is read in the buffer memory.
Writing The warning "Outside number of cam data operation points range" (warning code: 0C43H [FX5-SSC-S], or warning
code: 0E93H [FX5-SSC-G]) occurs, and writing is not executed.

• Coordinate data format

The following shows the operation details when the value of "Cam data first position + Cam data operation points" is larger
than the coordinate number with the coordinate data format.
Operation Details
Reading The cam data from the first position to the last coordinate is read in the buffer memory.
Writing The warning "Outside number of cam data operation points range" (warning code: 0C43H [FX5-SSC-S], or warning
code: 0E93H [FX5-SSC-G]) occurs, and writing is not executed.

[Cd.604] Cam data format

Set one of the following cam data formats.
Setting value Details
1 Stroke ratio data format
2 Coordinate data format

3 CAM FUNCTION
3.2 Create Cam Data 107
 [Cd.605] Cam resolution/coordinate number
Set/load the cam resolution/the coordinate number.
Operation Details
Reading The cam resolution/the coordinate number of the set cam data is read.
Writing Set the cam resolution with the following values when using the stroke ratio data format.
256/512/1024/2048/4096/8192/16384
Set the coordinate number within the range from 2 to 8192 when using the coordinate data format.

[Cd.606] Cam data starting point

Set/load the cam data starting point. This is used with the stroke ratio data format.
Operation Details
Reading The cam starting point of the set cam data is read.
Writing Set the cam data starting point within the range from 0 to (Cam resolution - 1).

[Cd.607] Cam data value

Set/load the cam data operation points according to one of the following formats.

■Stroke ratio data format

Buffer memory address Item Setting value
45008 Stroke ratio at first point -2147483648 to 2147483647[×10-7%]
45009 (-214.7483648 to 214.7483647[%])
45010 Stroke ratio at second point
45011
 
53198 Stroke ratio at 4096th point
53199

■Coordinate data format

Buffer memory address Item Setting value
45008 At first point Input value 0 to 2147483647
45009 [Cam axis cycle unit]
45010 Output value -2147483648 to 2147483647
45011 [Output axis position unit]
45012 At second point Input value 0 to 2147483647
45013 [Cam axis cycle unit]
45014 Output value -2147483648 to 2147483647
45015 [Output axis position unit]
  
53196 At 2048th point Input value 0 to 2147483647
53197 [Cam axis cycle unit]
53198 Output value -2147483648 to 2147483647
53199 [Output axis position unit]

[Cd.601] to [Cd.607] Cam data Not set Set

[Cd.600] Cam data operation

0 2 0
request

3 CAM FUNCTION
108 3.2 Create Cam Data
Cam auto-generation function
The cam auto-generation function is used to generate cam data automatically for specific purposes based on parameter
settings.
With this function, cam data is generated in the cam open area.
It is possible to generate up to 1 Mbyte including the regular cam data. (Example: 64 cam data (with the stroke ratio format,
resolution is 4096) can be automatically generated.)
The processing time of cam auto-generation takes longer if the data point is larger. Also, the real processing time changes by
status of axis start etc. 3
(Reference) Relationship between the cam resolution and processing time in the cam auto-generation (Stroke ratio data
format)
[FX5-SSC-S]
Operation cycle [ms] Cam resolution
256 2048 16384
0.888 0.43 [ms] 3.7 [ms] 29 [ms]
1.777 0.78 [ms] 3.5 [ms] 25 [ms]

[FX5-SSC-G]
Upper limit Operation Cam resolution
number of cycle [ms] 256 4096 16384
control axes
2 0.500 1.5 [ms] 20 [ms] 35 [ms]
4 0.500 50 [ms] 207 [ms] 612 [ms]
4 1.000 0.94 [ms] 5.2 [ms] 26 [ms]
8 1.000 5.0 [ms] 12 [ms] 40 [ms]
8 2.000 0.41 [ms] 4.0 [ms] 14 [ms]
8 4.000 0.50 [ms] 0.66 [ms] 1.9 [ms]

Cam operation control data

Setting item Setting details Setting value Default Buffer
value memory
address
[Cd.608] • Set the request for cam auto-generation. ■Set in decimal. 0 53200
Cam auto-generation • The Simple Motion module/Motion module resets the 1: Cam auto-generation request
request value to "0" automatically after completion of the cam
auto-generation.
Fetch cycle: Main cycle*1
[Cd.609] • Set the cam No. to be generated automatically. ■Set in decimal. 0 53201
Cam auto-generation Fetch cycle: At request (Cam auto-generation request) 4-axis module: 1 to 64
cam No. 8-axis module: 1 to 128
[Cd.610] • Set the type of cam auto-generation. ■Set in decimal. 0 53202
Cam auto-generation Fetch cycle: At request (Cam auto-generation request) 1: Cam for rotary cutter
type
[Cd.611] • Set the parameters for each type of cam auto- (Page 111 [Cd.611] Cam auto- 0 53204 to 53779
Cam auto-generation generation. generation data)
data Fetch cycle: At request (Cam auto-generation request)

*1 With the exception of positioning control, main cycle processing is executed during the next available time. It changes by status of axis
start.

3 CAM FUNCTION
3.2 Create Cam Data 109
 [Cd.608] Cam auto-generation request
Set "1: Cam auto-generation request" to execute cam auto-generation.
Cam data is generated in the cam open area of the specified cam No. based on the cam auto-generation data.
The setting value is reset to "0" automatically after completing the process.
The cam auto-generation data is saved in the cam storage area. The cam auto-generation is executed automatically again
when the next power supply turns ON or "[Cd.190] PLC READY signal" OFF to ON.
If a warning occurs when requesting cam auto-generation, the warning No. is stored in "[Md.24] Axis warning No." of axis 1,
and the setting value is reset to "0" automatically.
When another request command is set, this function does not get executed and the setting value is reset to "0" automatically.

[Cd.609] Cam auto-generation cam No.

Set the cam No. to be generated automatically.

[Cd.610] Cam auto-generation type

Set the type of cam auto-generation.

3 CAM FUNCTION
110 3.2 Create Cam Data
[Cd.611] Cam auto-generation data
Set the cam auto-generation data corresponding to "[Cd.610] Cam auto-generation type".

■For a rotary cutter

The cam data starting point for a rotary cutter is 0.
Buffer memory address Item Setting value Details
53204 Cam resolution 256/512/1024/2048/4096/8192/16384 Set the cam resolution for generating the cam.
53206 Sheet length 1 to 2147483647 Set the sheet length.
53207 [(Optional) Same unit (0.1 mm, etc.)] Set this value in the cam axis length per cycle. 3
53208 Sheet 1 to 2147483647 Set the sheet length of the synchronous section.
53209 synchronization [(Optional) Same unit (0.1 mm, etc.)]
width
53210 Synchronous 1 to 2147483647 Set the cycle length of the rotary cutter shaft.
53211 axis length [(Optional) Same unit (0.1 mm, etc.)]
53212 Synchronization 0 to 2147483647 Set the length from the beginning of the sheet to the start
53213 starting point [(Optional) Same unit (0.1 mm, etc.)] of the synchronous section.
53214 Synchronous -5000 to 5000 [0.01%] Set when the synchronous speed in the synchronous
section section needs to be adjusted.
acceleration The speed is "Synchronous speed × (100% +
ratio Acceleration ratio)" in the synchronous section.

Synchronous axis length Synchronous axis cycle length

Synchronous
axis
Sheet synchronization width (Cam axis)

Synchronization starting point Feed sheet

Cam axis position value per cycle Sheet length

Sheet length
Sheet synchronization width
Synchronization starting point
t

Cam axis (Synchronous axis) speed

Synchronous section acceleration ratio When 0%, it is as fast
Synchronous speed
as synchronous speed.
(Feed sheet speed)
t

Cam stroke ratio

(Cam data by auto-generation)
100%

3 CAM FUNCTION
3.2 Create Cam Data 111
 4 ADVANCED SYNCHRONOUS CONTROL
The parameters and monitor data for synchronous control such as "Main shaft module", "Speed change gear module", and
"Output axis module" are explained in this chapter.
Configure the required settings according to the control and application requirements for each module.

4.1 Main Shaft Module

Overview of main shaft module
For the main shaft module, the input value is generated as a composite value from two input axes (the main and sub input
axis) through the composite main shaft gear. The composite input value can be converted by the main shaft gear that provides
the deceleration ratio and the rotation direction for the machine system, etc.
Refer to the following for details on setting for the main shaft module.
Page 112 Main shaft parameters, Page 115 Main shaft clutch parameters

[Pr.400] Main input axis [Pr.402] Composite main shaft gear [Pr.403] Main shaft gear: Numerator
No. [Pr.404] Main shaft gear: Denominator

Main shaft Composite main Main shaft

shaft gear
main input axis gear

[Md.400] Position value after [Md.401] Position value

composite main per cycle after
shaft gear main shaft gear
Main shaft Main shaft
sub input axis clutch *1
[Pr.401] Sub input
axis No.

Speed change gear/

Composite auxiliary shaft gear
*1 Page 129 Clutch

Main shaft parameters

n: Axis No. - 1
Setting item Setting details Setting value Default value Buffer
memory
address
[Pr.400] • Set the input axis No. on the main input side for the ■Set in decimal. 0 36400+200n
Main input axis No. main shaft. 0: Invalid
Fetch cycle: At start (Synchronous control) 1 to 8: Servo input axis*1
201 to 208: Command generation
axis*1
801 to 804: Synchronous encoder
axis
[Pr.401] • Set the input axis No. on the sub input side for the main ■Set in decimal. 0 36401+200n
Sub input axis No. shaft. 0: Invalid
Fetch cycle: At start (Synchronous control) 1 to 8: Servo input axis*1
201 to 208: Command generation
axis*1
801 to 804: Synchronous encoder
axis

4 ADVANCED SYNCHRONOUS CONTROL

112 4.1 Main Shaft Module
 Setting item Setting details Setting value Default value Buffer
memory
address
[Pr.402] • Select the composite method for input values from the ■Set in hexadecimal. 0001H 36402+200n
Composite main main input axis and sub input axis.
H____
shaft gear Fetch cycle: Operation cycle
Main input method
0: No input
1: Input +
2: Input -
Sub input method
0: No input
1: Input +
2: Input -
[Pr.403] • Set the numerator for the main shaft gear. ■Set in decimal. 1 36404+200n
Main shaft gear:
Numerator
Fetch cycle: At start (Synchronous control) -2147483648 to 2147483647 36405+200n
4
[Pr.404] • Set the denominator for the main shaft gear. ■Set in decimal. 1 36406+200n
Main shaft gear: Fetch cycle: At start (Synchronous control) 1 to 2147483647 36407+200n
Denominator

*1 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.

[Pr.400] Main input axis No., [Pr.401] Sub input axis No.
Set the main input axis No. and the sub input axis No. for the main shaft.
Setting value Details
0: Invalid The input value is always 0.
1 to 8: Servo input axis*1 Set the servo input axis (axis 1 to axis 8). When the servo input axis is not set in the system setting, the input value is
always 0.
If the No. is set to the same value as the output axis, the following errors occur and synchronous control cannot be
started.
• Outside main input axis No. range (error code: 1BE0H [FX5-SSC-S], or error code: 1E30H [FX5-SSC-G])
• Outside sub input axis No. range (error code: 1BE1H [FX5-SSC-S], or error code: 1E31H [FX5-SSC-G])
201 to 208: Command generation Set the command generation axis (axis 1 to axis 8). When the command generation axis is invalid in the command
axis*1 generation axis parameter setting, the input value is always 0.
801 to 804: Synchronous encoder Set the synchronous encoder axis (axis 1 to axis 4). When the synchronous encoder axis is invalid, the input value is
axis always 0.

*1 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.

[Pr.402] Composite main shaft gear

Set the composite method for input values from the main and sub input axes. The setting values for each axis are shown as
follows.
Setting value Details
0: No input The input value from the input axis is calculated as 0.
1: Input+ The input value from the input axis is calculated as it is.
2: Input- The input value from the input axis is calculated with its opposite sign.

Operation assumes "0: No input" if the value is set out of the range from 0 to 2.

The composite method for the composite main shaft gear can be changed during synchronous control. It is
used as a clutch to switch input values between the main and the sub input axes.

4 ADVANCED SYNCHRONOUS CONTROL

4.1 Main Shaft Module 113
 [Pr.403] Main shaft gear: Numerator, [Pr.404] Main shaft gear: Denominator
Set the numerator and the denominator for the main shaft gear to convert the input value. The input value is converted as
follows.

[Pr.403] Main shaft gear: Numerator

Input value after conversion = Input value before conversion ×
[Pr.404] Main shaft gear: Denominator
The input value direction can be reversed by setting a negative value in the numerator of the main shaft gear.
Set the denominator of the main shaft gear to a value within the range from 1 to 2147483647.

Ex.
Convert the cam axis per cycle to be controlled in intervals of 0.1 mm (0.00394 inch). The cam axis synchronizes with a
conveyer that moves 100 mm (3.937 inch) for every (360.00000 degree) of the main shaft.
"[Pr.403] Main shaft gear: Numerator": 1000 [ × 0.1 mm]
"[Pr.404] Main shaft gear: Denominator": 36000000 [ × 10-5 degree]

4 ADVANCED SYNCHRONOUS CONTROL

114 4.1 Main Shaft Module
Main shaft clutch parameters
n: Axis No. - 1
Setting item Setting details Setting value Default Buffer
value memory
address
[Pr.405] • Set the control method for the clutch. ■Set in hexadecimal. 0000H 36408+200n
Main shaft clutch Fetch cycle: Operation cycle
control setting
H____
ON control mode
0: No clutch
1: Clutch command ON/OFF
2: Clutch command leading edge
3: Clutch command trailing edge
4: Address mode
5: High speed input request
4
OFF control mode
0: OFF control invalid
1: One-shot OFF
2: Clutch command leading edge
3: Clutch command trailing edge
4: Address mode
5: High speed input request
High speed input request signal
0 to 7: High speed input
request signal from
axis 1 to axis 8 *1
[Pr.406] • Set the reference address for the clutch. ■Set in decimal. 0 36409+200n
Main shaft clutch Fetch cycle: At start (Synchronous control) 0: Position value after composite main shaft
reference address gear
setting 1: Position value per cycle after main shaft
gear
[Pr.407] • Set the clutch ON address for address mode. (This ■Set in decimal. 0 36410+200n
Main shaft clutch setting is invalid except during address mode.) -2147483648 to 2147483647 36411+200n
ON address • If the address is out of the range from 0 to (Cam axis [Main input axis position units*2, or cam axis
length per cycle - 1), the address is converted to a cycle units*3]
value within range.
Fetch cycle: Operation cycle
[Pr.408] • Set the movement amount between the clutch ON ■Set in decimal. 0 36412+200n
Movement amount condition completing and the clutch closing. -2147483648 to 2147483647 36413+200n
before main shaft • Set a positive value when the reference address is [Main input axis position units*2, or cam axis
clutch ON increasing, and a negative value when it is cycle units*3]
decreasing.
Fetch cycle: At completing condition (Clutch ON)
[Pr.409] • Set the clutch OFF address for the address mode. ■Set in decimal. 0 36414+200n
Main shaft clutch (This setting is invalid except during address mode.) -2147483648 to 2147483647 36415+200n
OFF address • If the address is out of the range from 0 to (Cam axis [Main input axis position units*2, or cam axis
length per cycle - 1), the address is converted to a cycle units*3]
value within range.
Fetch cycle: Operation cycle
[Pr.410] • Set the movement amount between the clutch OFF ■Set in decimal. 0 36416+200n
Movement amount condition completing and the clutch opening. -2147483648 to 2147483647 36417+200n
before main shaft • Set a positive value when the reference address is [Main input axis position units*2, or cam axis
clutch OFF increasing, and a negative value when it is cycle units*3]
decreasing.
Fetch cycle: At completing condition (Clutch OFF)
[Pr.411] • Set the clutch smoothing method. ■Set in decimal. 0 36418+200n
Main shaft clutch Fetch cycle: At start (Synchronous control) 0: Direct
smoothing method 1: Time constant method (Exponent)
2: Time constant method (Linear)
3: Slippage method (Exponent)
4: Slippage method (Linear)
5: Slippage method (Linear: Input value follow
up)
[Pr.412] • For smoothing with a time constant method, set the ■Set in decimal. 0 36419+200n
Main shaft clutch smoothing time constant. 0 to 5000 [ms]
smoothing time Fetch cycle: At start (Synchronous control)
constant

4 ADVANCED SYNCHRONOUS CONTROL

4.1 Main Shaft Module 115
 Setting item Setting details Setting value Default Buffer
value memory
address
[Pr.413] • For smoothing with a slippage method, set the ■Set in decimal. 0 36420+200n
Slippage amount at slippage amount at clutch ON. 0 to 2147483647 36421+200n
main shaft clutch Fetch cycle: At completing condition (Turning clutch [Main input axis position units*2, or cam axis
ON ON) cycle units*3]
[Pr.414] • For smoothing with a slippage method, set the ■Set in decimal. 0 36422+200n
Slippage amount at slippage amount at clutch OFF. 0 to 2147483647 36423+200n
main shaft clutch Fetch cycle: At completing condition (Turning clutch [Main input axis position units*2, or cam axis
OFF OFF) cycle units*3]

*1 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.
*2 Main input axis position units (Page 32 INPUT AXIS MODULE)
*3 Cam axis cycle units (Page 143 Units for the output axis)

[Pr.405] Main shaft clutch control setting

Set the ON and OFF control methods separately for the main shaft clutch.
The clutch control setting can be changed during synchronous control, however, the setting "No clutch" (Direct coupled
operation) cannot be selected during synchronous control after already selecting another setting.
Refer to the following for operation details on the clutch control.
Page 129 Control method for clutch

■ON control mode

Setting value Details
0: No clutch (Direct coupled Execute direct coupled operation without clutch control.
operation)
1: Clutch command ON/OFF The clutch is turned ON/OFF by the operation of "[Cd.400] Main shaft clutch command" ON/OFF. (Setting in the OFF
control mode are not applicable in the clutch command ON/OFF mode.)
2: Clutch command leading edge The clutch is turned ON when "[Cd.400] Main shaft clutch command" passes the leading edge (from OFF to ON).
3: Clutch command trailing edge The clutch is turned ON when "[Cd.400] Main shaft clutch command" passes the trailing edge (from ON to OFF).
4: Address mode The clutch is turned ON when the reference address (the position value after composite main shaft gear or the position
value per cycle after main shaft gear) reaches "[Pr.407] Main shaft clutch ON address".
The movement amount after passing through the ON address is calculated as the output movement amount of the clutch
based on the reference address passing through, thereby controlling the clutch with an accurate movement amount.
5: High speed input request The clutch is turned ON when the high speed input request [DI] turns ON.

Other clutch parameters are not applicable during direct coupled operation by setting "0: No clutch". "[Cd.402]
Main shaft clutch forced OFF command" and the change of the clutch control setting are ignored during direct
coupled operation.

■OFF control mode

Setting value Details
0: OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control.
1: One-shot OFF The clutch is turned OFF after moving the distance "[Pr.410] Movement amount before main shaft clutch OFF" (One-
shot operation) after "[Md.420] Main shaft clutch ON/OFF status" turns OFF to ON.
If "[Pr.410] Movement amount before main shaft clutch OFF" is 0, "[Md.420] Main shaft clutch ON/OFF status" does not
turn ON in order to turn back OFF immediately.
2: Clutch command leading edge The clutch is turned OFF when "[Cd.400] Main shaft clutch command" passes the leading edge (from OFF to ON).
3: Clutch command trailing edge The clutch is turned OFF when "[Cd.400] Main shaft clutch command" passes the trailing edge (from ON to OFF).
4: Address mode The clutch is turned OFF when the reference address (the position value after composite main shaft gear or the position
value per cycle after main shaft gear) reaches "[Pr.409] Main shaft clutch OFF address".
The movement amount before passing through the OFF address is calculated as the output movement amount of the
clutch based on the reference address passing through, thereby controlling the clutch with an accurate movement
amount.
5: High speed input request The clutch is turned OFF when the high speed input request [DI] turns ON.

4 ADVANCED SYNCHRONOUS CONTROL

116 4.1 Main Shaft Module
■High speed input request signal
Set the high speed input request signal No. for the ON control mode (1) and the OFF control mode (2) when using the setting
"5: High speed input request".
Signal No. Setting value Signal No. Setting value
(Hexadecimal) (Hexadecimal)
1 0 5 4
2 1 6 5
3 2 7 6
4 3 8 7

[Pr.406] Main shaft clutch reference address setting

Select the address type to be used as the reference address for clutch control. Note that the processing order of the main 4
shaft gear and the main shaft clutch will change depending on the reference address setting.
Setting value Details
0: Position value after composite The clutch is controlled by using the position value after composite main shaft gear as a reference.
main shaft gear Output after the clutch is a converted movement amount through the main shaft gear.
1: Position value per cycle after The clutch is controlled by using the position value per cycle after main shaft gear.
main shaft gear Output after the clutch is a movement amount without conversion.

The setting values for the following parameters are in units based on the reference address setting.
• "[Pr.407] Main shaft clutch ON address"
• "[Pr.409] Main shaft clutch OFF address"
• "[Pr.408] Movement amount before main shaft clutch ON", "[Pr.410] Movement amount before main shaft clutch OFF"
• "[Pr.413] Slippage amount at main shaft clutch ON", "[Pr.414] Slippage amount at main shaft clutch OFF"

[Pr.407] Main shaft clutch ON address

Set the clutch ON address when address mode is configured for the ON control mode of the main shaft clutch.
When the reference address is the position value per cycle after main shaft gear, the setting address is converted for control
within the range from 0 to (Cam axis length per cycle - 1).

Ex.
Cam axis length per cycle: 20000 pulses
The ON address is controlled as 19000 pulses when the setting value is "-1000".

[Pr.408] Movement amount before main shaft clutch ON

Set the movement amount of the reference address with a signed value between the clutch ON condition completing and the
clutch closing.
Setting value Details
1 to 2147483647 (Positive value) Used when the reference address is increasing in direction.
0 No movement amount (The clutch is immediately turned ON with the clutch ON condition completing.)
-2147483648 to -1 (Negative value) Used when the reference address is decreasing in direction.

Clutch ON condition is completed

(Example: [Cd.400] Main shaft
clutch command ON)

[Md.420] Main shaft clutch

ON/OFF status
[Pr.408] Movement amount before
main shaft clutch ON (Positive value)
[Md.400] Position value after
composite main shaft gear
or
[Md.401] Position value per t
cycle after main shaft gear

Movement amount after clutch

t

4 ADVANCED SYNCHRONOUS CONTROL

4.1 Main Shaft Module 117
 [Pr.409] Main shaft clutch OFF address
Set the clutch OFF address when address mode is configured for the OFF control mode of the main shaft clutch.
When the reference address is the position value per cycle after main shaft gear, the setting address is converted for control
within the range from 0 to (Cam axis length per cycle - 1).

Ex.
Cam axis length per cycle: 20000 pulses
The OFF address is controlled as 60 pulses when the setting value is "40060".

[Pr.410] Movement amount before main shaft clutch OFF

Set the movement amount of the reference address with a signed value between the clutch OFF condition completing and the
clutch opening.
Setting value Details
1 to 2147483647 (Positive value) Used when the reference address is increasing in direction.
0 No movement amount (The clutch is immediately turned OFF with the clutch OFF condition completing.)
-2147483648 to -1 (Negative value) Used when the reference address is decreasing in direction.

Clutch OFF condition is completed

(Example: [Cd.400] Main shaft
clutch command OFF)
[Md.420] Main shaft clutch
ON/OFF status
[Pr.410] Movement amount before
main shaft clutch OFF (Positive value)
[Md.400] Position value after
composite main shaft gear
or
[Md.401] Position value per t
cycle after main shaft gear

Movement amount after clutch

t

[Pr.411] Main shaft clutch smoothing method

Set the smoothing method for clutch ON/OFF.
Refer to the following.
Page 134 Smoothing method for clutch
Setting value Details
0: Direct No smoothing
1: Time constant method Smoothing with an exponential curve based on the time constant setting.
(Exponent)
2: Time constant method (Linear) Smoothing with linear acceleration/deceleration based on the time constant setting.
3: Slippage method (Exponent) Smoothing with an exponential curve based on the slippage amount setting.
4: Slippage method (Linear) Smoothing with linear acceleration/deceleration based on the slippage amount setting.
5: Slippage method (Linear: Input Smoothing with linear acceleration/deceleration based on the slippage amount setting (input value follow up).
value follow up)

[Pr.412] Main shaft clutch smoothing time constant

Set a time constant when the time constant method is set in "[Pr.411] Main shaft clutch smoothing method".
The time constant setting applies for clutch ON/OFF.

4 ADVANCED SYNCHRONOUS CONTROL

118 4.1 Main Shaft Module
[Pr.413] Slippage amount at main shaft clutch ON
Set the slippage amount at clutch ON when the slippage method is set in "[Pr.411] Main shaft clutch smoothing method".
The slippage amount is set in units based on the current value selected in "[Pr.406] Main shaft clutch reference address
setting".
If the set amount is negative, slippage amount at clutch ON is controlled as 0 (direct).

[Pr.414] Slippage amount at main shaft clutch OFF

Set the slippage amount at clutch OFF when the slippage method is set in "[Pr.411] Main shaft clutch smoothing method".
The slippage amount is set in units based on the current value selected in "[Pr.406] Main shaft clutch reference address
setting".
If the set amount is negative, slippage amount at clutch OFF is controlled as 0 (direct). 4

4 ADVANCED SYNCHRONOUS CONTROL

4.1 Main Shaft Module 119
 Main shaft clutch control data
n: Axis No. - 1
Setting item Setting details Setting value Default value Buffer memory
address
[Cd.400] • Set the clutch command ON/OFF. ■Set in decimal. 0 44080+20n
Main shaft clutch Fetch cycle: Operation cycle 0: Main shaft clutch command
command OFF
1: Main shaft clutch command
ON
[Cd.401] • Set "1" to disable the clutch control temporarily. ■Set in decimal. 0 44081+20n
Main shaft clutch Fetch cycle: Operation cycle 0: Main shaft clutch control
control invalid valid
command 1: Main shaft clutch control
invalid
[Cd.402] • Set "1" to force the clutch OFF. ■Set in decimal. 0 44082+20n
Main shaft clutch Fetch cycle: Operation cycle 0: Main shaft clutch normal
forced OFF control
command 1: Main shaft clutch forced OFF

[Cd.400] Main shaft clutch command

Set ON/OFF for the main shaft clutch command. This command is used when the clutch ON control mode is "1: Clutch
command ON/OFF", "2: Clutch command leading edge" or "3: Clutch command trailing edge" and the clutch OFF control
mode is "2: Clutch command leading edge" or "3: Clutch command trailing edge".
Status is considered as clutch command OFF just before starting synchronous control. If synchronous control is started while
the clutch command is ON, the condition is established just after starting synchronous control, by setting "2: Clutch command
leading edge". The condition will not be established just after starting, by setting "3: Clutch command trailing edge".

[Cd.401] Main shaft clutch control invalid command

The main shaft clutch control is invalid if "1" is set. The previous clutch ON/OFF status remains before clutch control becomes
invalid.
Clutch control will not become invalid during the movement before clutch ON and clutch OFF. Instead, clutch control will
become invalid after movement is completed.

[Cd.402] Main shaft clutch forced OFF command

Set "1" to force the clutch OFF. The output value from the clutch becomes 0 immediately, even during clutch smoothing. The
slippage (accumulative) amount is set to 0 if smoothing with a slippage method.
Reset to "0" to restart the clutch control from the clutch OFF status after using the clutch forced OFF command.

4 ADVANCED SYNCHRONOUS CONTROL

120 4.1 Main Shaft Module
4.2 Auxiliary Shaft Module
Overview of auxiliary shaft module
For the auxiliary shaft module, the input value is generated from the auxiliary shaft. The input value can be converted by the
auxiliary shaft gear that provides the deceleration ratio and the rotation direction for the machine system, etc.
Refer to the following for details on setting for the auxiliary shaft module.
Page 121 Auxiliary shaft parameters, Page 123 Auxiliary shaft clutch parameters

Main shaft input/Speed change gear

Auxiliary Auxiliary *1 Composite

4
shaft gear shaft clutch auxiliary
[Pr.420] Auxiliary shaft gear: shaft gear
Numerator [Pr.419] Composite
[Pr.421] Auxiliary shaft gear: auxiliary shaft gear
Denominator

[Md.402] Position value

Auxiliary per cycle after
shaft axis auxiliary shaft gear
[Pr.418] Auxiliary
shaft axis No. Speed change gear/Output axis

*1 Page 129 Clutch

Auxiliary shaft parameters

n: Axis No. - 1
Setting item Setting details Setting value Default value Buffer
memory
address
[Pr.418] • Set the input axis No. for the auxiliary shaft. ■Set in decimal. 0 36430+200n
Auxiliary shaft axis Fetch cycle: At start (Synchronous control) 0: Invalid
No. 1 to 8: Servo input axis*1
201 to 208: Command generation
axis*1
801 to 804: Synchronous encoder
axis
[Pr.419] • Select the composite method for input values from the ■Set in hexadecimal. 0001H 36431+200n
Composite auxiliary main shaft and the auxiliary shaft.
H____
shaft gear Fetch cycle: Operation cycle
Main shaft
input method
0: No input
1: Input +
2: Input -
Auxiliary shaft
input method
0: No input
1: Input +
2: Input -
[Pr.420] • Set the numerator for the auxiliary shaft gear. ■Set in decimal. 1 36432+200n
Auxiliary shaft gear: Fetch cycle: At start (Synchronous control) -2147483648 to 2147483647 36433+200n
Numerator
[Pr.421] • Set the denominator for the auxiliary shaft gear. ■Set in decimal. 1 36434+200n
Auxiliary shaft gear: Fetch cycle: At start (Synchronous control) 1 to 2147483647 36435+200n
Denominator

*1 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.

4 ADVANCED SYNCHRONOUS CONTROL

4.2 Auxiliary Shaft Module 121
 [Pr.418] Auxiliary shaft axis No.
Set the input axis No. for the auxiliary shaft.
Setting value Details
0: Invalid The input value is always 0.
1 to 8: Servo input axis*1 Set the servo input axis (axis 1 to axis 8). When the servo input axis is not set in the system setting, the input value is
always 0.
If the No. is set to the same value as the output axis, the error "Outside auxiliary shaft axis No. range" (error code:
1BF0H [FX5-SSC-S], or error code: 1E40H [FX5-SSC-G]) occurs and synchronous control cannot be started.
201 to 208: Command generation Set the command generation axis (axis 1 to axis 8). When the command generation axis is invalid in the command
axis*1 generation axis parameter setting, the input value is always 0.
801 to 804: Synchronous encoder Set the synchronous encoder axis (axis 1 to axis 4). When the synchronous encoder axis is invalid, the input value is
axis always 0.

*1 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.

[Pr.419] Composite auxiliary shaft gear

Set the composite method for input values from the main and auxiliary shafts. The setting values for each axis are shown as
follows.
Setting value Details
0: No input The input value from the input axis is calculated as 0.
1: Input+ The input value from the input axis is calculated as it is.
2: Input- The input value from the input axis is calculated with its opposite sign.

Operation assumes "0: No input" if the value is set out of the range from 0 to 2.

The composite method for the composite auxiliary shaft gear can be changed during synchronous control. It is
used as a clutch to switch input values between the main and the auxiliary shafts.

[Pr.420] Auxiliary shaft gear: Numerator, [Pr.421] Auxiliary shaft gear: Denominator
Set the numerator and the denominator for auxiliary shaft gear to convert the input value. The input value is converted as
follows.
[Pr.420] Auxiliary shaft gear: Numerator
Input value after conversion = Input value before conversion ×
[Pr.421] Auxiliary shaft gear: Denominator
The input value direction can be reversed by setting a negative value in the numerator of the auxiliary shaft gear.
Set the denominator of the auxiliary shaft gear to a value within the range from 1 to 2147483647.

4 ADVANCED SYNCHRONOUS CONTROL

122 4.2 Auxiliary Shaft Module
Auxiliary shaft clutch parameters
n: Axis No. - 1
Setting item Setting details Setting value Default Buffer
value memory
address
[Pr.422] • Set the control method for the clutch. ■Set in hexadecimal. 0000H 36436+200n
Auxiliary shaft Fetch cycle: Operation cycle
clutch control
H____
setting ON control mode
0: No clutch
1: Clutch command ON/OFF
2: Clutch command leading edge
3: Clutch command trailing edge
4: Address mode
5: High speed input request 4
OFF control mode
0: OFF control invalid
1: One-shot OFF
2: Clutch command leading edge
3: Clutch command trailing edge
4: Address mode
5: High speed input request

High speed input request signal

0 to 7: High speed input
request signal from
axis 1 to axis 8 *1
[Pr.423] • Set the reference address for the clutch. ■Set in decimal. 0 36437+200n
Auxiliary shaft Fetch cycle: At start (Synchronous control) 0: Auxiliary shaft current value
clutch reference 1: Position value per cycle after auxiliary shaft
address setting gear
[Pr.424] • Set the clutch ON address for address mode. (This ■Set in decimal. 0 36438+200n
Auxiliary shaft setting is invalid except during address mode.) -2147483648 to 2147483647 36439+200n
clutch ON address • If the address is out of the range from 0 to (Cam axis [Auxiliary shaft position units*2, or cam axis
length per cycle - 1), the address is converted to a cycle units*3]
value within range.
Fetch cycle: Operation cycle
[Pr.425] • Set the movement amount between the clutch ON ■Set in decimal. 0 36440+200n
Movement amount condition completing and the clutch closing. -2147483648 to 2147483647 36441+200n
before auxiliary • Set a positive value when the reference address is [Auxiliary shaft position units*2, or cam axis
shaft clutch ON increasing, and a negative value when it is decreasing. cycle units*3]
Fetch cycle: At completing condition (Clutch ON)
[Pr.426] • Set the clutch OFF address for the address mode. ■Set in decimal. 0 36442+200n
Auxiliary shaft (This setting is invalid except during address mode.) -2147483648 to 2147483647 36443+200n
clutch OFF address • If the address is out of the range from 0 to (Cam axis [Auxiliary shaft position units*2, or cam axis
length per cycle - 1), the setting address is converted cycle units*3]
to a value within range.
Fetch cycle: Operation cycle
[Pr.427] • Set the movement amount between the clutch OFF ■Set in decimal. 0 36444+200n
Movement amount condition completing and the clutch opening. -2147483648 to 2147483647 36445+200n
before auxiliary • Set a positive value when the reference address is [Auxiliary shaft position units*2, or cam axis
shaft clutch OFF increasing, and a negative value when it is decreasing. cycle units*3]
Fetch cycle: At completing condition (Clutch OFF)
[Pr.428] • Set the clutch smoothing method. ■Set in decimal. 0 36446+200n
Auxiliary shaft Fetch cycle: At start (Synchronous control) 0: Direct
clutch smoothing 1: Time constant method (Exponent)
method 2: Time constant method (Linear)
3: Slippage method (Exponent)
4: Slippage method (Linear)
5: Slippage method (Linear: Input value follow
up)
[Pr.429] • For smoothing with a time constant method, set the ■Set in decimal. 0 36447+200n
Auxiliary shaft smoothing time constant. 0 to 5000 [ms]
clutch smoothing Fetch cycle: At start (Synchronous control)
time constant

4 ADVANCED SYNCHRONOUS CONTROL

4.2 Auxiliary Shaft Module 123
 Setting item Setting details Setting value Default Buffer
value memory
address
[Pr.430] • For smoothing with a slippage method, set the ■Set in decimal. 0 36448+200n
Slippage amount at slippage amount at clutch ON. 0 to 2147483647 36449+200n
auxiliary shaft clutch Fetch cycle: At completing condition (Turning clutch ON) [Auxiliary shaft position units*2, or cam axis
ON cycle units*3]
[Pr.431] • For smoothing with a slippage method, set the ■Set in decimal. 0 36450+200n
Slippage amount at slippage amount at clutch OFF. 0 to 2147483647 36451+200n
auxiliary shaft clutch Fetch cycle: At completing condition (Turning clutch [Auxiliary shaft position units*2, or cam axis
OFF OFF) cycle units*3]

*1 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.
*2 Auxiliary shaft position units (Page 32 INPUT AXIS MODULE)
*3 Cam axis cycle units (Page 143 Units for the output axis)

[Pr.422] Auxiliary shaft clutch control setting

Set the ON and OFF control methods separately for the auxiliary shaft.
The clutch control setting can be changed during synchronous control, however the setting to "No clutch" (Direct coupled
operation) cannot be selected during synchronous control after already selecting another setting.
Refer to the following for operation details on the clutch control.
Page 129 Control method for clutch

■ON control mode

Setting value Details
0: No clutch (Direct coupled Execute direct coupled operation without clutch control.
operation)
1: Clutch command ON/OFF The clutch is turned ON/OFF by the operation of "[Cd.403] Auxiliary shaft clutch command" ON/OFF. (Setting in the OFF
control mode are not applicable in the clutch command ON/OFF mode.)
2: Clutch command leading edge The clutch is turned ON when "[Cd.403] Auxiliary shaft clutch command" passes the leading edge (from OFF to ON).
3: Clutch command trailing edge The clutch is turned ON when "[Cd.403] Auxiliary shaft clutch command" passes the trailing edge (from ON to OFF).
4: Address mode The clutch is turned ON when the reference address (the auxiliary shaft current value or the position value per cycle
after auxiliary shaft gear) reaches "[Pr.424] Auxiliary shaft clutch ON address".
The movement amount after passing through the ON address is calculated as the output movement amount of the clutch
based on the reference address passing through, thereby controlling the clutch with an accurate movement amount.
5: High speed input request The clutch is turned ON when the high speed input request [DI] turns ON.

Other clutch parameters are not applicable during direct coupled operation by setting "0: No clutch". "[Cd.405]
Auxiliary shaft clutch forced OFF command" and the change of the clutch control setting are ignored during
direct coupled operation.

■OFF control mode

Setting value Details
0: OFF control invalid Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control.
1: One-shot OFF The clutch is turned OFF after moving the distance "[Pr.427] Movement amount before auxiliary shaft clutch OFF" (One-
shot operation) after "[Md.423] Auxiliary shaft clutch ON/OFF status" turns OFF to ON.
If "[Pr.427] Movement amount before auxiliary shaft clutch OFF" is 0, "[Md.423] Auxiliary shaft clutch ON/OFF status"
does not turn ON in order to turn back OFF immediately.
2: Clutch command leading edge The clutch is turned OFF when "[Cd.403] Auxiliary shaft clutch command" passes the leading edge (from OFF to ON).
3: Clutch command trailing edge The clutch is turned OFF when "[Cd.403] Auxiliary shaft clutch command" passes the trailing edge (from ON to OFF).
4: Address mode The clutch is turned OFF when the reference address (the auxiliary shaft current value or the position value per cycle
after auxiliary shaft gear) reaches "[Pr.426] Auxiliary shaft clutch OFF address".
The movement amount before passing through the OFF address is calculated as the output movement amount of the
clutch based on the reference address passing through, thereby controlling the clutch with an accurate movement
amount.
5: High speed input request The clutch is turned OFF when the high speed input request [DI] turns ON.

4 ADVANCED SYNCHRONOUS CONTROL

124 4.2 Auxiliary Shaft Module
■High speed input request signal
Set the high speed input request signal No. for the ON control mode (1) and the OFF control mode (2) when using the setting
"5: High speed input request".
Signal No. Setting value Signal No. Setting value
(Hexadecimal) (Hexadecimal)
1 0 5 4
2 1 6 5
3 2 7 6
4 3 8 7

[Pr.423] Auxiliary shaft clutch reference address setting

Select the address type to be used as the reference address for clutch control. Note that the processing order of the auxiliary 4
shaft gear and the auxiliary shaft clutch will change depending on the reference address setting.
Setting value Details
0: Auxiliary shaft current value The clutch is controlled by using the position value for the servo input axis/synchronous encoder axis that is set for the
auxiliary shaft.
Output after the clutch is a converted movement amount through the auxiliary shaft gear.
1: Position value per cycle after The clutch is controlled by using the position value per cycle after auxiliary shaft gear.
auxiliary shaft gear Output after the clutch is a movement amount without conversion.

The setting values for the following parameters are in units based on the reference address setting.
• "[Pr.424] Auxiliary shaft clutch ON address"
• "[Pr.426] Auxiliary shaft clutch OFF address"
• "[Pr.425] Movement amount before auxiliary shaft clutch ON", "[Pr.427] Movement amount before auxiliary shaft clutch
OFF"
• "[Pr.430] Slippage amount at auxiliary shaft clutch ON", "[Pr.431] Slippage amount at auxiliary shaft clutch OFF"

[Pr.424] Auxiliary shaft clutch ON address

Set the clutch ON address when address mode is configured for the ON control mode of the auxiliary shaft clutch.
When the reference address is the position value per cycle after auxiliary shaft gear, the setting address is converted for
control within the range from 0 to (Cam axis length per cycle - 1).

Ex.
Cam axis length per cycle: 20000 pulses
The ON address is controlled as 19000 pulses when the setting value is "-1000".

[Pr.425] Movement amount before auxiliary shaft clutch ON

Set the movement amount of the reference address with a signed value between the clutch ON condition completing and the
clutch closing.
Setting value Details
1 to 2147483647 (Positive value) Used when the reference address is increasing in direction.
0 No movement amount (The clutch is immediately turned ON with the clutch ON condition completing.)
-2147483648 to -1 (Negative value) Used when the reference address is decreasing in direction.

Clutch ON condition is completed

(Example: [Cd.403] Auxiliary shaft
clutch command ON)
[Md.423] Auxiliary shaft clutch
ON/OFF status [Pr.425] Movement amount before auxiliary
shaft clutch ON (Positive value)
Auxiliary shaft current value or
[Md.402] Position value per cycle
after auxiliary shaft gear

Movement amount after clutch

4 ADVANCED SYNCHRONOUS CONTROL

4.2 Auxiliary Shaft Module 125
 [Pr.426] Auxiliary shaft clutch OFF address
Set the clutch OFF address when address mode is configured for the OFF control mode of the auxiliary shaft clutch.
When the reference address is the position value per cycle after auxiliary shaft gear, the setting address is converted for
control within the range from 0 to (Cam axis length per cycle - 1).

Ex.
Cam axis length per cycle: 20000 pulses
The OFF address is controlled as 60 pulses when the setting value is "40060".

[Pr.427] Movement amount before auxiliary shaft clutch OFF

Set the movement amount of the reference address with a signed value between the clutch OFF condition completing and the
clutch opening.
Setting value Details
1 to 2147483647 (Positive value) Used when the reference address is increasing in direction.
0 No movement amount (The clutch is immediately turned OFF with the clutch OFF condition completing.)
-2147483648 to -1 (Negative value) Used when the reference address is decreasing in direction.

Clutch OFF condition is completed

(Example: [Cd.403] Auxiliary shaft
clutch command OFF)
[Md.423] Auxiliary shaft clutch
[Pr.427] Movement amount before auxiliary
ON/OFF status
shaft clutch OFF (Positive value)

Auxiliary shaft current value or

[Md.402] Position value per cycle
after auxiliary shaft gear

Movement amount after clutch

[Pr.428] Auxiliary shaft clutch smoothing method

Set the smoothing method for clutch ON/OFF.
Refer to the following.
Page 134 Smoothing method for clutch
Setting value Details
0: Direct No smoothing.
1: Time constant method Smoothing with an exponential curve based on the time constant setting.
(Exponent)
2: Time constant method (Linear) Smoothing with linear acceleration/deceleration based on the time constant setting.
3: Slippage method (Exponent) Smoothing with an exponential curve based on the slippage amount setting.
4: Slippage method (Linear) Smoothing with linear acceleration/deceleration based on the slippage amount setting.
5: Slippage method (Linear: Input Smoothing with linear acceleration/deceleration based on the slippage amount setting (input value follow up).
value follow up)

[Pr.429] Auxiliary shaft clutch smoothing time constant

Set a time constant when the time constant method is set in "[Pr.428] Auxiliary shaft clutch smoothing method".
The time constant setting applies for clutch ON/OFF.

4 ADVANCED SYNCHRONOUS CONTROL

126 4.2 Auxiliary Shaft Module
[Pr.430] Slippage amount at auxiliary shaft clutch ON
Set the slippage amount at clutch ON when the slippage method is set in "[Pr.428] Auxiliary shaft clutch smoothing method".
The slippage amount is set in units based on the current value selected in "[Pr.423] Auxiliary shaft clutch reference address
setting".
If the set amount is negative, the slippage amount at clutch ON is controlled as 0 (direct).

[Pr.431] Slippage amount at auxiliary shaft clutch OFF

Set the slippage amount at clutch OFF when the slippage method is set in "[Pr.428] Auxiliary shaft clutch smoothing method".
The slippage amount is set in units based on the current value selected in "[Pr.423] Auxiliary shaft clutch reference address
setting".
If the set amount is negative, the slippage amount at clutch OFF is controlled as 0 (direct). 4

4 ADVANCED SYNCHRONOUS CONTROL

4.2 Auxiliary Shaft Module 127
 Auxiliary shaft clutch control data
n: Axis No. - 1
Setting item Setting details Setting value Default value Buffer memory
address
[Cd.403] • Set the clutch command ON/OFF. ■Set in decimal. 0 44083+20n
Auxiliary shaft Fetch cycle: Operation cycle 0: Auxiliary shaft clutch
clutch command command OFF
1: Auxiliary shaft clutch
command ON
[Cd.404] • Set "1" to disable the clutch control temporarily. ■Set in decimal. 0 44084+20n
Auxiliary shaft Fetch cycle: Operation cycle 0: Auxiliary shaft clutch control
clutch control invalid valid
command 1: Auxiliary shaft clutch control
invalid
[Cd.405] • Set "1" to force the clutch OFF. ■Set in decimal. 0 44085+20n
Auxiliary shaft Fetch cycle: Operation cycle 0: Auxiliary shaft clutch normal
clutch forced OFF control
command 1: Auxiliary shaft clutch forced
OFF

[Cd.403] Auxiliary shaft clutch command

Set ON/OFF for the auxiliary shaft clutch command. This command is used when the clutch ON control mode is "1: Clutch
command ON/OFF", "2: Clutch command leading edge" or "3: Clutch command trailing edge" and the clutch OFF control
mode is "2: Clutch command leading edge" or "3: Clutch command trailing edge".
Status is considered as clutch command OFF just before starting synchronous control. If synchronous control is started while
the clutch command is ON, the condition is established just after starting synchronous control, by setting "2: Clutch command
leading edge". The condition is not established after starting, by setting "3: Clutch command trailing edge".

[Cd.404] Auxiliary shaft clutch control invalid command

The auxiliary shaft clutch control is invalid if "1" is set. The previous clutch ON/OFF status remains before clutch control
becomes invalid.
Clutch control will not become invalid during the movement before clutch ON and clutch OFF. Instead, clutch control will
become invalid after the movement is completed.

[Cd.405] Auxiliary shaft clutch forced OFF command

Set "1" to force the clutch OFF. The output value from the clutch becomes 0 immediately, even during clutch smoothing. The
slippage (accumulative) amount is set to 0 if smoothing with a slippage method.
Reset to "0" to restart the clutch control from the clutch OFF status after using the clutch forced OFF command.

4 ADVANCED SYNCHRONOUS CONTROL

128 4.2 Auxiliary Shaft Module
4.3 Clutch
Overview of clutch
The clutch is used to transmit/disengage command pulses from the main/auxiliary shaft input side to the output axis module
through turning the clutch ON/OFF, which controls the operation/stop of the servo motor.
A clutch can be configured for the main and auxiliary shafts.

Control method for clutch

Set the ON and OFF control methods separately in "[Pr.405] Main shaft clutch control setting" and "[Pr.422] Auxiliary shaft
clutch control setting". 4
The clutch control setting can be changed during synchronous control, however, the setting "No clutch" (Direct coupled
operation) cannot be selected during synchronous control after already selecting another setting.
Item Setting item Setting details/Setting value
Main shaft clutch Auxiliary shaft clutch
Clutch control [Pr.405] [Pr.422] • Set the clutch control method.
setting Main shaft clutch control Auxiliary shaft clutch control ■Set in hexadecimal.
setting setting
H____
ON control mode
0: No clutch
1: Clutch command ON/OFF
2: Clutch command leading edge
3: Clutch command trailing edge
4: Address mode
5: High speed input request
OFF control mode
0: OFF control invalid
1: One-shot OFF
2: Clutch command leading edge
3: Clutch command trailing edge
4: Address mode
5: High speed input request
High speed input request signal
0 to 7: High speed input
request signal from
axis 1 to axis 8 *1

*1 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.
When the clutch ON condition and the clutch OFF condition are completed simultaneously within one operation cycle, both
clutch ON and OFF processing are executed within one operation cycle. Therefore, the clutch is from OFF to ON and again to
OFF at the clutch OFF status, and it is from ON to OFF and again to ON at the clutch ON status.
The following shows the operations for the clutch ON/OFF by the setting of the ON control mode and the OFF control mode.

ON control mode
■No clutch (Direct coupled operation)
Execute direct coupled operation without clutch control.

Other clutch parameters are not applicable during direct coupled operation by setting "0: No clutch". "Clutch
forced OFF command" and the change of the clutch control setting are ignored during direct coupled
operation.

4 ADVANCED SYNCHRONOUS CONTROL

4.3 Clutch 129
 ■Clutch command ON/OFF
The clutch is turned ON/OFF by the operation of clutch command ON/OFF.
(Setting in the OFF control mode are not applicable in this mode.)

Clutch command

Clutch ON/OFF status

Current value before clutch

Movement amount after clutch

t

Item Main shaft clutch Auxiliary shaft clutch

Clutch command [Cd.400] Main shaft clutch command [Cd.403] Auxiliary shaft clutch command
Clutch ON/OFF status [Md.420] Main shaft clutch ON/OFF status [Md.423] Auxiliary shaft clutch ON/OFF status

■Clutch command leading edge

The clutch is turned ON when the clutch command passes the leading edge (from OFF to ON).

Clutch command

Clutch ON/OFF status

Current value before clutch

t

Movement amount after clutch

t

■Clutch command trailing edge

The clutch is turned ON when the clutch command passes the trailing edge (from ON to OFF).

Clutch command

Clutch ON/OFF status

Current value before clutch

t

Movement amount after clutch

t

4 ADVANCED SYNCHRONOUS CONTROL

130 4.3 Clutch
■Address mode
The clutch is turned ON when the reference address reaches "Clutch ON address".
The movement amount after passing through the ON address is calculated as the output movement amount of the clutch
based on the reference address passing through, thereby controlling the clutch with an accurate movement amount.

Clutch ON/OFF status

Clutch ON address
Current value specified in
clutch reference address
t
setting

Movement amount after clutch

t
4
Item Main shaft clutch Auxiliary shaft clutch
Reference address The current value specified in "[Pr.406] Main shaft The current value specified in "[Pr.423] Auxiliary
clutch reference address setting" shaft clutch reference address setting"
("[Md.400] Position value after composite main (Auxiliary shaft current value (servo input axis
shaft gear" or "[Md.401] Position value per cycle position value/synchronous encoder axis position
after main shaft gear") value) or "[Md.402] Position value per cycle after
auxiliary shaft gear")
Clutch ON address [Pr.407] Main shaft clutch ON address [Pr.424] Auxiliary shaft clutch ON address
Clutch ON/OFF status [Md.420] Main shaft clutch ON/OFF status [Md.423] Auxiliary shaft clutch ON/OFF status

■High speed input request

The clutch is turned ON when the high speed input request [DI] turns ON.
The following actions are required when using the high speed input request.
• Set the signal No. for the "High speed input request signal" clutch control setting
• Set the external command signal used in "[Pr.95] External command signal selection", "4: High speed input request" in
"[Pr.42] External command function selection" and "1: Validates an external command" in "[Cd.8] External command valid"
for the applicable axis.

[Cd.8] External command valid

High speed input request [DI]

Clutch ON/OFF status

Current value before clutch

t

Movement amount after clutch

t

4 ADVANCED SYNCHRONOUS CONTROL

4.3 Clutch 131
 OFF control mode
■OFF control invalid
Clutch OFF control is not used. This setting is applicable only for execution with clutch ON control.

■One-shot OFF
The clutch is turned OFF after moving the distance "Movement amount before clutch OFF" (One-shot operation) after "Clutch
ON/OFF status" turns ON.
If "Movement amount before clutch OFF" is 0, "Clutch ON/OFF status" does not turn ON in order to turn back OFF
immediately.

Clutch command

Clutch ON/OFF status

Current value before clutch

t
Movement amount before clutch OFF
Movement amount after clutch

Item Main shaft clutch Auxiliary shaft clutch

Clutch command [Cd.400] Main shaft clutch command [Cd.403] Auxiliary shaft clutch command
Clutch ON/OFF status [Md.420] Main shaft clutch ON/OFF status [Md.423] Auxiliary shaft clutch ON/OFF status
Movement amount before clutch OFF [Pr.410] Movement amount before main shaft [Pr.427] Movement amount before auxiliary shaft
clutch OFF clutch OFF

■Clutch command leading edge

The clutch is turned OFF when the clutch command passes the leading edge (from OFF to ON).

Clutch command

Clutch ON/OFF status

Current value before clutch

t

Movement amount after clutch

t

■Clutch command trailing edge

The clutch is turned OFF when the clutch command passes the trailing edge (from ON to OFF).
Clutch command

Clutch ON/OFF status

Current value before clutch

t

Movement amount after clutch

t

4 ADVANCED SYNCHRONOUS CONTROL

132 4.3 Clutch
■Address mode
The clutch is turned OFF when the reference address reaches "Clutch OFF address".
The movement amount before passing through the OFF address is calculated as the output movement amount of the clutch
based on the reference address passing through, thereby controlling the clutch with an accurate movement amount.

Clutch ON/OFF status

Clutch OFF address

Current value specified in
clutch reference address
t
setting

Movement amount after clutch

t
4
Item Main shaft clutch Auxiliary shaft clutch
Reference address The current value specified in "[Pr.406] Main shaft The current value specified in "[Pr.423] Auxiliary
clutch reference address setting" shaft clutch reference address setting"
("[Md.400] Position value after composite main (Auxiliary shaft current value (servo input axis
shaft gear" or "[Md.401] Position value per cycle position value/synchronous encoder axis position
after main shaft gear") value) or "[Md.402] Position value per cycle after
auxiliary shaft gear")
Clutch OFF address [Pr.409] Main shaft clutch OFF address [Pr.426] Auxiliary shaft clutch OFF address
Clutch ON/OFF status [Md.420] Main shaft clutch ON/OFF status [Md.423] Auxiliary shaft clutch ON/OFF status

■High speed input request

The clutch is turned OFF when the high speed input request [DI] turns ON.
The following actions are required when using the high speed input request.
• Set the signal No. for the "High speed input request signal" clutch control setting.
• Set the external command signal used in "[Pr.95] External command signal selection", "4: High speed input request" in
"[Pr.42] External command function selection" and "1: Validates an external command" in "[Cd.8] External command valid"
for the applicable axis.

[Cd.8] External command valid

High speed input request [DI]

Clutch ON/OFF status

Current value before clutch

t

Movement amount after clutch

t

4 ADVANCED SYNCHRONOUS CONTROL

4.3 Clutch 133
 Smoothing method for clutch
Set the clutch smoothing method in "[Pr.411] Main shaft clutch smoothing method" and "[Pr.428] Auxiliary shaft clutch
smoothing method".
The 2 types of clutch smoothing include the following.
• Time constant method smoothing
• Slippage method smoothing
When not using clutch smoothing, set "0: Direct" in the clutch smoothing method.
Item Setting item Setting details/Setting value
Main shaft clutch Auxiliary shaft clutch
Clutch smoothing [Pr.411] [Pr.428] • Set the clutch smoothing method.
method Main shaft clutch smoothing Auxiliary shaft clutch ■Set in decimal.
method smoothing method 0: Direct
1: Time constant method (Exponent)
2: Time constant method (Linear)
3: Slippage method (Exponent)
4: Slippage method (Linear)
5: Slippage method (Linear: Input value follow up)

The operation of each smoothing method is shown below.

Time constant method smoothing

Smoothing is processed with the time constant setting value in the smoothing time constant at clutch ON/OFF. After clutch ON
smoothing is complete, smoothing is processed with the time constant setting value when the speed of the input values
changes.
The movement amount between the clutch turning ON and OFF is not changed with smoothing.
Movement amount after clutch smoothing = Movement amount before clutch smoothing
Item Setting item Setting details Setting value
Main shaft clutch Auxiliary shaft clutch
Clutch smoothing [Pr.412] [Pr.429] • For smoothing with a time ■Set in decimal.
time constant Main shaft clutch smoothing Auxiliary shaft clutch constant method, set the 0 to 5000 [ms]
time constant smoothing time constant smoothing time constant.

■Time constant method exponential curve smoothing

Set "1: Time constant method (Exponential)" in the clutch smoothing method.

Clutch ON/OFF status

Clutch smoothing status

Speed before clutch

processing
t

Speed after clutch 63%

smoothing
63%
t

Clutch smoothing time constant

Item Main shaft clutch Auxiliary shaft clutch

Clutch ON/OFF status [Md.420] Main shaft clutch ON/OFF status [Md.423] Auxiliary shaft clutch ON/OFF status
Clutch smoothing status [Md.421] Main shaft clutch smoothing status [Md.424] Auxiliary shaft clutch smoothing status

4 ADVANCED SYNCHRONOUS CONTROL

134 4.3 Clutch
■Time constant method linear acceleration/deceleration smoothing
Set "2: Time constant method (Linear)" in the clutch smoothing method.

Clutch ON/OFF status

Clutch smoothing status

Speed before clutch

processing
t

Speed after clutch

smoothing
t

Clutch smoothing time constant

4

Slippage method smoothing

Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON, and with slippage at clutch OFF
when the clutch turns OFF.
Smoothing is also processed with the slippage amount setting when the input speed to the clutch changes, therefore,
positioning control at clutch ON/OFF is not affected by speed changes.
Processing proceeds with direct operation after completing clutch ON smoothing.
The movement amount between the clutch turning ON and OFF is as follows after clutch smoothing.
Movement amount after clutch smoothing = Movement amount before clutch smoothing + (Slippage amount at OFF -
Slippage amount at ON)
Item Setting item Setting details Setting value
Main shaft clutch Auxiliary shaft clutch
Slippage amount at [Pr.413] [Pr.430] For smoothing with a slippage ■Set in decimal.
clutch ON Slippage amount at main shaft Slippage amount at auxiliary method, set the slippage amount 0 to 2147483647
clutch ON shaft clutch ON at clutch ON. [Main input axis position units*1,
auxiliary shaft position units*2 or
Slippage amount at [Pr.414] [Pr.431] For smoothing with a slippage
clutch OFF Slippage amount at main shaft Slippage amount at auxiliary method, set the slippage amount cam axis cycle units*3]
clutch OFF shaft clutch OFF at clutch OFF.

*1 Main input axis position units (Page 32 INPUT AXIS MODULE)

*2 Auxiliary shaft position units (Page 32 INPUT AXIS MODULE)
*3 Cam axis cycle units (Page 143 Units for the output axis)

■Slippage method exponential curve smoothing

Set "3: Slippage (Exponential)" in the clutch smoothing method.
Clutch ON/OFF status

Clutch smoothing status

Speed before clutch

processing
t

Speed after clutch

smoothing
t

Slippage amount at clutch ON Slippage amount at clutch OFF

Item Main shaft clutch Auxiliary shaft clutch

Clutch ON/OFF status [Md.420] Main shaft clutch ON/OFF status [Md.423] Auxiliary shaft clutch ON/OFF status
Clutch smoothing status [Md.421] Main shaft clutch smoothing status [Md.424] Auxiliary shaft clutch smoothing status

4 ADVANCED SYNCHRONOUS CONTROL

4.3 Clutch 135
 ■Slippage method linear acceleration/deceleration smoothing
Set "4: Slippage method (Linear)" or "5: Slippage method (Linear: Input value follow up)" in the clutch smoothing method.
The differences between "4: Slippage method (Linear)" and "5: Slippage method (Linear: Input value follow up)" are shown
below.
Input speed during smoothing Smoothing method
4: Slippage method (Linear) 5: Slippage method (Linear: Input value follow
up)
When the speed is fixed No differences
When the speed is changed Smoothing section is changed. Smoothing section is fixed.
continuously and slightly
When the speed is changed largely The output speed is changed slightly. (The average The output speed is changed depending on the input
speed might be faster than the speed before starting speed. (When the input speed is decelerated and
smoothing.) accelerated again, the speed might be accelerated
rapidly.)

• When the input speed to the clutch is fixed

The operations of "4: Slippage method (Linear)" and "5: Slippage method (Linear: Input value follow up)" are same.
ON
Clutch ON/OFF status OFF
ON
Clutch smoothing status
OFF

Speed before clutch

processing
t

Speed after clutch

smoothing
t

Slippage amount at clutch ON Slippage amount at clutch OFF

• When the input speed to the clutch is changed continuously and slightly
["4: Slippage method (Linear)" is set.]
The clutch smoothing status ON section is changed.
When the clutch smoothing status ON section is extended
ON
Clutch ON/OFF status OFF
ON ON section is extended.
Clutch smoothing status
OFF

Input speed
(Speed before clutch
processing)
t
Output speed
(Speed after clutch
processing)
t
Slippage amount at clutch OFF
Slippage amount at clutch ON
Clamped at low speed

4 ADVANCED SYNCHRONOUS CONTROL

136 4.3 Clutch
• When the clutch smoothing status ON section is shortened

ON
Clutch ON/OFF status OFF
ON ON section is shortened.
Clutch smoothing status
OFF

Input speed
(Speed before clutch
processing)
t
Output speed
(Speed after clutch
processing)
t

Slippage amount at clutch ON Slippage amount at clutch OFF

Clamped at high speed 4
["5: Slippage method (Linear: Input value follow up)" is set.]
The clutch smoothing status ON section is fixed.

ON
Clutch ON/OFF status OFF
ON section is fixed.
ON
Clutch smoothing status
OFF

Input speed
(Speed before clutch
processing)
t
Output speed
(Speed after clutch
processing)
t
Slippage amount at clutch OFF
Slippage amount at clutch ON
• When the input speed is changed largely during smoothing
["4: Slippage method (Linear)" is set.]
The output speed is changed slightly compared to the change of the input speed.
(The average speed might be faster than the speed before starting smoothing.)
ON
Clutch ON/OFF status OFF
ON
Clutch smoothing status OFF

Input speed
(Speed before clutch
processing)
t
Output speed
(Speed after clutch
processing)
t
Slippage amount at clutch ON Slippage amount at clutch OFF
The speed changes slightly.

4 ADVANCED SYNCHRONOUS CONTROL

4.3 Clutch 137
 ["5: Slippage method (Linear: Input value follow up)" is set.]
The output speed is changed depending on the input speed.
(When the input speed is decelerated and accelerated again, the speed might be accelerated rapidly.)
ON
Clutch ON/OFF status OFF
ON
Clutch smoothing status OFF

Input speed
(Speed before clutch
processing)
t
Output speed
(Speed after clutch
processing)
t
Slippage amount at clutch ON Slippage amount at clutch OFF
The speed changes depending on the input speed.

■Operation at input speed deceleration during slippage method smoothing

When the speed before clutch processing decreases, the speed after clutch smoothing is controlled without exceeding the
speed before clutch processing.
If slippage amount remains when the speed before clutch processing becomes 0, the smoothing process will be continued.
Then, the clutch smoothing process will be executed with the remaining slippage amount when the speed before clutch
processing gets faster than the speed after clutch smoothing.
ON
Clutch ON/OFF status OFF
ON
Clutch smoothing status
OFF

Speed before clutch

processing
t
Slippage amount Slippage amount
at clutch ON at clutch OFF
Speed after clutch
smoothing
t

Deceleration without Clutch smoothing is executed with the remaining

exceeding the speed slippage amount at clutch OFF since the speed
before clutch processing. before clutch processing gets faster.

4 ADVANCED SYNCHRONOUS CONTROL

138 4.3 Clutch
Use example of clutch
The following machine shows an example using clutch control for a flying shear cutting system that synchronizes off a start
signal from a sensor input.
Sensor input
(High speed input Main shaft gear
request [DI])

M Main shaft main Main shaft clutch

input axis
100 mm (Synchronous
(3.94 inch) Output axis
encoder axis)
Synchronous
encoder Waiting position Output axis
Sensor position
4
(Linear cam)

Main shaft clutch setting item Setting value

[Pr.405] ON control mode 5: High speed input request
Main shaft clutch control setting
OFF control mode 1: One-shot OFF
High speed input request (Specify the high speed input request signal No., used for sensor input.)
signal
[Pr.406] Main shaft clutch reference address setting 0: Position value after composite main shaft gear
[Pr.408] Movement amount before main shaft clutch ON 0 mm
[Pr.410] Movement amount before main shaft clutch OFF 380 mm (14.96 inch)
[Pr.411] Main shaft clutch smoothing method 4: Slippage method (Linear)
[Pr.413] Slippage amount at main shaft clutch ON 100 mm (3.94 inch) (Distance between the sensor and the waiting position)
[Pr.414] Slippage amount at main shaft clutch OFF 20 mm (0.79 inch)

Synchronous encoder axis and

output axis in synchronization

High speed input request [DI]

Clutch smoothing status

Clutch ON/OFF status

Synchronous encoder axis speed

t
Cutting...After clutch smoothing
All movement amount of output axis
...380 mm + (20 mm - 100 mm) = 300 mm
Output axis speed (14.96 inch + (0.79 inch - 3.94 inch) = 11.81 inch)
t

Slippage amount at clutch ON Slippage amount at clutch OFF Complete synchronous control and return
...Distance between the sensor and ...Set as 20 mm (0.79 inch) to the waiting position by positioning control.
the waiting position (100 mm (3.94 inch)) to stop early. (It can be returned by auxiliary shaft without
changing synchronous control.)

4 ADVANCED SYNCHRONOUS CONTROL

4.3 Clutch 139
 4.4 Speed Change Gear Module
Overview of speed change gear module
A speed change gear module is used to change the input speed from the main shaft/auxiliary shaft/composite auxiliary shaft
gear during operation. When not using a speed change gear module, set "0: No speed change gear" in "[Pr.434] Speed
change gear".
With speed change from a speed change gear module, operation is executed with linear acceleration/deceleration based on
the setting for the speed change gear smoothing time constant.

[Arrangement the speed change gear]

Arranged on one of "Main shaft side",
"Auxiliary shaft side" or Main shaft clutch
Input value "After composite auxiliary shaft gear".

Speed
[Pr.434] Speed change gear change gear
Speed change
[Pr.435] Speed change gear gear Auxiliary shaft Speed
smoothing time constant clutch change gear
Composite
[Pr.436] Speed change ratio:
auxiliary shaft
Numerator gear
[Pr.437] Speed change ratio:
Denominator
Speed
change gear

Output value
Cam
Output axis

Input value speed

before speed change

t
[Pr.436] Speed change ratio:
Numerator 100000 50000 -50000

[Pr.437] Speed change ratio:

100000 100000 100000
Denominator

Input value speed

before speed change

[Pr.435] Speed change gear [Pr.435] Speed change gear

smoothing time constant smoothing time constant

4 ADVANCED SYNCHRONOUS CONTROL

140 4.4 Speed Change Gear Module
Speed change gear parameters
n: Axis No. - 1
Setting item Setting details Setting value Default value Buffer memory
address
[Pr.434] • Set the arrangement for the speed change gear. ■Set in decimal. 0 36460+200n
Speed change gear Fetch cycle: At start (Synchronous control) 0: No speed change gear
1: Main shaft side
2: Auxiliary shaft side
3: After composite auxiliary
shaft gear
[Pr.435] • Set the smoothing time constant for the speed change ■Set in decimal. 0 36461+200n
Speed change gear gear. 0 to 5000 [ms]
smoothing time
constant
Fetch cycle: At start (Synchronous control)
4
[Pr.436] • Set the numerator for the speed change ratio. ■Set in decimal. 1 36462+200n
Speed change ratio: Fetch cycle: Operation cycle -2147483648 to 2147483647 36463+200n
Numerator
[Pr.437] • Set the denominator for the speed change ratio. ■Set in decimal. 1 36464+200n
Speed change ratio: Fetch cycle: Operation cycle 1 to 2147483647 36465+200n
Denominator

[Pr.434] Speed change gear

Set the arrangement for the speed change gear.
Setting value Details
0: No speed change gear Speed change is not processed, and the input value is transmitted as is.
1: Main shaft side Speed change is processed for input value after main shaft clutch based on the speed change ratio settings.
2: Auxiliary shaft side Speed change is processed for input value after auxiliary shaft clutch based on the speed change ratio settings.
3: After composite auxiliary shaft Speed change is processed for input value after composite auxiliary shaft gear based on the speed change ratio
gear settings.

[Pr.435] Speed change gear smoothing time constant

Set the averaging time to execute a smoothing process for the speed change for the speed change gear.
The input response is delayed depending on the time set in the speed change gear smoothing time constant.
Speed is changed directly when "0" is set.

[Pr.436] Speed change ratio: Numerator, [Pr.437] Speed change ratio: Denominator
Set the numerator and the denominator for the speed change ratio.
"[Pr.436] Speed change ratio: Numerator" and "[Pr.437] Speed change ratio: Denominator" can be changed during
synchronous control.
Input values for speed change are processed as follows.
[Pr.436] Speed change ratio: Numerator
Input value after change = Input value before change 
[Pr.437] Speed change ratio: Denominator
The input speed can be reversed by setting a negative value in "[Pr.436] Speed change ratio: Numerator".
"[Pr.437] Speed change ratio: Denominator" is set within the range from 1 to 2147483647.

4 ADVANCED SYNCHRONOUS CONTROL

4.4 Speed Change Gear Module 141
 4.5 Output Axis Module
Overview of output axis module
For the output axis module, the cam axis position value per cycle is calculated based on the input value (the output value from
a speed change gear), and is converted based on the set cam data. The command position value which is a command is
output to the servo amplifier.

Input value

[Pr.438] Cam axis cycle unit setting

(No influence on control)
[Pr.446] Synchronous control deceleration time
(Use only at deceleration stop)

[Pr.444] Cam axis phase compensation advance time Cam axis phase
compensation [Md.406] Cam axis phase
[Pr.445] Cam axis phase compensation time constant processing compensation amount

[Pr.439] Cam axis length per cycle

[Pr.440] Cam No.
[Pr.441] Cam stroke amount
Cam data Cam conversion [Md.410] Execute cam No.
processing [Md.411] Execute cam stroke amount
[Md.407] Cam axis position value per cycle
[Md.408] Cam reference position
[Md.409] Cam axis command position value

Output axis
[Pr.447] Output axis smoothing time constant smoothing
processing

[Md.20] Command position value

4 ADVANCED SYNCHRONOUS CONTROL

142 4.5 Output Axis Module
Units for the output axis
The position units for the output axis are shown below based on the setting "[Pr.1] Unit setting".
Setting value of "[Pr.1] Unit setting" Output axis position unit Range
-4
0: mm ×10 mm -214748.3648 to 214748.3647 [mm]
(×10-1 μm) (-214748364.8 to 214748364.7 [μm])
1: inch ×10-5 inch -21474.83648 to 21474.83647 [inch]
2: degree ×10-5 degree -21474.83648 to 21474.83647 [degree]
3: pulse pulse -2147483648 to 2147483647 [pulse]

Cam axis cycle units are shown below based on the setting "[Pr.438] Cam axis cycle unit setting".
Setting value of "[Pr.438] Cam axis cycle unit Cam axis cycle unit Range
setting"
4
Unit setting selection Control Number of
unit decimal
places
0: Use units of main input   Servo input axis position unit (Page 33 Servo input axis position units)
axis Synchronous encoder axis position unit (Page 62 Synchronous encoder axis position
units)
1: Use units of this setting 0: mm 0 mm -2147483648 to 2147483647 [mm]
  
9 ×10-9 mm -2.147483648 to 2.147483647 [mm]
1: inch 0 inch -2147483648 to 2147483647 [inch]
  
9 ×10-9 inch -2.147483648 to 2.147483647 [inch]
2: degree 0 degree -2147483648 to 2147483647 [degree]
  
9 ×10-9 degree -2.147483648 to 2.147483647 [degree]
3: pulse 0 pulse -2147483648 to 2147483647 [pulse]
  
9 ×10-9 pulse -2.147483648 to 2.147483647 [pulse]

4 ADVANCED SYNCHRONOUS CONTROL

4.5 Output Axis Module 143
 Output axis parameters
n: Axis No. - 1
Setting item Setting details Setting value Default Buffer
value memory
address
[Pr.438] • Set the units for the cam axis length per cycle. ■Set in hexadecimal. 0000H 36470+200n
Cam axis cycle • There is no influence on the control for the parameter H____
unit setting for monitor display. Control unit
Fetch cycle: At start (Synchronous control) 0: mm, 1: inch,
2: degree, 3: pulse
Number of decimal places
0 to 9
Unit setting selection
0: Use units of main
input axis
1: Use units of this
setting

[Pr.439] • Set the required input amount with the cam per cycle. ■Set in decimal. 4194304 36472+200n
Cam axis length Fetch cycle: At start (Synchronous control), At completing 1 to 2147483647 36473+200n
per cycle condition (Passing through the 0th point of cam data) [Cam axis cycle units*1]
[Pr.440] • Set the cam No. ■Set in decimal. 0 36474+200n
Cam No. Fetch cycle: At start (Synchronous control), At completing 0: Linear cam (Preset)
condition (Passing through the 0th point of cam data) 1 to 256: User created cam
[Pr.441] • Set the cam stroke amount corresponding to the stroke ■Set in decimal. 4194304 36476+200n
Cam stroke ratio 100% for cam with stroke ratio data format. -2147483648 to 2147483647 36477+200n
amount • This is ignored for cams using the coordinate data [Output axis position units*2]
format.
Fetch cycle: At start (Synchronous control), At completing
condition (Passing through the 0th point of cam data)
[Pr.442] • Set to change the "[Pr.439] Cam axis length per cycle" ■Set in decimal. 0 36471+200n
Cam axis length during synchronous control. 0: Invalid
per cycle change Fetch cycle: At start (Synchronous control) 1: Valid
setting [FX5-SSC-
G]
[Pr.444] • Set the time to advance or delay the phase of the cam ■Set in decimal. 0 36482+200n
Cam axis phase axis. -2147483648 to 2147483647 [μs] 36483+200n
compensation Fetch cycle: Operation cycle
advance time
[Pr.445] • Set the time constant to affect the phase compensation ■Set in decimal. 10 36484+200n
Cam axis phase of the cam axis. 0 to 65535 [ms]*3
compensation Fetch cycle: At start (Synchronous control)
time constant
[Pr.446] • Set the deceleration time for the synchronous control. ■Set in decimal. 0 36485+200n
Synchronous Fetch cycle: At start (Synchronous control) 0 to 65535 [ms]*3
control
deceleration time
[Pr.447] • Set to smooth the output axis. ■Set in decimal. 0 36486+200n
Output axis Fetch cycle: At start (Synchronous control) 0 to 5000 [ms]
smoothing time
constant

*1 Cam axis cycle units (Page 143 Units for the output axis)
*2 Output axis position units (Page 143 Units for the output axis)
*3 Set the value as follows in a program.
0 to 32767: Set as a decimal
32768 to 65535: Convert into a hexadecimal and set

[Pr.438] Cam axis cycle unit setting

Set the command units for the cam axis input per cycle to be used for cam control.
These units are used for setting the cam axis length per cycle and the cam axis position value per cycle.
There is no influence on the control for the parameter for monitor display.
Refer to the following.
Page 142 Overview of output axis module

4 ADVANCED SYNCHRONOUS CONTROL

144 4.5 Output Axis Module
[Pr.439] Cam axis length per cycle
Set the length per cycle of the cam axis to generate the cam axis position value per cycle.
The unit settings are in the cam axis cycle units (Page 143 Units for the output axis).
Set a value within the range from 1 to 2147483647.
[FX5-SSC-G]
The cam axis length per cycle can be changed during synchronous control by setting "1: Valid" in "[Pr.442] Cam axis length
per cycle change setting". The value set in "[Pr.439] Cam axis length per cycle" is valid when the cam axis position value per
cycle passes through the 0th point of cam data, or is on the 0th point.
For cam data using the coordinate data format, if the input value of the last coordinate is less than "[Pr.439] Cam axis length
per cycle", the coordinate is calculated from the line segment between the nearest two coordinates from the last coordinate.
The following shows an example in the case that "[Pr.439] Cam axis length per cycle" is changed to exceed the input value of
the last coordinate of cam data using the coordinate data format during synchronous control.
4
[Coordinate data format]
• Cam axis length per cycle: 4194304 [pulse]
• Cam stroke amount: ±4194304 [pulse]
• Coordinate data
Point Input value Output value
1 0 0
2 2097152 4194304
3 4194304 0

Cam axis length per cycle 4194304 8388608

Execute cam axis length 4194304 8388608

per cycle

8388608 pulses

4194304 pulses

Cam axis position value

per cycle

Cam axis command

position value Switching position Switching position Switching position
*1

*1 The coordinate which is "an input value = a cam axis length per cycle" does not exist, so that the coordinate is calculated
from the line segment between the nearest two coordinates from the last coordinate.

4 ADVANCED SYNCHRONOUS CONTROL

4.5 Output Axis Module 145
 [Pr.440] Cam No.
Set the cam No. for cam control.
Cam No.0 operates as a linear cam for 100% of its stroke ratio along the cam axis length per cycle.
The cam No. can be changed during synchronous control.
The value set in "[Pr.440] Cam No." is valid when the cam axis position value per cycle passes through the 0th point of cam
data, or is on the 0th point.

[Pr.441] Cam stroke amount

Set the cam stroke amount corresponding to a 100% stroke ratio in output axis position units (Page 143 Units for the
output axis) for cam control using the stroke ratio data format.
The cam stroke amount can be changed during synchronous control.
The value set in "[Pr.441] Cam stroke amount" is valid when the cam axis position value per cycle passes through the 0th
point of cam data, or is on the 0th point.
The setting value is ignored for a cam using the coordinate data format.

[Pr.442] Cam axis length per cycle change setting [FX5-SSC-G]

Set to change the cam axis length per cycle during synchronous control.
It can be changed for cam control using the cam No.0 (linear cam), the stroke ratio data format, and the coordinate data
format. However, it cannot be changed when the cam data whose starting point is other than 0 is used for the stroke ratio data
format.
Setting value Details
0: Invalid The cam axis length per cycle cannot be changed during synchronous control.
1: Valid The value set in "[Pr.439] Cam axis length per cycle" is valid when the cam axis position value per cycle passes through
the 0th point of cam data, or is on the 0th point.

[Pr.444] Cam axis phase compensation advance time

Set the time to advance or delay the phase of the cam axis position value per cycle in the cam control.
Setting value Details
1 to 2147483647 [μs] Advance the phase according to the setting time.
0 [μs] Do not execute phase compensation.
-2147483648 to -1 [μs] Delay the phase according to the setting time.

If the setting time is too long, the system experiences overshoot or undershoot at acceleration/deceleration of the input speed.
In this case, set a longer time to affect the phase compensation amount in "[Pr.445] Cam axis phase compensation time
constant".

4 ADVANCED SYNCHRONOUS CONTROL

146 4.5 Output Axis Module
[Pr.445] Cam axis phase compensation time constant
Set the time constant to affect the phase compensation amount for the first order delay.
63 [%] of the phase compensation amount is reflected in the time constant setting.
[Pr.444] Cam axis phase
Current value per cycle after phase compensation
compensation advance time
Current value per cycle before phase compensation
Cam axis position
value per cycle

Cam axis command

position value
t 4
Input speed before phase
compensation
t

Input speed after phase

compensation
t
Speed before phase  [Pr.444] Cam axis phase
[Md.406] Cam axis phase compensation compensation advance time
compensation 63%
amount 63%
t

[Pr.445] Cam axis phase [Pr.445] Cam axis phase

compensation time constant compensation time constant

4 ADVANCED SYNCHRONOUS CONTROL

4.5 Output Axis Module 147
 [Pr.446] Synchronous control deceleration time
Set the time to decelerate to a stop when deceleration stop occurs during synchronous control.
Set the time from "[Pr.8] Speed limit value" until the speed becomes 0 in units of ms.
Operation assumes an immediate stop when "0" is set.

[Pr.447] Output axis smoothing time constant

Set the averaging time to execute a smoothing process for the movement amount of the output axis after cam data
conversion.
The smoothing process can moderate rapid speed fluctuation for cams using the coordinate data format, etc.
The input response is delayed depending on the time corresponding to the setting by smoothing process setting.

[Md.407] Cam axis position

value per cycle
t

[Md.409] Cam axis command position value

[Md.20] Command position [Md.20] Command position value
value
t
Speed before smoothing
[Md.22] Speed command Speed after smoothing
t

[Pr.447] Output axis smoothing time constant

4 ADVANCED SYNCHRONOUS CONTROL

148 4.5 Output Axis Module
4.6 Synchronous Control Change Function
Overview of synchronous control change function
This function can change the cam reference position, the cam axis position value per cycle and the position value per cycle
after the main/auxiliary shaft gear during the synchronous control.
The following 5 methods exist for the synchronous control change function. Refer to the following on each change command.
Page 149 Synchronous control change control data
Synchronous control change command Application Output axis operation
Cam reference position movement Adjust the cam reference position by the Operated
movement amount.
Change cam axis position value per cycle Change the cam axis position value per cycle. None 4
Change position value per cycle after main shaft Change the position value per cycle after main None
gear shaft gear.
Change position value per cycle after auxiliary Change the position value per cycle after auxiliary None
shaft gear shaft gear.
Cam axis position value per cycle movement Adjust the phase of the cam axis by the movement Operated
amount.

Synchronous control change control data

n: Axis No. - 1
Setting item Setting details Setting value Default Buffer
value memory
address
[Cd.406] • Set "1" to initiate a synchronous control change ■Set in decimal. 0 44086+20n
Synchronous command request. The value is reset to "0" 1: Synchronous control change request
control change automatically after completion of the synchronous
request control change.
Fetch cycle: Operation cycle
[Cd.407] • Set the synchronous control change command. ■Set in decimal. 0 44087+20n
Synchronous Fetch cycle: At request (Synchronous control change 0: Cam reference position movement
control change request) 1: Change cam axis position value per
command cycle
2: Change position value per cycle after
main shaft gear
3: Change position value per cycle after
auxiliary shaft gear
4: Cam axis position value per cycle
movement
[Cd.408] • Set the change value for synchronous control change ■Set in decimal. 0 44088+20n
Synchronous processing. -2147483648 to 2147483647 44089+20n
control change Fetch cycle: At request (Synchronous control change (Refer to the detailed explanation for
value request) units.)
[Cd.409] • Set the reflection time for synchronous control change ■Set in decimal. 0 44090+20n
Synchronous processing. 0 to 65535[ms]*1
control reflection Fetch cycle: At request (Synchronous control change
time request)

*1 Set the value as follows in a program.

0 to 32767: Set as a decimal.
32768 to 65535: Convert into a hexadecimal and set.

[Cd.406] Synchronous control change request

Set "1" to initiate "[Cd.407] Synchronous control change command". The Simple Motion module/Motion module resets the
value to "0" automatically after completion of the synchronous control change.
The setting is initialized to "0" when starting synchronous control.

4 ADVANCED SYNCHRONOUS CONTROL

4.6 Synchronous Control Change Function 149
 [Cd.407] Synchronous control change command
Set the synchronous control change command.
Setting value Details Reference
0 Cam reference position movement Page 150 Cam reference position movement
1 Change cam axis position value per cycle Page 150 Change cam axis position value per cycle
2 Change position value per cycle after main shaft gear Page 151 Change position value per cycle after main shaft gear
3 Change position value per cycle after auxiliary shaft gear Page 151 Change position value per cycle after auxiliary shaft gear
4 Cam axis position value per cycle movement Page 151 Cam axis position value per cycle movement

■Cam reference position movement

This command is executed to move the cam reference position through adding the setting movement amount of "[Cd.408]
Synchronous control change value". The movement amount to be added is averaged in "[Cd.409] Synchronous control
reflection time" for its output. Set a long reflection time when a large movement amount is used since the cam axis command
position value moves with the movement amount.

[Md.407] Cam axis position

value per cycle

t
[Cd.408] Synchronous
control change
[Md.409] Cam axis command value
position value
(Command position
value) t
[Md.408] Cam reference position [Cd.409] Synchronous control reflection time
[Cd.406] Synchronous control
change request
[Cd.407] Synchronous control 0: Cam reference position movement
change command
When "[Cd.406] Synchronous control change request" is reset to "0" while executing the cam reference position movement
instruction, operation is stopped midway. If the cam reference position movement instruction is executed again, the remainder
movement amount is not reflected, and the operation starts with "[Cd.408] Synchronous control change value" to be used
again.
If synchronous control is stopped while the cam reference position movement instruction is being executed, operation also
stops midway. If synchronous control is restarted, the remainder movement amount is not reflected.

■Change cam axis position value per cycle

The cam axis position value per cycle is changed to "[Cd.408] Synchronous control change value". The cam reference
position will be also changed to correspond to the changed cam axis position value per cycle.
This operation is completed within one operation cycle.

[Cd.408] Synchronous control change value

[Md.407] Cam axis position
value per cycle
t

[Md.409] Cam axis command

position value
(Command position value)
t
[Md.408] Cam reference (Before being changed)
position (After being changed)
[Cd.406] Synchronous Changed to new cam reference position
control change request
[Cd.407] Synchronous 1: Change cam axis position value per cycle
control change command

4 ADVANCED SYNCHRONOUS CONTROL

150 4.6 Synchronous Control Change Function
■Change position value per cycle after main shaft gear
The position value per cycle after main shaft gear is changed to the value set in "[Cd.408] Synchronous control change value".
This operation is completed within one operation cycle.
Clutch control is not executed if the position value per cycle after main shaft gear (the value before being changed and after
being changed) has already passed through the ON/OFF address in address mode.

■Change position value per cycle after auxiliary shaft gear

The position value per cycle after auxiliary shaft gear is changed to the value set in "[Cd.408] Synchronous control change
value".
This operation is completed within one operation cycle.
Clutch control is not executed if the position value per cycle after the auxiliary shaft gear (the value before being changed and
after being changed) has already passed through the ON/OFF address in address mode.
4
■Cam axis position value per cycle movement
This command is executed to move the cam axis position value per cycle through adding the setting movement amount of
"[Cd.408] Synchronous control change value". The movement amount to be added is averaged in "[Cd.409] Synchronous
control reflection time" for its output.
Set a long reflection time when a large movement amount is used since the cam axis command position value moves with the
movement amount.
[Cd.408] Synchronous control change value
[Md.407] Cam axis position
value per cycle
t
[Md.409] Cam axis command
position value
(Command position
value)
t
[Md.408] Cam reference [Cd.409] Synchronous control reflection time
position
[Cd.406] Synchronous
control change request
[Cd.407] Synchronous 4: Cam axis position value per cycle movement
control change command

[Cd.408] Synchronous control change value

Set the change value for synchronous control change processing as follows.
[Cd.407] Synchronous control [Cd.408] Synchronous control change value
change command Setting range Unit Setting details
0: Cam reference position movement -2147483648 to Output axis position • Set the movement amount of the cam reference position.
2147483647 unit • It moves within the range from -2147483648 to 2147483647.
1: Change cam axis position value per Cam axis cycle unit • Set the change position value per cycle.
cycle • The setting value is converted within the range from 0 to (Cam axis
length per cycle - 1).
2: Change position value per cycle after
main shaft gear
3: Change position value per cycle after
auxiliary shaft gear
4: Cam axis position value per cycle • Set the movement amount of the cam axis position value per cycle.
movement • It moves within the range from -2147483648 to 2147483647.

4 ADVANCED SYNCHRONOUS CONTROL

4.6 Synchronous Control Change Function 151
 [Cd.409] Synchronous control reflection time
Set the reflection time for synchronous control change processing as follows.
[Cd.407] Synchronous control Setting details for "[Cd.409] Synchronous control reflection time
change command
0: Cam reference position movement The time to reflect the movement amount to the cam reference position.
1: Change cam axis position value per Setting not required.
cycle
2: Change position value per cycle after
main shaft gear
3: Change position value per cycle after
auxiliary shaft gear
4: Cam axis position value per cycle The time to reflect the movement amount to the cam axis position value per cycle.
movement

4 ADVANCED SYNCHRONOUS CONTROL

152 4.6 Synchronous Control Change Function
4.7 Synchronous Control Monitor Data
Synchronous control monitor data is updated only during synchronous control.
The monitor values ([Md.400], [Md.401], [Md.402], [Md.407], [Md.408], and [Md.409]) from the last synchronous control
session are restored the next time the system's power supply turns ON. Restarting operation status from the last synchronous
control session is possible through returning to the last position via positioning control (Page 160 ADVANCED
SYNCHRONOUS CONTROL INITIAL POSITION).
"The last synchronous control session" indicates status just before the last synchronous control session was stopped as
follows. These are listed with the last synchronization status.
• Just before "[Cd.380] Synchronous control start" turns from ON to OFF.
• Just before deceleration stop by a stop command or an error, etc.
• Just before the system's power supply turned OFF to the Simple Motion module/Motion module.
4
n: Axis No. - 1
Monitor item Storage details Monitor value Buffer memory
address
[Md.400] • The current value after combining the main input and ■Monitoring is carried out in decimal display. 42800+40n
Position value after sub input values from the main shaft is stored. -2147483648 to 2147483647 42801+40n
composite main shaft gear • Value is stored even after system's power supply OFF. [Main input axis position units*1]
Refresh cycle: Operation cycle (During synchronous
control only)
[Md.401] • The position value per cycle after the main shaft gear ■Monitoring is carried out in decimal display. 42802+40n
Position value per cycle after is stored. 0 to (Cam axis length per cycle - 1) 42803+40n
main shaft gear • One cycle is considered the cam axis length per cycle. [Cam axis cycle units*2]
• Value is stored even after system's power supply OFF.
Refresh cycle: Operation cycle (During synchronous
control only)
[Md.402] • The position value per cycle after the auxiliary shaft ■Monitoring is carried out in decimal display. 42804+40n
Position value per cycle after gear is stored. 0 to (Cam axis length per cycle - 1) 42805+40n
auxiliary shaft gear • One cycle is considered the cam axis length per cycle. [Cam axis cycle units*2]
• Value is stored even after system's power supply OFF.
Refresh cycle: Operation cycle (During synchronous
control only)
[Md.406] • The current phase compensation amount is stored. ■Monitoring is carried out in decimal display. 42810+40n
Cam axis phase Refresh cycle: Operation cycle (During synchronous -2147483648 to 2147483647 42811+40n
compensation amount control only) [Cam axis cycle units*2]
[Md.407] • The position value per cycle is stored, which is ■Monitoring is carried out in decimal display. 42812+40n
Cam axis position value per calculated from the input movement amount to the 0 to (Cam axis length per cycle - 1) 42813+40n
cycle cam axis. (The value after phase compensation) [Cam axis cycle units*2]
• Value is stored even after system's power supply OFF.
Refresh cycle: Operation cycle (During synchronous
control only)
[Md.408] • The command position value as the cam reference ■Monitoring is carried out in decimal display. 42814+40n
Cam reference position position is stored. -2147483648 to 2147483647 42815+40n
• Value is stored even after system's power supply OFF. [Output axis position units*3]
Refresh cycle: Operation cycle (During synchronous
control only)
[Md.409] • The command position value while controlling the cam ■Monitoring is carried out in decimal display. 42816+40n
Cam axis command position axis is stored. -2147483648 to 2147483647 42817+40n
value • Value is stored even after system's power supply OFF. [Output axis position units*3]
Refresh cycle: Operation cycle (During synchronous
control only)
[Md.410] • The executing cam No. is stored. ■Monitoring is carried out in decimal display. 42818+40n
Execute cam No. Refresh cycle: Operation cycle (During synchronous 0 to 256
control only)
[Md.411] • The executing cam stroke amount is stored. ■Monitoring is carried out in decimal display. 42820+40n
Execute cam stroke amount Refresh cycle: Operation cycle (During synchronous -2147483648 to 2147483647 42821+40n
control only) [Output axis position units*3]
[Md.412] • The executing cam axis length per cycle is stored. ■Monitoring is carried out in decimal display. 42822+40n
Execute cam axis length Refresh cycle: Operation cycle (During synchronous 1 to 2147483647 42823+40n
per cycle [FX5-SSC-G] control only) [Cam axis cycle units*2]

4 ADVANCED SYNCHRONOUS CONTROL

4.7 Synchronous Control Monitor Data 153
 Monitor item Storage details Monitor value Buffer memory
address
[Md.420] • The ON/OFF status of main shaft clutch is stored. ■Monitoring is carried out in decimal display. 42828+40n
Main shaft clutch ON/OFF Refresh cycle: Operation cycle (During synchronous 0: Clutch OFF status
status control only) 1: Clutch ON status
[Md.421] • The smoothing status of main shaft clutch is stored. ■Monitoring is carried out in decimal display. 42829+40n
Main shaft clutch smoothing Refresh cycle: Operation cycle (During synchronous 0: Not on clutch smoothing
status control only) 1: On clutch smoothing
[Md.422] • The accumulative slippage of the main shaft clutch ■Monitoring is carried out in decimal display. 42830+40n
Main shaft clutch slippage smoothing with slippage method is stored as a signed -2147483648 to 2147483647 42831+40n
(accumulative) value. [Main input axis position units*1 or Cam axis
Refresh cycle: Operation cycle (During synchronous cycle units*2]
control only)
[Md.423] • The ON/OFF status of the auxiliary shaft clutch is ■Monitoring is carried out in decimal display. 42832+40n
Auxiliary shaft clutch ON/ stored. 0: Clutch OFF status
OFF status Refresh cycle: Operation cycle (During synchronous 1: Clutch ON status
control only)
[Md.424] • The smoothing status of the auxiliary shaft clutch is ■Monitoring is carried out in decimal display. 42833+40n
Auxiliary shaft clutch stored. 0: Not on clutch smoothing
smoothing status Refresh cycle: Operation cycle (During synchronous 1: On clutch smoothing
control only)
[Md.425] • The accumulative slippage on the auxiliary shaft clutch ■Monitoring is carried out in decimal display. 42834+40n
Auxiliary shaft clutch smoothing with slippage method is stored as a signed -2147483648 to 2147483647 42835+40n
slippage (accumulative) value. [Auxiliary shaft position units*4 or Cam axis
Refresh cycle: Operation cycle (During synchronous cycle units*2]
control only)

*1 Main input axis position units (Page 32 INPUT AXIS MODULE)

*2 Cam axis cycle units (Page 143 Units for the output axis)
*3 Output axis position units (Page 143 Units for the output axis)
*4 Auxiliary shaft position units (Page 32 INPUT AXIS MODULE)

[Md.400] Position value after composite main shaft gear

The current value after combining the main input and the sub input values going into the composite main shaft gear is stored
as an accumulative value.
Units are in position units of the main input axis (Page 32 INPUT AXIS MODULE). The unit is pulse if the main input axis
is invalid.
The position value after composite main shaft gear will be changed when the following operations are executed in the main
input axis during synchronous control.
Operations of main input axis Servo input axis Command Synchronous
(Synchronous control) Absolute position Absolute position generation axis encoder axis
detection system: valid detection system: invalid
Home position return Change method 1)  
Current value change Change method 1) Change method 1) Change method 1)
Speed control*1 Change method 1) Change method 1) 
Fixed-pitch feed control Change method 1)  
Speed-position switching control*1 Change method 1) Change method 1) 
Position-speed switching control*1 Change method 1)  
Connection to servo amplifier Change method 2)   
Connection to synchronous encoder   Change method 1)

*1 When "2: Clear command position value to zero" is set in "[Pr.21] Command position value during speed control" only.
Change method 1): The new position value after composite main shaft gear is calculated based on the current value of the
main input axis.
Position value after composite main shaft gear = Main input direction of composite main shaft gear × Main input axis current
value
Change method 2): The movement amount of the main input axis from the last synchronous control session is reflected to the
position value after composite main shaft gear.
Position value after composite main shaft gear = Position value after composite main shaft gear × Movement amount of main
input axis from the last synchronous control session

4 ADVANCED SYNCHRONOUS CONTROL

154 4.7 Synchronous Control Monitor Data
[Md.401] Position value per cycle after main shaft gear
The input movement amount after the main shaft gear is stored within the range from 0 to (Cam axis length per cycle - 1). The
unit is in cam axis cycle units (Page 143 Units for the output axis).
The value is restored according to "[Pr.460] Setting method of position value per cycle after main shaft gear" when starting
synchronous control. (Page 160 Synchronous Control Initial Position)

[Md.402] Position value per cycle after auxiliary shaft gear

The input movement amount after the auxiliary shaft gear is stored within the range from 0 to (Cam axis length per cycle - 1).
The unit is in cam axis cycle units (Page 143 Units for the output axis).
The value is restored according to "[Pr.461] Setting method of position value per cycle after auxiliary shaft gear" when starting
synchronous control. (Page 160 Synchronous Control Initial Position) 4
[Md.406] Cam axis phase compensation amount
The phase compensation amount for the cam axis is stored with cam axis cycle units (Page 143 Units for the output axis).
The phase compensation amount after smoothing processing with "[Pr.445] Cam axis phase compensation time constant" is
stored.

[Md.407] Cam axis position value per cycle

The cam axis position value per cycle is stored within the range from 0 to (Cam axis length per cycle - 1).
The current value after cam axis phase compensation processing can be monitored. The unit is in cam axis cycle units
(Page 143 Units for the output axis).
The value is restored according to "[Pr.462] Cam axis position restoration object" when starting synchronous control.
(Page 160 Synchronous Control Initial Position)

[Md.408] Cam reference position

The command position value is stored as the cam reference position. The unit is in output axis position units (Page 143
Units for the output axis). When the unit is in degrees, a range from 0 to 35999999 is used.
The value is restored according to "[Pr.462] Cam axis position restoration object" when starting synchronous control.
(Page 160 Synchronous Control Initial Position)

[Md.409] Cam axis command position value

The command position value of the cam axis is stored. The value is the same as "[Md.20] Command position value" during
synchronous control.

[Md.410] Execute cam No.

The executing cam No. is stored.
When "[Pr.440] Cam No." is changed during synchronous control, this is updated when the controlling cam No. switches.

[Md.411] Execute cam stroke amount

The executing cam stroke amount is stored.
When "[Pr.441] Cam stroke amount" is changed during synchronous control, this is updated when the controlling cam stroke
amount switches.

[Md.412] Execute cam axis length per cycle [FX5-SSC-G]

The executing cam axis length per cycle is stored.
When "[Pr.439] Cam axis length per cycle" is changed during synchronous control, this is updated when the controlling cam
axis length per cycle switches.

[Md.420] Main shaft clutch ON/OFF status

The clutch ON/OFF status is stored.

4 ADVANCED SYNCHRONOUS CONTROL

4.7 Synchronous Control Monitor Data 155
 [Md.421] Main shaft clutch smoothing status
The smoothing status of the clutch is stored. The status is updated by the clutch smoothing method as follows.
Method Details
Time constant method The status is always "1: On clutch smoothing" during the clutch ON status. The status will be "0: Not on clutch
smoothing" when the clutch is turned OFF and smoothing is completed.
Slippage method The status is "1: On clutch smoothing" till the clutch accumulative slippage amount reaches the slippage at clutch ON
when the clutch is turned ON. The status will change to "0: Not on clutch smoothing" when the clutch accumulative
slippage amount reaches the slippage at clutch ON. The status is "1: On clutch smoothing" till the clutch accumulative
slippage amount reaches 0 when the clutch is turned OFF. The status will change to "0: Not on clutch smoothing" when
the clutch accumulative slippage amount reaches 0.

[Md.422] Main shaft clutch slippage (accumulative)

The accumulative slippage amount with the slippage method is stored as a signed value.
The absolute value of the accumulative slippage increases to reach the slippage at clutch ON during clutch ON.
The absolute value of the accumulative slippage decreases to reach 0 during clutch OFF.
Monitoring of the accumulative slippage is used to check the smoothing progress with the slippage method.

[Md.423] Auxiliary shaft clutch ON/OFF status

The clutch ON/OFF status is stored.

[Md.424] Auxiliary shaft clutch smoothing status

The smoothing status of the clutch is stored. The status is updated by the clutch smoothing method as follows.
Method Details
Time constant method The status is always "1: On clutch smoothing" during the clutch ON status. The status will be "0: Not on clutch
smoothing" when the clutch is turned OFF and smoothing is completed.
Slippage method The status is "1: On clutch smoothing" till the clutch accumulative slippage amount reaches the slippage at clutch ON
when the clutch is turned ON. The status will change to "0: Not on clutch smoothing" when the clutch accumulative
slippage amount reaches the slippage at clutch ON. The status is "1: On clutch smoothing" till the clutch accumulative
slippage amount reaches 0 when the clutch is turned OFF. The status will change to "0: Not on clutch smoothing" when
the clutch accumulative slippage amount reaches 0.

[Md.425] Auxiliary shaft clutch slippage (accumulative)

The accumulative slippage amount with the slippage method is stored as a signed value.
The absolute value of the accumulative slippage increases to reach the slippage at clutch ON during clutch ON.
The absolute value of the accumulative slippage decreases to reach 0 during clutch OFF.
Monitoring of the accumulative slippage is used to check the smoothing progress with the slippage method.

4 ADVANCED SYNCHRONOUS CONTROL

156 4.7 Synchronous Control Monitor Data
4.8 Phase Compensation Function
In synchronous control, delays in progresses, etc. cause the phase to deviate at the output axis motor shaft end with respect
to the input axis (servo input axis or synchronous encoder axis). The phase compensation function compensates in this case
so that the phase does not deviate.
Phase compensation can be set for the input and the output axis. It is possible to compensate using the delay time inherent to
the system based on the servo input axis or the synchronous encoder axis on the input axis side. It is also possible to use a
compensation delay time equivalent to the position deviation for each servo amplifier on the output axis side.

Phase compensation of delay time of the input axis

Set delay time inherent to the system in the phase compensation advance time of the input axis ("[Pr.302] Servo input axis
phase compensation advance time", "[Pr.326] Synchronous encoder axis phase compensation advance time").
4
The delay time inherent to the system is shown below.

■Delay time inherent to the system for a servo input axis

[FX5-SSC-S]
Operation cycle [ms] [Pr.300] Servo input axis type
Command position Actual position value Command to servo Feedback value
value amplifier
0.888 0 [μs] 1833 [μs] 0 [μs] 3611 [μs]
1.777 0 [μs] 1833 [μs] 0 [μs] 5389 [μs]

[FX5-SSC-G]
Operation cycle [ms] [Pr.300] Servo input axis type
Command position Actual position value Command to servo Feedback value
value amplifier
0.500 0 [μs] 3250 [μs] 0 [μs] 3250 [μs]
1.000 0 [μs] 5751 [μs] 0 [μs] 5751 [μs]
2.000 0 [μs] 10751 [μs] 0 [μs] 10751 [μs]
4.000 0 [μs] 20751 [μs] 0 [μs] 20750 [μs]

■Delay time inherent to the system for a synchronous encoder axis

[FX5-SSC-S]
Operation cycle [ms] [Pr.320] Synchronous encoder axis type
Incremental synchronous Synchronous encoder via servo Synchronous encoder via CPU
encoder amplifier
0.888 2265 [μs] 3653 [μs] 2265 + Scan time [μs]
1.777 3953 [μs] 5413 [μs] 3953 + Scan time [μs]

[FX5-SSC-G]
Operation cycle [ms] [Pr.320] Synchronous encoder axis type
Synchronous encoder via servo Synchronous encoder via CPU Synchronous encoder via link
amplifier device*1*2
0.500 3251 [μs] 3252 + Scan time [μs] 4521 [μs]
1.000 5760 [μs] 5751 + Scan time [μs] 6717 [μs]
2.000 10754 [μs] 10751 + Scan time [μs] 10742 [μs]
4.000 20763 [μs] 20750 + Scan time [μs] 18744 [μs]

*1 Values when using an NSD Corporation CC-Link IE TSN compatible encoder (EZA-MACTS-02C).
*2 Use the delay time as a reference value. There is a variation of tens to hundreds of [μs] in the delay time.

4 ADVANCED SYNCHRONOUS CONTROL

4.8 Phase Compensation Function 157
 Phase compensation of delay time of the output axis
Set delay time equivalent to the position deviation on the servo amplifier in "[Pr.444] Cam axis phase compensation advance
time" for the output axis. The delay time equivalent to position deviation of the servo amplifier is calculated using the following
formula. (When using MR-J3(W)-B, MR-J4(W)-B, MR-J5(W)-G, and MR-JE-B(F))
Delay time [μs] = 1000000 / Servo parameter "Model loop gain (PB07)"
When the feed forward gain is set, the delay time is set to a smaller value than the value listed above.
The model loop gain will change when the gain adjustment method is auto tuning mode 1 or 2. The model loop gain must not
be changed on the axis executing phase compensation through preventing change with the manual mode or interpolation
mode setting.

Setting example
When axis 1 is synchronized with an incremental synchronous encoder axis, the phase compensation advance time is set as
follows.
(If MR-J4(W)-B, the operation cycle is as 1.77 [ms], and model loop gain of axis 1 is as 80.)
Setting item Setting value
[Pr.326] Synchronous encoder axis phase compensation advance time 3953 [μs]
For the delay time inherent to the system for a synchronous encoder axis, refer to
the following.
Page 157 Delay time inherent to the system for a synchronous encoder axis
[Pr.444] Cam axis phase compensation advance time 1000000 / 80 = 12500 [μs]

When overshoot or undershoot occurs during acceleration/deceleration, set a longer time for the phase compensation time
constant.

4 ADVANCED SYNCHRONOUS CONTROL

158 4.8 Phase Compensation Function
4.9 Output Axis Sub Functions
The following shows which sub functions apply for the output axis in synchronous control.
: Valid, : Invalid
Sub function Output Details
axis
Backlash compensation function  The same control as other methods.
Electronic gear function 
Speed limit function  Setting is ignored.
("[Pr.8] Speed limit value" must be set to use "[Pr.446] Synchronous control deceleration time".)
Torque limit function  Controlled with "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value" similar to
other methods.
4
Software stroke limit function  The axis stops immediately when exceeding the software stroke limit range.
To disable the software stroke limit, set the setting value so that "Upper limit value = Lower limit value".
Hardware stroke limit function  Controlled the same as positioning control.
Forced stop function  Same control as other methods.
Speed change function  Setting is ignored.
Override function 
Acceleration/deceleration time change 
function
Torque change function  Same control as other methods.
Absolute system 
Step function  Setting is ignored.
Skip function 
M code output function  M code is not able to output.
Teaching function 
Setting is ignored.
Target position change function 
Command in-position function 
Acceleration/deceleration processing  Valid at deceleration stop only.
function Deceleration time is set in "[Pr.446] Synchronous control deceleration time".
Pre-reading start function  Setting is ignored.
Deceleration start flag function 
Stop command processing for 
deceleration stop function
Speed control 10 × multiplier setting  Reflected on monitor data.
for degree axis function
Operation setting for incompletion of  Controlled the same as positioning control.
home position return function For a system that needs alignment, start synchronous control after establishing a home position.
Servo ON/OFF  Servo OFF request is ignored during synchronous control similar to positioning control.

Sub functions for an input axis in synchronous control conform to the specification of each control (Home
position return control, Positioning control, Manual control, Speed torque control). Refer to "CONTROL SUB
FUNCTIONS" in the following manual for details.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)
The delay time inherent to the system of a command generation axis is 0, so that the phase compensation
function does not exist.

4 ADVANCED SYNCHRONOUS CONTROL

4.9 Output Axis Sub Functions 159
 5 ADVANCED SYNCHRONOUS CONTROL
INITIAL POSITION
The initial position for synchronous control is explained in this chapter.
Configure these settings for situations that require initial position alignment for synchronous control.

5.1 Synchronous Control Initial Position

The following synchronous control monitor data can be aligned to a set position when starting synchronous control, as the
initial position for synchronous control.
The alignment to a synchronous control initial position is useful for restoring a system based on the last control status along
with restarting synchronous control after canceling midway.
Synchronous control monitor data The position when starting synchronous control
[Md.400] Position value after composite main shaft gear Restored to a position based on the main input axis of the main shaft.
[Md.401] Position value per cycle after main shaft gear Restored according to "[Pr.460] Setting method of position value per cycle
after main shaft gear".
[Md.402] Position value per cycle after auxiliary shaft gear Restored according to "[Pr.461] Setting method of position value per cycle
after auxiliary shaft gear".
[Md.407] Cam axis position value per cycle Restored according to "[Pr.462] Cam axis position restoration object".
[Md.408] Cam reference position
[Md.409] Cam axis command position value

[Md.400] Position value after composite main shaft gear

Composite
Main shaft main Main shaft
main input axis shaft gear gear

[Md.401] Position value [Pr.460] Setting method of position value

per cycle after per cycle after main shaft gear
main shaft gear 0: Previous value
Main shaft
Main shaft clutch 1: Initial setting value of
sub input axis
position value per cycle
after main shaft gear
Auxiliary shaft Auxiliary shaft 2: Calculate from input axis
gear clutch
Composite
auxiliary shaft
gear

[Md.407] Cam axis position

value per cycle

Auxiliary Output axis

shaft axis [Md.408] Cam reference [Pr.462] Cam axis position restoration object
position 0: Cam axis position value
[Md.402] Position value per cycle [Md.409] Cam axis command per cycle restoration
after auxiliary shaft gear position value 1: Cam reference position
restoration
2: Cam axis command position
[Pr.461] Setting method of position value value restoration
per cycle after auxiliary shaft gear
0: Previous value
1: Initial setting value of
position value per cycle
after auxiliary shaft gear
2: Calculate from input axis

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

160 5.1 Synchronous Control Initial Position
Position value after composite main shaft gear at synchronous control start
The position value after composite main shaft gear is restored as follows according to the main input axis operation executed
before starting synchronous control.
Operation of Servo input axis Command Synchronous encoder axis
main input axis Absolute Absolute generation Incremental Absolute Synchronou Synchronou Synchronou
(Before position position axis synchronou synchronou s encoder s encoder s encoder
synchronous detection detection s encoder s encoder via CPU via link via link
control start) system system [FX5-SSC-S] [FX5-SSC-S] device device
valid invalid Synchronou Synchronou (incremental (absolute
s encoder s encoder system) position
via servo via servo [FX5-SSC-G] detection
amplifier amplifier system)
(incremental (absolute [FX5-SSC-G]
system) position
[FX5-SSC-G] detection
system)
[FX5-SSC-G]
5
Home position return Restoration method 1)  
Current value Restoration method 1) Restoration Restoration method 1)
change method 1)
Speed control*1 Restoration method 1) Restoration 
method 1)
Fixed-pitch feed Restoration method 1)  
control
Speed-position Restoration method 1) Restoration 
switching control*1 method 1)
Position-speed Restoration method 1)  
switching control*1
Connection to servo Restoration Restoration  
amplifier method method 1)
2)*2*3
Connection to   Restoration Restoration Restoration Restoration Restoration
synchronous method 1) method 2) method 2)*4 method 1) method 2)*5
encoder
Others Restoration method 2) Restoration Restoration method 2)
method 2)

*1 When "[Pr.300] Servo input axis type" is either "1: Command position value" or "2: Actual position value", and when "[Pr.21] Command
position value during speed control" is "2: Clear command position value to zero" only.
*2 When the unit setting of servo input axis is set to degree, the value of servo input axis becomes the rounded value within the range of 0
to 359.99999° and the value is restored by the following restoration method 2) using the difference from the position value of servo input
axis at the last synchronous control session.
*3 In the servo input axis, the amount of change cannot be calculated correctly when the axis moves more than ±2147483647 (input axis
unit) from the last synchronous control session before the synchronous control start.
*4 In the synchronous encoder axis via CPU, the amount of change cannot be calculated correctly when the axis moves more than
"Resolution of synchronous encoder via CPU" from the last synchronous control session before the synchronous control start.
*5 In the synchronous encoder via link device (ABS), if the movement exceeds "Ring counter maximum value - Ring counter minimum
value" from the previous synchronous control before the start of the synchronous control, the amount of change cannot be calculated
correctly. [FX5-SSC-G]

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.1 Synchronous Control Initial Position 161
 Restoration method 1): The new position value after composite main shaft gear is calculated based on the current value of the
main input axis.
Position value after composite main shaft gear =
Main input direction of composite main shaft gear × Main input axis current value
Restoration method 2): The movement amount of the main input axis from the last synchronous control session is reflected to
the position value after composite main shaft gear.
Position value after composite main shaft gear =
Position value after composite main shaft gear at the last synchronous control session + Main input direction of composite
main shaft gear × Amount of change of main input axis current value from the last synchronous control session
The position value after composite main shaft gear at the last synchronous control session is restored when "0: Invalid" is set
in "[Pr.400] Main input axis No.", or when a servo input axis or a synchronous encoder axis as the main input axis is not
connected.

"The last synchronous control session" indicates status just before the last synchronous control session was
stopped as follows. These are listed with the last synchronization status.
• Just before "[Cd.380] Synchronous control start" turns from ON to OFF.
• Just before deceleration stop by a stop command or an error, etc.
• Just before the system's power supply turned OFF to the Simple Motion module/Motion module.

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

162 5.1 Synchronous Control Initial Position
Position value per cycle after main/auxiliary shaft gear at synchronous control start
The position value per cycle after main shaft gear/position value per cycle after auxiliary shaft gear is restored as follows
according to the main input axis/auxiliary shaft operation executed before starting synchronous control.
Operation of Servo input axis Command Synchronous encoder axis
main input axis Absolute Absolute generation Incremental Absolute Synchronou Synchronou Synchronou
(Before position position axis synchronou synchronou s encoder s encoder s encoder
synchronous detection detection s encoder s encoder via CPU via link via link
control start) system system [FX5-SSC-S] [FX5-SSC-S] device device
valid invalid Synchronou Synchronou (incremental (absolute
s encoder s encoder system) position
via servo via servo [FX5-SSC-G] detection
amplifier amplifier system)
(incremental (absolute [FX5-SSC-G]
system) position
[FX5-SSC-G] detection
system)
[FX5-SSC-G]
5
Home position return Restoration method 1)  
Current value Restoration method 1) Restoration Restoration method 1)
change method 1)
Speed control*1 Restoration method 1) Restoration 
method 1)
Fixed-pitch feed Restoration method 1)  
control
Speed-position Restoration method 1) Restoration 
switching control*1 method 1)
Position-speed Restoration method 1)  
switching control*1
Connection to servo Restoration Restoration  
amplifier method method 1)
2)*2*3
Connection to   Restoration Restoration Restoration Restoration Restoration
synchronous method 1) method 2)*3 method 2) method 1) method 2)*3
encoder
Others Restoration method 2)*3 Restoration Restoration method 2)*3
method 2)*3

*1 When "[Pr.300] Servo input axis type" is either "1: Command position value" or "2: Actual position value", and when "[Pr.21] Command
position value during speed control" is "2: Clear command position value to zero" only.
*2 When the unit setting of servo input axis is set to degree, the value of servo input axis becomes the rounded value within the range of 0
to 359.99999° and the value is restored by the following restoration method 2) using the difference from the position value of servo input
axis at the last synchronous control session. Therefore, when positioning control is executed with exceeding 360 degree in the servo
input axis, position value per cycle after main shaft gear/position value per cycle after auxiliary shaft gear may not be restored correctly.
In that case, use with the setting "[Pr.460] Setting method of position value per cycle after main shaft gear"/"[Pr.461] Setting method of
position value per cycle after auxiliary shaft gear" is "0: Previous value" or "1: Initial setting value of position value per cycle after main
shaft gear/Initial setting value of position value per cycle after auxiliary shaft gear".
*3 In main input axis, the amount of change cannot be calculated correctly when the axis moves more than ±2147483647 (input axis unit)
from the last synchronous control session before synchronous control start. In that case, use with the setting "[Pr.460] Setting method of
position value per cycle after main shaft gear"/"[Pr.461] Setting method of position value per cycle after auxiliary shaft gear" is "0:
Previous value" or "1: Initial setting value of position value per cycle after main shaft gear/Initial setting value of position value per cycle
after auxiliary shaft gear".

Restoration method 1): The new value of the position value per cycle after main shaft gear/position value per cycle after
auxiliary shaft gear is calculated based on the position value after composite main shaft gear/auxiliary shaft current value.
[Main shaft]
Position value per cycle after main shaft gear = Main shaft gear ratio × Position value after composite main shaft gear
[Auxiliary shaft]
Position value per cycle after auxiliary shaft gear = Auxiliary shaft gear ratio × Auxiliary shaft current value

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.1 Synchronous Control Initial Position 163
 Restoration method 2): The movement amount from the last synchronous control session is reflected to the position value per
cycle after main shaft gear/position value per cycle after auxiliary shaft gear.
[Main shaft]
Position value per cycle after main shaft gear =
Position value per cycle after main shaft gear at the last synchronous control session + Main shaft gear ratio × Amount of
change of position value after composite main shaft gear from the last synchronous control session
[Auxiliary shaft]
Position value per cycle after auxiliary shaft gear =
Position value per cycle after auxiliary shaft gear at the last synchronous control session + Auxiliary shaft gear ratio × Amount
of change of auxiliary shaft current value from the last synchronous control session
The position value per cycle after main shaft gear/position value per cycle after auxiliary shaft gear at the last synchronous
control session is restored when "0: Invalid" is set in "[Pr.400] Main input axis No."/"[Pr.418] Auxiliary shaft axis No.", or when
a servo input axis or a synchronous encoder axis as the main input axis/auxiliary shaft is not connected.

Cam axis position at synchronous control start

The cam axis position is composed of the relationship of 3 positions "Cam axis position value per cycle", "Cam reference
position" and "Cam axis command position value". One of positions can be restored by defining 2 positions when starting
synchronous control.

Cam axis position value per cycle

Cam axis command position value

Cam reference position

Select from 3 objects as follows in "[Pr.462] Cam axis position restoration object" which position is to be restored.
(Refer to Page 168 Cam Axis Position Restoration Method for details on the restoration method.)
• Cam axis position value per cycle restoration
• Cam reference position restoration
• Cam axis command position value restoration
Various parameters need to be set for the cam axis position restoration as shown below. (Refer to Page 165
Synchronous Control Initial Position Parameters for the setting details.)
: Required, : Required for initial setting value, : Not required
[Pr.462] [Pr.463] [Pr.467] [Pr.464] [Pr.468] Restoration processing details
Cam axis position Setting Cam reference Setting Cam axis
restoration object method of cam position (Initial method of cam position value
reference setting) axis position per cycle
position value per cycle (Initial setting)
0: Cam axis position     Restore "Cam axis position value per cycle"
value per cycle (Used as search based on "Cam reference position" and "Cam
restoration starting point) axis command position value".
1: Cam reference     Restore "Cam reference position" based on
position restoration "Cam axis position value per cycle" and "Cam
axis command position value".
2: Cam axis command     Restore "Cam axis command position value"
position value restoration based on "Cam axis position value per cycle"
and "Cam reference position".

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

164 5.1 Synchronous Control Initial Position
5.2 Synchronous Control Initial Position Parameters
n: Axis No. - 1
Setting item Setting details Setting value Default Buffer
value memory
address
[Pr.460] • Select the setting method for the position value per ■Set in decimal. 0 36500+200n
Setting method of cycle after main shaft gear. 0: Previous value
position value per Fetch cycle: At start (Synchronous control) 1: Initial setting value of position value per
cycle after main cycle after main shaft gear ([Pr.465])
shaft gear 2: Calculate from input axis
[Pr.461] • Select the setting method for the position value per ■Set in decimal. 0 36501+200n
Setting method of cycle after auxiliary shaft gear. 0: Previous value
position value per Fetch cycle: At start (Synchronous control) 1: Initial setting value of position value per
cycle after auxiliary cycle after auxiliary shaft gear ([Pr.466])
shaft gear 2: Calculate from input axis
[Pr.462]
Cam axis position
• Select the object to restore the cam axis position.
Fetch cycle: At start (Synchronous control)
■Set in decimal.
0: Cam axis position value per cycle
0 36502+200n
5
restoration object restoration
1: Cam reference position restoration
2: Cam axis command position value
restoration
[Pr.463] • Select the setting method for the cam reference ■Set in decimal. 2 36503+200n
Setting method of position. 0: Previous value
cam reference • Set for the cam axis position value per cycle 1: Initial setting value of cam reference position
position restoration or the cam axis command position 2: Command position value
value restoration.
Fetch cycle: At start (Synchronous control)
[Pr.464] • Select the setting method for the cam axis position ■Set in decimal. 0 36504+200n
Setting method of value per cycle. 0: Previous value
cam axis position • Set for the cam reference position restoration or 1: Initial setting value of cam axis position
value per cycle the cam axis command position value restoration. value per cycle
Fetch cycle: At start (Synchronous control) 2: Position value per cycle after main shaft
gear
3: Position value per cycle after auxiliary shaft
gear
[Pr.465] • Set the initial value of the position value per cycle ■Set in decimal. 0 36506+200n
Position value per after main shaft gear. 0 to (Cam axis length per cycle - 1) 36507+200n
cycle after main Fetch cycle: At start (Synchronous control) [Cam axis cycle units*1]
shaft gear (Initial
setting)
[Pr.466] • Set the initial value of the position value per cycle ■Set in decimal. 0 36508+200n
Position value per after auxiliary shaft gear. 0 to (Cam axis length per cycle - 1) 36509+200n
cycle after auxiliary Fetch cycle: At start (Synchronous control) [Cam axis cycle units*1]
shaft gear (Initial
setting)
[Pr.467] • Set the initial value of the cam reference position. ■Set in decimal. 0 36510+200n
Cam reference Fetch cycle: At start (Synchronous control) -2147483648 to 2147483647 36511+200n
position (Initial [Output axis position units*2]
setting)
[Pr.468] • Set the initial value for the cam axis position value ■Set in decimal. 0 36512+200n
Cam axis position per cycle. 0 to (Cam axis length per cycle - 1) 36513+200n
value per cycle • The restoration value for the cam axis position [Cam axis cycle units*1]
(Initial setting) value per cycle is searched from the setting value
with the cam axis position value per cycle
restoration.
Fetch cycle: At start (Synchronous control)

*1 Cam axis cycle units (Page 143 Units for the output axis)
*2 Output axis position units (Page 143 Units for the output axis)

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.2 Synchronous Control Initial Position Parameters 165
 [Pr.460] Setting method of position value per cycle after main shaft gear
Select the setting method of "[Md.401] Position value per cycle after main shaft gear" when starting synchronous control.
Setting value Details
0: Previous value The position value per cycle after main shaft gear from the last synchronous control session is stored.
1: Initial setting value of position value per cycle The value set in "[Pr.465] Position value per cycle after main shaft gear (Initial setting)" is stored.
after main shaft gear
2: Calculate from input axis The value calculated based on the position value after composite main shaft gear is stored.

[Pr.461] Setting method of position value per cycle after auxiliary shaft gear
Select the setting method of "[Md.402] Position value per cycle after auxiliary shaft gear" when starting synchronous control.
Setting value Details
0: Previous value The position value per cycle after auxiliary shaft gear from the last synchronous control session is stored.
1: Initial setting value of position value per cycle The value set in "[Pr.466] Position value per cycle after auxiliary shaft gear (Initial setting)" is stored.
after auxiliary shaft gear
2: Calculate from input axis The value calculated based on the auxiliary shaft current value is stored.

[Pr.462] Cam axis position restoration object

Select the object to be restored from "Cam axis position value per cycle", "Cam reference position" or "Cam axis command
position value" when starting synchronous control.
Setting value Details
0: Cam axis position value per cycle restoration Restore the cam axis position value per cycle from "Cam reference position" and "Cam axis command
position value".
1: Cam reference position restoration Restore the cam reference position from "Cam axis position value per cycle" and "Cam axis command
position value".
2: Cam axis command position value Restore the cam axis command position value from "Cam axis position value per cycle" and "Cam reference
restoration position".

[Pr.463] Setting method of cam reference position

Select the method for the cam reference position to be restored when "[Pr.462] Cam axis position restoration object" is set to
"0: Cam axis position value per cycle restoration" or "2: Cam axis command position value restoration".
Setting value Details
0: Previous value The cam reference position from the last synchronous control session is stored.
The command position value is stored when the cam reference position from the last synchronous control
session is not saved.
1: Initial setting value of cam reference position The value set in "[Pr.467] Cam reference position (Initial setting)" is stored.
2: Command position value The value set in "[Md.20] Command position value" is stored.

[Pr.464] Setting method of cam axis position value per cycle

Select the method for the cam axis position value per cycle to be restored when "[Pr.462] Cam axis position restoration object"
is set to "1: Cam reference position restoration" or "2: Cam axis command position value restoration".
Setting value Details
0: Previous value The cam axis position value per cycle from the last synchronous control session is stored as is.
1: Initial setting value of cam axis position value The value set in "[Pr.468] Cam axis position value per cycle (Initial setting)" is stored.
per cycle
2: Position value per cycle after main shaft gear The position value per cycle after main shaft gear is stored.
3: Position value per cycle after auxiliary shaft The position value per cycle after auxiliary shaft gear is stored.
gear

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

166 5.2 Synchronous Control Initial Position Parameters
[Pr.465] Position value per cycle after main shaft gear (Initial setting)
Set the initial setting value of the position value per cycle after main shaft gear when "[Pr.460] Setting method of position value
per cycle after main shaft gear" is set to "1: Position value per cycle after main shaft gear (Initial setting)".
The unit settings are in cam axis cycle units (Page 143 Units for the output axis). Set within the range from 0 to (Cam axis
length per cycle - 1).

[Pr.466] Position value per cycle after auxiliary shaft gear (Initial setting)
Set the initial setting value of the position value per cycle after auxiliary shaft gear when "[Pr.461] Setting method of position
value per cycle after auxiliary shaft gear" is set to "1: Position value per cycle after auxiliary shaft gear (Initial setting)".
The unit settings are in cam axis cycle units (Page 143 Units for the output axis). Set within the range from 0 to (Cam axis
length per cycle - 1).

[Pr.467] Cam reference position (Initial setting)

Set the initial setting value of the cam reference position in output axis position units (Page 143 Units for the output axis) 5
when "[Pr.463] Setting method of cam reference position" is set to "1: Cam reference position (Initial setting)".

[Pr.468] Cam axis position value per cycle (Initial setting)

Set a value according to the setting for "[Pr.462] Cam axis position restoration object".
The unit settings are in cam axis cycle units (Page 143 Units for the output axis). Set within the range from 0 to (Cam axis
length per cycle - 1).
[Pr.462] Setting value
Cam axis position restoration object
0: Cam axis position value per cycle restoration Set the starting point for search processing to restore the cam axis position value per cycle.
Set to restore the position on the return path in two-way cam pattern operation.
Refer to the following for details on search processing.
Page 168 Cam axis position value per cycle restoration
1: Cam reference position restoration Set the initial setting value for the cam axis position value per cycle when "[Pr.464] Setting method of cam
axis position value per cycle" is set to "1: Cam axis position value per cycle (Initial setting)".
2: Cam axis command position value
restoration

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.2 Synchronous Control Initial Position Parameters 167
 5.3 Cam Axis Position Restoration Method
Cam axis position value per cycle restoration
If "[Pr.462] Cam axis position restoration object" is set to "0: Cam axis position value per cycle restoration" when starting
synchronous control, the cam axis position value per cycle is restored based on the cam reference position and the cam axis
command position value.
Select the method for the cam reference position to be restored. The command position value when starting synchronous
control is used as the cam axis command position value.
The cam axis position value per cycle is restored by searching for the corresponding value from the beginning to the end of
the cam pattern. Set the starting point from where to search the cam pattern in "[Pr.468] Cam axis position value per cycle
(Initial setting)". (It is also possible to search the return path in a two-way cam pattern operation.)

[Md.20] Command position [Md.409] Cam axis command

value (At synchronous The cam axis position value per cycle is
position value
control start) restored based on the cam reference position
and cam axis command position value.
[Md.407] Cam axis position value per cycle
[Pr.463] Setting method of cam
reference position
0: Previous value
1: Initial setting [Md.408] Cam reference
value of cam position
reference position
2: Command position
value

Cam axis position value per cycle

Cam axis command position value Search the cam pattern

(It is also possible to search from the middle
of the cam axis position value per cycle.)
Cam reference position

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

168 5.3 Cam Axis Position Restoration Method
• With two-way cam pattern operation, if the corresponding cam axis position value per cycle is not found, the
error "Cam axis position value per cycle restoration disable" (error code: 1C28H [FX5-SSC-S], or error
code: 1E78H [FX5-SSC-G]) will occur and synchronous control will not be started.
• When starting synchronous control, the command position value may change slightly from its original
position at starting synchronous control. This is due to the readjustment of the position based on the
restored cam axis position value per cycle. This does not result in the position mismatch.
• With a feed operation cam pattern, if the corresponding cam axis position value per cycle is not found on the
first cycle, the cam reference position is changed automatically and the pattern is searched again.
• If the cam resolution is large, search processing may take a long time when starting synchronous control.
[FX5-SSC-S]
Cam resolution 256: Up to about 1.0 ms, Cam resolution 16384: Up to about 40 ms
[FX5-SSC-G]
(Operation cycle 0.500 ms) Cam resolution 256: Up to about 2.2 ms, Cam resolution 16384: Up to about 40
ms 5
(Operation cycle 1.000 ms) Cam resolution 256: Up to about 0.6 ms, Cam resolution 16384: Up to about 15
ms
• When "degree" is the unit for the command position value of the output axis, the current value cannot be
restored in a cam stroke range that straddles 0 [degree] and the error "Cam axis position value per cycle
restoration disable" (error code: 1C28H [FX5-SSC-S], or error code: 1E78H [FX5-SSC-G]) will occur.
Execute cam axis position value per cycle restoration within a cam stroke range exceeding 0 to and less
than 360 [degree].

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.3 Cam Axis Position Restoration Method 169
 Cam axis position value per cycle restoration operation
■With a two-way cam pattern operation
• Search from "Cam axis position value per cycle = 0". (Cam data starting point = 0)

Cam axis position value per cycle

Search from "Cam axis position value per cycle=0".

Cam axis command position value

(Command position value) Restore to the first command position value that matches.
(Other values are not restored.)
Cam reference position

• Search from a value in the middle of the cam axis position value per cycle. (Cam data starting point  0)

[Pr.468] Cam axis position value per cycle (Initial setting)

Cam axis position value per cycle

Search from the value in the middle.

(Preceding values are searched later.)
Cam axis command position value
Restore to the first command position value that matches.
(Command position value)
(The restoration is done on the second.)

Cam reference position

• Search from a value in the middle of the cam axis position value per cycle. (Cam data starting point  0)

[Pr.468] Cam axis position value per cycle (Initial setting)

Cam axis position value per cycle

Search from the value in the middle.

Cam axis command position value
(Command position value)
Cam data
starting point
Cam reference position
Restore to the first command position value
that matches.

• The search fails. (Pattern 1)

Cam axis position value per cycle

Cam axis command position value

Restoration fails. No match is found for
(Command position value)
the command position value within 1 cycle.

Cam reference position

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

170 5.3 Cam Axis Position Restoration Method
• The search fails. (Pattern 2)
When the cam axis position value per cycle restoration is executed in a cam stroke range that straddles 0 [degree]

Cam axis position value per cycle

When "degree" is the unit in a cam stroke range that

360 degree straddles 0 degree, the range for the command position
value is 0 to 359.99999. The cam axis position value
per cycle is restored at the position on the dotted line
180 degree and the error "Cam axis position value per cycle
restoration disable" (error code: 1C28H [FX5-SSC-S],
or error code: 1E78H [FX5-SSC-G]) will occur.
Cam reference position 0
Cam stroke range
Cam axis command position value
(Command position value)
-180 degree

5
Execute cam axis position value per cycle restoration within a cam stroke range exceeding 0 and less than 360 [degree].

Cam axis position value per cycle

360 degree

180 degree
Cam stroke range
Cam axis command position value
(Command position value)
Cam reference position 0

■With a feed operation cam pattern

• Search from "Cam axis position value per cycle = 0". (Cam data starting point = 0)

Cam axis position value per cycle

Search from "Cam axis position value per cycle=0".

Cam axis command position value Restore to the first command position value that matches.
(Command position value) (Other values are not restored.)

Cam reference position

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.3 Cam Axis Position Restoration Method 171
 • Search from a value in the middle of the cam axis position value per cycle. (Cam data starting point = 0)
[Pr.468] Cam axis position value per cycle (Initial setting)

Cam axis position value per cycle

Cam axis command position value

(Command position value)
New cam reference position

Cam reference position

at starting the restoration Restore to the first command
Update the cam reference position position value that matches.
in the next cycle automatically.

• Search from a value in the middle of the cam axis position value per cycle. (Cam data starting point  0)
[Pr.468] Cam axis position value per cycle (Initial setting)
Cam axis position value per cycle

Search from the value in the middle.

Cam axis command position value
(Command position value)

New cam reference position

Cam reference position

at starting the restoration Cam data Restore to the first command
starting point Update the cam reference position value that matches.
position in the next cycle
automatically. (Update the
cam data on 0th point.)

• The first search is fails and a search begins for the second time.

Cam axis position value per cycle

Feed stroke
Cam axis command position value
(Command position value)

New cam reference position

Restore to the first
command position value
that is found in the
Cam reference position second search.
at starting the restoration
Once the restoration fails in the first search, the new cam reference position is
automatically updated to set "Command position value - New cam reference position"
to be within the feed stroke amount, and the search process starts again.

If the first search fails, a second search may not be processed on the next cycle for a cam pattern with a feed
stroke that is smaller than 100% of the stroke as above.
The intended cam axis position value per cycle can be found in the first search, by setting or positioning the
cam reference position in advance.

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

172 5.3 Cam Axis Position Restoration Method
Example
The following shows an example of restarting the cam (a cam similar to a cam with a linear feed where two identical
positioning points do not exist on the cam) from the command position value after a forced stop, when the forced stop has
stopped operation.
If the following settings are used in a two-way cam or a cam where identical positioning points exist on the same cam, similar
to the cam axis position value per cycle restoration operation (Page 170 Cam axis position value per cycle restoration
operation), the first matching command position value (outward route) is restored, therefore restoration may start from an
unintended cam pattern position. To avoid restoring the first matching command position value, use cam axis command
position value restoration (Page 176 Cam axis command position value restoration).
Setting item Setting value
[Pr.439] Cam axis length per cycle 1000 [pulse]
[Pr.441] Cam stroke amount 200 [pulse]
[Pr.462] Cam axis position restoration object 0: Cam axis position value per cycle restoration
[Pr.463] Setting method of cam reference position
[Pr.464] Setting method of cam axis position value per cycle
1: Initial setting value of cam reference position
0: Previous value
5
[Pr.467] Cam reference position (Initial setting) 0 [pulse]
[Pr.468] Cam axis position value per cycle (Initial setting) 0 [pulse]

• Advanced synchronous control operation

Command position value [pulse]
Command position value after free run
123

Time [ms]
0
Forced stop occurred during operation, and the cam decelerates to a stop. (Advanced synchronous control mode is cancelled)
• Restore operation at restart of advanced synchronous control
Command position value [pulse]

200

123
Cam reference position
= 0 [pulse]
Time [ms]
0
Cam axis position
value per cycle [pulse]

1000
Cam is determined to restart at the position where cam axis
position value per cycle is "Command position value = 123 [pulse]".
Time [ms]
0
• Cam operation
Command position value

200 (peak)

Cam operation restarts from "Command position value = 123 [pulse]"

123 when the previous forced stop occurred.

Time [ms]
0
Cam axis position
value per cycle [pulse]

1000

Time [ms]
0

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.3 Cam Axis Position Restoration Method 173
 Cam reference position restoration
If "[Pr.462] Cam axis position restoration object" is set to "1: cam reference position restoration" when starting synchronous
control, the cam reference position is restored based on the cam axis position value per cycle and the cam axis command
position value.
Select the method for the cam axis position value per cycle to be restored. The command position value when starting
synchronous control is used as the cam axis command position value.
[Pr.464] Setting method of cam axis
position value per cycle
0: Previous value
1: Initial setting value of cam axis
position value per cycle The cam reference position is restored
2: Position value per cycle [Md.407] Cam axis position based on the cam axis position value per
after main shaft gear value per cycle cycle and the cam axis command position value.
3: Position value per cycle
after auxiliary shaft gear [Md.408] Cam reference position

[Md.20] Command position value [Md.409] Cam axis command

(At synchronous control start) position value

Cam axis position value per cycle

Cam axis command position value

Cam reference position

Restored by the equation of "Command position value - Cam axis position value per cycle"

Example
The following shows an example of starting operation from a position of "cam axis position value per cycle=0" by restoring the
cam reference position when starting from "command position value=0 [pulse]", in the cam when the cam data starting point is
not 0.
Setting item Setting value
[Pr.439] Cam axis length per cycle 1000 [pulse]
[Pr.441] Cam stroke amount 200 [pulse]
[Pr.462] Cam axis position restoration object 1: Cam reference position restoration
[Pr.463] Setting method of cam reference position None
[Pr.464] Setting method of cam axis position value per cycle 1: Initial setting value of cam axis position value per cycle
[Pr.467] Cam reference position (Initial setting) None
[Pr.468] Cam axis position value per cycle (Initial setting) 0 [pulse]

• Operation before starting advanced synchronous control

Command position value [pulse] Stroke ratio [%]

Cam pattern for "cam data

starting point setting = 200 [pulse]"
"Command position value = 0" due to 100
home position return, etc. (200 [pulse])

Time [ms] Cam axis length per cycle [pulse]

0 0 1000

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

174 5.3 Cam Axis Position Restoration Method
• Restore operation at start of advanced synchronous control

Command position value [pulse]

The estimated cam pattern for
Cam starting point is set to "Cam axis position value per cycle = 0 [pulse]" as the origin is determined.
"command position value = 0 [pulse]".
Time [ms]
0

Cam reference position becomes

"0 - 200 = -200 [pulse]".
Cam axis position
value per cycle [pulse]

1000

Cam axis length per cycle

= 0 [pulse]
Time [ms]
0

• Cam operation
5
Command position value [pulse]
Cam operation starts from 0 point which is now
"Cam reference position = -200 [pulse]".
Time [ms]
0

-200

Cam axis position

value per cycle [pulse]

1000

Time [ms]
0

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.3 Cam Axis Position Restoration Method 175
 Cam axis command position value restoration
If "[Pr.462] Cam axis position restoration object" is set to "2: Cam axis command position value restoration" when starting
synchronous control, the cam axis command position value is restored based on the cam axis position value per cycle and the
cam reference position.
Select the method for the cam axis position value per cycle and the method for the cam reference position to be restored.
[Pr.464] Setting method of cam axis
position value per cycle
0: Previous value
1: Initial setting value of cam axis
position value per cycle [Md.407] Cam axis position
2: Position value per cycle value per cycle The cam axis command position value is restored
after main shaft gear based on the cam axis position value per
3: Position value per cycle cycle and the cam reference position.
after auxiliary shaft gear
[Md.409] Cam axis command position value
[Pr.463] Setting method of cam
reference position
0: Previous value
1: Initial setting value of cam [Md.408] Cam reference
reference position position
2: Command position value

Cam axis position value per cycle

Cam axis command position value

Cam reference position

The cam axis command position value moves to its restored value just after starting synchronous control
when the cam axis command position value to be restored is different from the command position value at
synchronous control start.
If the difference is larger than "In-position width (PA10)" of servo amplifier in pulse command units, the error
"Cam axis command position value restoration disable" (error code: 1C29H [FX5-SSC-S], or error code:
1E79H [FX5-SSC-G]) will occur and synchronous control cannot be started.
Note that, if the setting value of "In-position width" is large, a rapid operation may occur.

With cam axis command position value restoration, calculate the cam axis command position value with the
cam position calculation function (Page 180 Cam Position Calculation Function) or with synchronous
control analysis mode (Page 178 Synchronous Control Analysis Mode) before starting synchronous
control. Then start synchronous control after positioning to the correct cam axis command position value.

Example
The following shows an example of starting a cam pattern from the zero point of the cam axis position value per cycle with the
current command position value position as the origin when returning to a specified point, or home position return is
completed after a forced stop.
Setting item Setting value
[Pr.439] Cam axis length per cycle 1000 [pulse]
[Pr.441] Cam stroke amount 200 [pulse]
[Pr.462] Cam axis position restoration object 2: Cam axis command position value restoration
[Pr.463] Setting method of cam reference position 2: Command position value
[Pr.464] Setting method of cam axis position value per cycle 1: Initial setting value of cam axis position value per cycle
[Pr.467] Cam reference position (Initial setting) None

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

176 5.3 Cam Axis Position Restoration Method
 Setting item Setting value
[Pr.468] Cam axis position value per cycle (Initial setting) 0 [pulse]

• Move to advanced synchronous control starting point

Command position value [pulse]

150

Time [ms]
0
Move to the position of 150 [pulse] by
return to cam starting position, or by home position return.

• Restore operation

Command position value [pulse]

Start synchronous control.
The cam reference position (command position value = 150 [pulse])
becomes the equivalent for the position where
"Cam axis position value per cycle = 0".
5

150

Time [ms]
0
Cam axis position
value per cycle [pulse]

Operation starts from the position "Initial setting = 0 [pulse]"

of the setting method of cam axis position value per cycle.

Time [ms]
0

• Cam operation

Command position value [pulse]

With the "command position value = 150 [pulse]"
350 position as the start point, the cam operates
for the amount of "Cam reference position + cam stroke amount".

150

Time [ms]
0
Cam axis position
value per cycle [pulse] The time when cam axis position value per cycle is "0 [pulse]"

1000

Time [ms]
0

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.3 Cam Axis Position Restoration Method 177
 5.4 Synchronous Control Analysis Mode
With synchronous control analysis mode, advanced synchronous control parameters are only analyzed when there is a
command to start synchronous control. This mode is used to confirm the synchronous positions of the output axes in order to
align axes with position control before starting synchronous control.
If the target axis bit is ON in "[Cd.381] Synchronous control analysis mode" when starting synchronous control (turning the
target axis bit from OFF to ON for "[Cd.380] Synchronous control start"), operation enters synchronous control analysis mode.

When the synchronization position analysis is completed, the synchronous control monitor data ([Md.400] to [Md.425]) is
updated, and the target axis bit in "[Cd.380] Synchronous control start" turns OFF.
"[Md.141] BUSY" is not turned ON during synchronous control analysis mode.
When starting synchronous control with synchronous control analysis mode, the following error does not occur.
• Cam axis command position value restoration disable (error code: 1C29H [FX5-SSC-S], or error code: 1E79H [FX5-SSC-
G])
[Cd.380] Synchronous control start
(Target axis bit)
[Cd.381] Synchronous control
analysis mode
(Target axis bit)
Synchronous control monitor data The last monitor value Monitor value at synchronous control start
([Md.400] to [Md.425])
Start positioning on the cam axis command position value at the beginning
after checking the target axis bit of "[Cd.380] Synchronous control start" is
OFF.
[Cd.184] Positioning start

[Md.141] BUSY (Target axis bit)

(OFF during analyzing)
[Md.26] Axis operation status Standby (0) Analyzing (5) Standby (0) Position control (8) Standby (0) Analyzing (5) Synchronous control (15)

Check synchronization Move to the Start synchronous control

position in synchronous synchronization
control analysis mode. position with
positioning control.

Synchronous control system control data

Setting item Setting details Setting value Default Buffer
value memory
address
[Cd.380] • Synchronous control begins if the target axis bit is ■Set the target axis in 16 bits.*1 0 36320
Synchronous control turned ON. (bit0: axis 1 to bit7: axis 8*2)
start • Synchronous control ends if the bit is turned OFF during OFF: Synchronous control end
synchronous control. ON: Synchronous control start
Fetch cycle: Operation cycle
[Cd.381] • If the target axis bit is turned ON and synchronous ■Set the target axis in 16 bits. 0 36322
Synchronous control control is started, the analysis is only executed and the (bit0: axis 1 to bit7: axis 8*2)
analysis mode control does not start. OFF: Synchronous control analysis mode OFF
Fetch cycle: At start (Synchronous control) ON: Synchronous control analysis mode ON

*1 When the synchronous control analysis mode is executed simultaneously or the synchronous control analysis mode and the
synchronous control start are executed simultaneously for multiple axes, perform the setting for the synchronous control start in batches
for each word. If the axes are set continuously in bits, the synchronous control analysis mode and the synchronous control start may not
operate depending on the timing.
*2 The range from axis 1 to 4 is valid in the 4-axis module and from axis 1 to 8 is valid in the 8-axis module.

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

178 5.4 Synchronous Control Analysis Mode
Example
The following shows a procedure of aligning the synchronous position of an output axis that references the input axis.

1. Set the following values in the synchronous control initial position parameters.
Setting item Setting value
[Pr.460] Setting method of position value per cycle after main shaft gear 2: Calculate from input axis
[Pr.462] Cam axis position restoration object 2: Cam axis command position value restoration
[Pr.463] Setting method of cam reference position 0: Previous value
[Pr.464] Setting method of cam axis position value per cycle 2: Position value per cycle after main shaft gear

2. Turn ON the target axis bit of "[Cd.381] Synchronous control analysis mode", and then turn the target axis bit from OFF
to ON in "[Cd.380] Synchronous control start" to start the synchronous control analysis mode.

3. Verify the target axis bit is OFF for "[Cd.380] Synchronous control start", and execute positioning for the output axis to be
updated to "[Md.409] Cam axis command position value".

4. Turn OFF the target axis bit of "[Cd.381] Synchronous control analysis mode", and then turn the target axis bit from OFF 5
to ON in "[Cd.380] Synchronous control start" to start synchronous control.

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.4 Synchronous Control Analysis Mode 179
 5.5 Cam Position Calculation Function
The cam position is calculated by the program with this function. This function can be used to calculate the cam position for
the synchronous control initial position before starting synchronous control.

Example
The following shows the procedure for synchronous position alignment, in a synchronous system where cam axes 2 and 3 are
synchronized with the cam axis position value per cycle of axis 1.

1. Calculate the cam axis position value per cycle using this function based on the command position value and the cam
reference position of axis 1.

2. Calculate the cam axis command position value of axis 2 with this function based on the cam axis position value per
cycle that was calculated in 1).

3. Calculate the cam axis command position value of axis 3 with this function based on the cam axis position value per
cycle that was calculated in 1).

4. Execute positioning on axis 2 to the cam axis command position value which was calculated in 2), and also on axis 3 to
the cam axis command position value which was calculated in 3).

5. Start synchronous control on axis 1, 2 and 3 with the command position value restoration mode. Use the cam axis
position value per cycle that was calculated in 1) for the cam axis position value per cycle (Initial setting).

Cam position calculation control data

Setting item Setting details Setting value Default Buffer
value memory
address
[Cd.612] • Set the cam position calculation request. ■Set in decimal. 0 53780
Cam position • The Simple Motion module/Motion module resets the 1: Cam axis command position value
calculation request value to "0" automatically after completion of the cam calculation request
position calculation. 2: Cam axis position value per cycle calculation
Fetch cycle: Main cycle*1 request
[Cd.613] • Set the cam No. for the cam position calculation. ■Set in decimal. 0 53781
Cam position Fetch cycle: At request (Cam position calculation request) 0 to 256
calculation: Cam No.
[Cd.614] • Set the cam stroke amount for the cam position ■Set in decimal. 0 53782
Cam position calculation. -2147483648 to 2147483647 53783
calculation: Stroke Fetch cycle: At request (Cam position calculation request) [Output axis position units*2]
amount
[Cd.615] • Set the cam axis length per cycle for the cam position ■Set in decimal. 0 53784
Cam position calculation. 1 to 2147483647 53785
calculation: Cam axis Fetch cycle: At request (Cam position calculation request) [Cam axis cycle units*3]
length per cycle
[Cd.616] • Set the cam reference position for the cam position ■Set in decimal. 0 53786
Cam position calculation. -2147483648 to 2147483647 53787
calculation: Cam Fetch cycle: At request (Cam position calculation request) [Output axis position units*2]
reference position
[Cd.617] • Set the cam axis position value per cycle for the cam ■Set in decimal. 0 53788
Cam position position calculation. 0 to (Cam axis length per cycle) 53789
calculation: Cam axis Fetch cycle: At request (Cam position calculation request) [Cam axis cycle units*3]
position value per
cycle
[Cd.618] • Set the cam axis command position value for the cam ■Set in decimal. 0 53790
Cam position position calculation. (Set when calculating the cam axis -2147483648 to 2147483647 53791
calculation: Cam axis position value per cycle.) [Output axis position units*2]
command position Fetch cycle: At request (Cam position calculation request)
value

*1 With the exception of positioning control, main cycle processing is executed during the next available time. It changes by status of axis
start.
*2 Output axis position units (Page 143 Units for the output axis)
*3 Cam axis cycle units (Page 143 Units for the output axis)

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

180 5.5 Cam Position Calculation Function
[Cd.612] Cam position calculation request
Set the following commands to calculate the cam position.
Setting value Details
1 Cam axis command position value calculation request
2 Cam axis position value per cycle calculation request

The result is stored in "[Md.600] Cam position calculation result" and the setting value is reset to "0" automatically after
completion of cam position calculation.
If warnings occur when requesting the cam position calculation, the warning No. is stored in "[Md.24] Axis warning No." of axis
1 and the setting value is reset to "0" automatically.
When a value other than the request command values listed above is set, this calculation does not get executed and the
setting value is reset to "0" automatically.

[Cd.613] Cam position calculation: Cam No.

Set the cam No. for the cam position calculation. If 0 is set for the cam No., the cam position is calculated as a linear cam. 5
[Cd.614] Cam position calculation: Stroke amount
Set the cam stroke amount for the cam position calculation.

[Cd.615] Cam position calculation: Cam axis length per cycle

Set the cam axis length per cycle for the cam position calculation.

[Cd.616] Cam position calculation: Cam reference position

Set the cam reference position for the cam position calculation.

[Cd.617] Cam position calculation: Cam axis position value per cycle
Set the cam axis position value per cycle for the cam position calculation when calculating the cam axis command position
value.
Set the cam axis position value per cycle as the starting point to search when calculating the cam axis position value per cycle
and the cam position.

[Cd.618] Cam position calculation: Cam axis command position value

Set the cam axis command position value for the cam position calculation when calculating the cam axis position value per
cycle.
This is not used when calculating the cam axis command position value.

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.5 Cam Position Calculation Function 181
 Cam position calculation monitor data
Monitor item Storage details Monitor value Buffer memory address
[Md.600] • The result of the cam position calculation ■Monitoring is carried out in decimal. 53800
Cam position calculation result is stored. • When calculating the cam axis 53801
Refresh cycle: At completing condition command position value:
(Cam position calculation completion) -2147483648 to 2147483647
[Output axis position units*1]
• When calculating the cam axis
position value per cycle:
0 to (Cam axis length per cycle - 1)
[Cam axis cycle units*2]

*1 Output axis position units (Page 143 Units for the output axis)
*2 Cam axis cycle units (Page 143 Units for the output axis)

[Md.600] Cam position calculation result

The result of the cam position calculation is stored.
Cam position calculation Storage details
When calculating the cam axis Calculated value of the cam axis command position value is stored.
command position value
When calculating the cam axis Calculated value of the cam axis position value per cycle is stored.
position value per cycle The cam reference position is not updated automatically by the cam position calculation function.

Search for the cam axis position value per cycle

When calculating the cam axis position value per cycle using cam data, the position corresponding to "[Cd.618] Cam position
calculation: Cam axis command position value" is searched using cam data based on the position specified by "[Cd.617] Cam
position calculation: Cam axis position value per cycle".
The following shows the order of the search for "[Cd.618] Cam position calculation: Cam axis command position value".

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

182 5.5 Cam Position Calculation Function
■Stroke ratio data format
When "the nth point of cam data ≤ [Cd.617] Cam position calculation: Cam axis position value per cycle < the n + 1st point of
cam data", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position value" is searched
from the nth point of cam data.
If "[Cd.617] Cam position calculation: Cam axis position value per cycle" is in the middle of the cam data and the
corresponding position is not found until the last point of the cam data, return to the 0th point and search until the search
starting point.
If the corresponding position is not found even though the whole area of the cam data has been searched, the warning "Cam
position calculation cam axis 1 cycle position value calculation disable" (warning code: 0C64H [FX5-SSC-S], or warning code:
0EB4H [FX5-SSC-G]) will occur in reciprocated cam pattern.
For the feed cam, calculates "[Cd.618] Cam position calculation: Cam axis command position value" by the stroke difference
and searches again from the 0th point to the whole range. If the corresponding position is not found even though the search
process starts again, the warning "Cam position calculation cam axis 1 cycle position value calculation disable" (warning
code: 0C64H [FX5-SSC-S], or warning code: 0EB4H [FX5-SSC-G]) will occur.

Ex. 5
When "[Cd.617] Cam position calculation: Cam axis position value per cycle" is corresponding to the 0th point of cam data

1
Search order

[Cd.617] Cam position calculation: Cam axis

position value per cycle
0
(Cam reference
position) Search starting point

Cam axis length per cycle [Cam axis cycle units]

At the 0th point At the 256th point
• Searches until between the 255th point and the 256th point (last point) in order of the cam data between the 0th point and
the 1st point and between the 1st point and the 2nd point.

Ex.
When "[Cd.617] Cam position calculation: Cam axis position value per cycle" is corresponding to the 128th point of cam data

2 1
Search order

[Cd.617] Cam position calculation:

Cam axis position value
per cycle
0
(Cam reference
position)
Search starting point
At the 128th point

Cam axis length per cycle [Cam axis cycle units]

At the 0th point At the 256th point
• Searches until between the 255th point and the 256th point (last point) in order of the cam data between the 128th point
and the 129th point and between the 130th point and the 131st point.
• If the corresponding position is not found until the last point of the cam data, searches from the 0th point of the cam data.
• Searches until between the 127th point and the 128th point in order of the cam data between the 0th point and the 1st point
and between the 1st point and the 2nd point.

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.5 Cam Position Calculation Function 183
 ■Coordinate data format
(1) The range before the 1st point of cam data
When the 1st point of the cam data is larger than 0 and "[Cd.617] Cam position calculation: Cam axis position value per cycle
< the 1st point of cam data", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position
value" is searched from the range before the 1st point of the cam data.
If the corresponding position is not found in the range of (1), searches in the range of (2). If the corresponding position is not
found in the range of (2) either, searches in the range of (3).
If the corresponding position is not found even though the range of (1) to (3) has been searched, the warning "Cam position
calculation cam axis 1 cycle position value calculation disable" (warning code: 0C64H [FX5-SSC-S], or warning code: 0EB4H
[FX5-SSC-G]) will occur in reciprocated cam pattern.
For the feed cam, calculates "[Cd.618] Cam position calculation: Cam axis command position value" by the stroke difference
and searches again from the 0th point to the whole range. If the corresponding position is not found even though the search
process starts again, the warning "Cam position calculation cam axis 1 cycle position value calculation disable" (warning
code: 0C64H [FX5-SSC-S], or warning code: 0EB4H [FX5-SSC-G]) will occur.

Ex.
When "[Cd.617] Cam position calculation: Cam axis position value per cycle" is set before the 1st point of cam data

1 2 3
Search order
At the 2nd point

At the 3rd point

Search starting At the 1st point
point
[Cd.617] Cam position calculation: Cam At the 5th point
At the 0th point
axis position value per cycle
0
(Cam reference
position) At the 4th point

(1) (2) (3)

Cam axis length per cycle [Cam axis cycle units]

• Searches from the range of (1).

• If the corresponding position is not found in the range of (1), searches from the 1st point of the cam data in the range of (2).
(2) The range within the cam data
When "[Cd.617] Cam position calculation: Cam axis position value per cycle < the last point of cam data", the position
corresponding to "[Cd.618] Cam position calculation: Cam axis command position value" is searched from the range of the
cam data.
When "the nth point of cam data ≤ [Cd.617] Cam position calculation: Cam axis position value per cycle < the n + 1st point of
cam data", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position value" is searched
from the nth point of cam data.
If "[Cd.617] Cam position calculation: Cam axis position value per cycle" is in the middle of the cam data and the
corresponding position is not found until the last point of the cam data, returns to the 1st point and searches until the search
starting point.
If the corresponding position is not found in the range of (2), searches in the range of (3).
If the corresponding position is not found even though the range of (2) and (3) has been searched, the warning "Cam position
calculation cam axis 1 cycle position value calculation disable" (warning code: 0C64H [FX5-SSC-S], or warning code: 0EB4H
[FX5-SSC-G]) will occur in reciprocated cam pattern.
For the feed cam, calculates "[Cd.618] Cam position calculation: Cam axis command position value" by the stroke difference
and searches again from the 0th point to the whole range. If the corresponding position is not found even though the search
process starts again, the warning "Cam position calculation cam axis 1 cycle position value calculation disable" (warning
code: 0C64H [FX5-SSC-S], or warning code: 0EB4H [FX5-SSC-G]) will occur.

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

184 5.5 Cam Position Calculation Function
Ex.
When "[Cd.617] Cam position calculation: Cam axis position value per cycle" is corresponding to the 1st point of cam data

1 2 Search order
At the 2nd point
Search starting point

At the 3rd point

At the 1st point

At the 0th point [Cd.617] Cam position At the 5th point

calculation: Cam axis
position value per cycle
0
(Cam reference
position) At the 4th point

(1) (2) (3)

Cam axis length per cycle [Cam axis cycle units] 5

• Searches until between the 4th point and the 5th point (last point) in order of the cam data between the 1st point and the
2nd point and between the 2nd point and the 3rd point.
• If the corresponding position is not found until the last point of the cam data, searches from the range of (3).

Ex.
When "[Cd.617] Cam position calculation: Cam axis position value per cycle" is corresponding to the 3rd point of cam data

2 1 3 Search order
At the 2nd point
Search starting point

At the 1st point

At the 3rd point

At the 0th point [Cd.617] Cam position calculation: At the 5th point
Cam axis position value
per cycle
0
(Cam reference
position) At the 4th point

(1) (2) (3)

Cam axis length per cycle [Cam axis cycle units]

• Searches in order of the cam data between the 3rd point and the 4th point and between the 4th point and the 5th point (last
point).
• If the corresponding position is not found until the last point of the cam data, searches from the 1st point of the cam data.
• If the corresponding position is not found in the cam data between the 1st point and the 2nd point and between the 2nd
point and the 3rd point, searches from the range of (3).

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.5 Cam Position Calculation Function 185
 (3) The range from the last point of cam data to the cam axis length per cycle
When "the last point of cam data ≤ [Cd.617] Cam position calculation: Cam axis position value per cycle < cam axis length per
cycle", the position corresponding to "[Cd.618] Cam position calculation: Cam axis command position value" is searched from
the last point of the cam data or later.
If the corresponding position is not found even though the range of (3) has been searched, the warning "Cam position
calculation cam axis 1 cycle position value calculation disable" (warning code: 0C64H [FX5-SSC-S], or warning code: 0EB4H
[FX5-SSC-G]) will occur in reciprocated cam pattern.
For the feed cam, calculates "[Cd.618] Cam position calculation: Cam axis command position value" by the stroke difference
and searches again from the 0th point to the whole range. If the corresponding position is not found even though the search
process starts again, the warning "Cam position calculation cam axis 1 cycle position value calculation disable" (warning
code: 0C64H [FX5-SSC-S], or warning code: 0EB4H [FX5-SSC-G]) will occur.

Ex.
When "[Cd.617] Cam position calculation: Cam axis position value per cycle" is corresponding to the last point of cam data
1
Search order
At the 2nd point

At the 3rd point

At the 1st point
Search starting point
At the 5th point
At the 0th point

0
(Cam reference
position) At the 4th point

(1) (2) (3)

Cam axis length per cycle [Cam axis cycle units]

[Cd.617] Cam position calculation: Cam axis

position value per cycle

• Searches from the range of (3).

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

186 5.5 Cam Position Calculation Function
5.6 Method to Restart Synchronous Control
The relationship of the synchronous position for synchronous control is always saved in the Simple Motion module/Motion
module. Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized
relationship through the synchronous control initial position parameters (Page 165 Synchronous Control Initial Position
Parameters).
The reference axis used to restart synchronous control is different for each system. The following procedure shows an
example of how to restore synchronized values based on the servo input axis as reference position.

Example
Restoring 2 output axes (axis 2, axis 3) based on the servo input axis (axis 1) as the reference position. (Press conveyance
device)

Pressing position Main Main

(Axis 1) shaft
gear
shaft
gear 5
Axis 1 Axis 1
Y axis of workpiece
conveyance (Axis 3)
X axis of workpiece Axis 2 Axis 3
conveyance (Axis 2)

■Procedure for synchronous control (first time)

1. Execute home position return for axis 1, 2 and 3, and position to the synchronization starting point.

2. Set the synchronous control initial position parameters for axis 2 and 3 as follows.
Setting item Setting value
[Pr.460] Setting method of position value per cycle after main shaft gear 2: Calculate from input axis
[Pr.462] Cam axis position restoration object 0: Cam axis position value per cycle restoration
[Pr.463] Setting method of cam reference position 2: Command position value
[Pr.468] Cam axis position value per cycle (Initial setting) 0

3. Turn ON the bits for axis 2 and 3 in "[Cd.380] Synchronous control start" to start synchronous control.

■Procedure for restarting synchronous control

1. Set the synchronous control initial position parameters for axis 2 and 3 as follows.
Setting item Setting value
[Pr.460] Setting method of position value per cycle after main shaft gear 2: Calculate from input axis
[Pr.462] Cam axis position restoration object 2: Cam axis command position value restoration
[Pr.463] Setting method of cam reference position 0: Previous value
[Pr.464] Setting method of cam axis position value per cycle 2: Command value per cycle after main shaft gear

2. Turn ON the bits for axes 2 and 3 in "[Cd.381] Synchronous control analysis mode", and then turn ON the bits for axes 2
and 3 in "[Cd.380] Synchronous control start" to execute the synchronous control analysis. The analyzed result is
updated in [Md.400] to [Md.425].

3. Position axes 2 and 3 to "[Md.409] Cam axis command position value" which has been updated in 2.

4. Turn OFF the bits for axes 2 and 3 in "[Cd.381] Synchronous control analysis mode", and then turn ON the bits for axes
2 and 3 in "[Cd.380] Synchronous control start" to start synchronous control.

5 ADVANCED SYNCHRONOUS CONTROL INITIAL POSITION

5.6 Method to Restart Synchronous Control 187
 APPENDICES
Appendix 1 List of Buffer Memory Addresses (for
Synchronous Control)
The following shows the relation between the buffer memory addresses and the various items.
Refer to "List of Buffer Memory Addresses" in the following manual for the list of general buffer memory addresses.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Application)

Parameters
■Servo input axis parameters
n: Axis No. - 1
Item Fetch cycle Buffer memory address
[Pr.300] Servo input axis type At power supply ON 32800+10n
[Pr.301] Servo input axis smoothing time constant At power supply ON 32801+10n
[Pr.302] Servo input axis phase compensation advance time Operation cycle 32802+10n
32803+10n
[Pr.303] Servo input axis phase compensation time constant At power supply ON 32804+10n
[Pr.304] Servo input axis rotation direction restriction At power supply ON 32805+10n

■Synchronous encoder axis parameters

j: Synchronous encoder axis No. - 1
Item Fetch cycle Buffer memory address
[Pr.320] Synchronous encoder axis type At power supply ON 34720+20j
[Pr.321] Synchronous encoder axis unit setting At power supply ON 34721+20j
[Pr.322] Synchronous encoder axis unit conversion: Numerator At power supply ON 34722+20j
34723+20j
[Pr.323] Synchronous encoder axis unit conversion: Denominator At power supply ON 34724+20j
34725+20j
[Pr.324] Synchronous encoder axis length per cycle At power supply ON 34726+20j
34727+20j
[Pr.325] Synchronous encoder axis smoothing time constant At power supply ON 34728+20j
[Pr.326] Synchronous encoder axis phase compensation advance time Operation cycle 34730+20j
34731+20j
[Pr.327] Synchronous encoder axis phase compensation time constant At power supply ON 34732+20j
[Pr.328] Synchronous encoder axis rotation direction restriction At power supply ON 34733+20j
[Pr.329] Resolution of synchronous encoder via CPU At power supply ON 34734+20j
34735+20j

APPX
188 Appendix 1 List of Buffer Memory Addresses (for Synchronous Control)
■Synchronous encoder axis parameter via link device [FX5-SSC-G]
j: Synchronous encoder axis No. - 1
Item Fetch cycle Buffer memory address
[Pr.710] Synchronous encoder axis: Link device type At power supply ON 35520+20j
[Pr.711] Synchronous encoder axis: Link device start No. At power supply ON 35521+20j
[Pr.712] Synchronous encoder axis: Link device count direction setting At power supply ON 35526+20j
[Pr.713] Synchronous encoder axis: Ring counter maximum value At power supply ON 35522+20j
35523+20j
[Pr.714] Synchronous encoder axis: Ring counter minimum value At power supply ON 35524+20j
35525+20j
[Pr.1010] Synchronous encoder axis start request: Link device type At power supply ON 35530+20j
[Pr.1011] Synchronous encoder axis start request: Link device start No. At power supply ON 35531+20j
[Pr.1012] Synchronous encoder axis start request: Link device bit At power supply ON 35532+20j
specification
[Pr.1013] Synchronous encoder axis start request: Link device logic setting At power supply ON 35533+20j

■Command generation axis parameters

Item Fetch cycle Buffer memory address
[Pr.340] Command generation axis valid setting At power supply ON *1
[Pr.346] Command generation axis length per cycle At power supply ON *1

*1 It is not in the buffer memory. Refer to the following.

Page 43 Command generation axis parameters

■Synchronous parameters: Main shaft

n: Axis No. - 1
Item Fetch cycle Buffer memory address
[Pr.400] Main input axis No. At start (Synchronous control) 36400+200n
[Pr.401] Sub input axis No. At start (Synchronous control) 36401+200n
[Pr.402] Composite main shaft gear Operation cycle 36402+200n
A
[Pr.403] Main shaft gear: Numerator At start (Synchronous control) 36404+200n
36405+200n
[Pr.404] Main shaft gear: Denominator At start (Synchronous control) 36406+200n
36407+200n
[Pr.405] Main shaft clutch control setting Operation cycle 36408+200n
[Pr.406] Main shaft clutch reference address setting At start (Synchronous control) 36409+200n
[Pr.407] Main shaft clutch ON address Operation cycle 36410+200n
36411+200n
[Pr.408] Movement amount before main shaft clutch ON At completing condition (Clutch ON) 36412+200n
36413+200n
[Pr.409] Main shaft clutch OFF address Operation cycle 36414+200n
36415+200n
[Pr.410] Movement amount before main shaft clutch OFF At completing condition (Clutch OFF) 36416+200n
36417+200n
[Pr.411] Main shaft clutch smoothing method At start (Synchronous control) 36418+200n
[Pr.412] Main shaft clutch smoothing time constant At start (Synchronous control) 36419+200n
[Pr.413] Slippage at main shaft clutch ON At completing condition (Turning clutch 36420+200n
ON) 36421+200n
[Pr.414] Slippage at main shaft clutch OFF At completing condition (Turning clutch 36422+200n
OFF) 36423+200n

APPX
Appendix 1 List of Buffer Memory Addresses (for Synchronous Control) 189
 ■Synchronous parameters: Auxiliary shaft
n: Axis No. - 1
Item Fetch cycle Buffer memory address
[Pr.418] Auxiliary shaft axis No. At start (Synchronous control) 36430+200n
[Pr.419] Composite auxiliary shaft gear Operation cycle 36431+200n
[Pr.420] Auxiliary shaft gear: Numerator At start (Synchronous control) 36432+200n
36433+200n
[Pr.421] Auxiliary shaft gear: Denominator At start (Synchronous control) 36434+200n
36435+200n
[Pr.422] Auxiliary shaft clutch control setting Operation cycle 36436+200n
[Pr.423] Auxiliary shaft clutch reference address setting At start (Synchronous control) 36437+200n
[Pr.424] Auxiliary shaft clutch ON address Operation cycle 36438+200n
36439+200n
[Pr.425] Movement amount before auxiliary shaft clutch ON At completing condition (Clutch ON) 36440+200n
36441+200n
[Pr.426] Auxiliary shaft clutch OFF address Operation cycle 36442+200n
36443+200n
[Pr.427] Movement amount before auxiliary shaft clutch OFF At completing condition (Clutch OFF) 36444+200n
36445+200n
[Pr.428] Auxiliary shaft clutch smoothing method At start (Synchronous control) 36446+200n
[Pr.429] Auxiliary shaft clutch smoothing time constant At start (Synchronous control) 36447+200n
[Pr.430] Slippage at auxiliary shaft clutch ON At completing condition (Turning clutch 36448+200n
ON) 36449+200n
[Pr.431] Slippage at auxiliary shaft clutch OFF At completing condition (Turning clutch 36450+200n
OFF) 36451+200n

■Synchronous parameters: Speed change gear

n: Axis No. - 1
Item Fetch cycle Buffer memory address
[Pr.434] Speed change gear At start (Synchronous control) 36460+200n
[Pr.435] Speed change gear smoothing time constant At start (Synchronous control) 36461+200n
[Pr.436] Speed change ratio: Numerator Operation cycle 36462+200n
36463+200n
[Pr.437] Speed change ratio: Denominator Operation cycle 36464+200n
36465+200n

■Synchronous parameters: Output axis

n: Axis No. - 1
Item Fetch cycle Buffer memory address
[Pr.438] Cam axis cycle unit setting At start (Synchronous control) 36470+200n
[Pr.439] Cam axis length per cycle At start (Synchronous control)/At 36472+200n
completing condition (Passing through the 36473+200n
0th point of cam data)
[Pr.440] Cam No. At start (Synchronous control)/At 36474+200n
completing condition (Passing through the
0th point of cam data)
[Pr.441] Cam stroke amount At start (Synchronous control)/At 36476+200n
completing condition (Passing through the 36477+200n
0th point of cam data)
[Pr.442] Cam axis length per cycle change setting [FX5-SSC-G] At start (Synchronous control) 36471+200n
[Pr.444] Cam axis phase compensation advance time Operation cycle 36482+200n
36483+200n
[Pr.445] Cam axis phase compensation time constant At start (Synchronous control) 36484+200n
[Pr.446] Synchronous control deceleration time At start (Synchronous control) 36485+200n
[Pr.447] Output axis smoothing time constant At start (Synchronous control) 36486+200n

APPX
190 Appendix 1 List of Buffer Memory Addresses (for Synchronous Control)
■Synchronous parameters: Synchronous control initial position
n: Axis No. - 1
Item Fetch cycle Buffer memory address
[Pr.460] Setting method of position value per cycle after main shaft gear At start (Synchronous control) 36500+200n
[Pr.461] Setting method of position value per cycle after auxiliary shaft gear At start (Synchronous control) 36501+200n
[Pr.462] Cam axis position restoration object At start (Synchronous control) 36502+200n
[Pr.463] Setting method of cam reference position At start (Synchronous control) 36503+200n
[Pr.464] Setting method of cam axis position value per cycle At start (Synchronous control) 36504+200n
[Pr.465] Position value per cycle after main shaft gear (Initial setting) At start (Synchronous control) 36506+200n
36507+200n
[Pr.466] Position value per cycle after auxiliary shaft gear (Initial setting) At start (Synchronous control) 36508+200n
36509+200n
[Pr.467] Cam reference position (Initial setting) At start (Synchronous control) 36510+200n
36511+200n
[Pr.468] Cam axis position value per cycle (Initial setting) At start (Synchronous control) 36512+200n
36513+200n

APPX
Appendix 1 List of Buffer Memory Addresses (for Synchronous Control) 191
 Monitor data
■Servo input axis monitor data
n: Axis No. - 1
Item Refresh cycle Buffer memory address
[Md.300] Servo input axis position value Operation cycle 33120+10n
33121+10n
[Md.301] Servo input axis speed Operation cycle 33122+10n
33123+10n
[Md.302] Servo input axis phase compensation amount Operation cycle 33124+10n
33125+10n
[Md.303] Servo input axis rotation direction restriction amount Operation cycle 33126+10n
33127+10n

■Synchronous encoder axis monitor data

j: Synchronous encoder axis No. - 1
Item Refresh cycle Buffer memory address
[Md.320] Synchronous encoder axis position value Operation cycle 35200+20j
35201+20j
[Md.321] Synchronous encoder axis position value per cycle Operation cycle 35202+20j
35203+20j
[Md.322] Synchronous encoder axis speed Operation cycle 35204+20j
35205+20j
[Md.323] Synchronous encoder axis phase compensation amount Operation cycle 35206+20j
35207+20j
[Md.324] Synchronous encoder axis rotation direction restriction amount Operation cycle 35208+20j
35209+20j
[Md.325] Synchronous encoder axis status Operation cycle 35210+20j
[Md.326] Synchronous encoder axis error No. Operation cycle 35211+20j
[Md.327] Synchronous encoder axis warning No. Operation cycle 35212+20j

APPX
192 Appendix 1 List of Buffer Memory Addresses (for Synchronous Control)
■Command generation axis monitor data
n: Axis No. - 1
Item Refresh cycle Buffer memory address*1
[Md.20] Command position value Operation cycle 60900+120n
60901+120n
[Md.22] Speed command Operation cycle 60904+120n
60905+120n
[Md.23] Axis error No. Immediate 60906+120n
[Md.24] Axis warning No. Immediate 60907+120n
[Md.25] Valid M code Immediate 60908+120n
[Md.26] Axis operation status Immediate 60909+120n
[Md.27] Current speed Immediate 60910+120n
60911+120n
[Md.28] Axis speed command Operation cycle 60912+120n
60913+120n
[Md.29] Speed-position switching control positioning movement amount Immediate 60914+120n
60915+120n
[Md.31] Status Immediate 60917+120n
[Md.32] Target value Immediate 60918+120n
60919+120n
[Md.33] Target speed Immediate 60920+120n
60921+120n
[Md.38] Start positioning data No. setting value Immediate 60929+120n
[Md.39] In speed limit flag Immediate 60930+120n
[Md.40] In speed change processing flag Immediate 60931+120n
[Md.42] Control system repetition counter Immediate 60933+120n
[Md.44] Positioning data No. being executed Immediate 60935+120n
[Md.46] Last executed positioning data No. Immediate 60937+120n
[Md.47] Positioning data being executed Positioning identifier Immediate 60938+120n
M code Immediate 60939+120n A
Dwell time Immediate 60940+120n
Command speed Immediate 60942+120n
60943+120n
Positioning address Immediate 60944+120n
60945+120n
[Md.48] Deceleration start flag Immediate 60999+120n
[Md.122] Speed during command Operation cycle (At the speed control mode 60992+120n
only) 60993+120n
[Md.141] BUSY Operation cycle 61004+120n
[Md.345] Command generation axis accumulative position value Operation cycle 61000+120n
61001+120n
[Md.347] Command generation axis position value per cycle Operation cycle 61002+120n
61003+120n

*1 The buffer memory addresses for axes and command generation axes are different.
Refer to "List of Buffer Memory Addresses" in the following manual for the buffer memory addresses for servo amplifier axes.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User’s Manual (Application)

APPX
Appendix 1 List of Buffer Memory Addresses (for Synchronous Control) 193
 ■Synchronous control monitor data
n: Axis No. - 1
Item Refresh cycle Buffer memory address
[Md.400] Position value after composite main shaft gear Operation cycle (During synchronous 42800+40n
control only) 42801+40n
[Md.401] Position value per cycle after main shaft gear Operation cycle (During synchronous 42802+40n
control only) 42803+40n
[Md.402] Position value per cycle after auxiliary shaft gear Operation cycle (During synchronous 42804+40n
control only) 42805+40n
[Md.406] Cam axis phase compensation amount Operation cycle (During synchronous 42810+40n
control only) 42811+40n
[Md.407] Cam axis position value per cycle Operation cycle (During synchronous 42812+40n
control only) 42813+40n
[Md.408] Cam reference position Operation cycle (During synchronous 42814+40n
control only) 42815+40n
[Md.409] Cam axis command position value Operation cycle (During synchronous 42816+40n
control only) 42817+40n
[Md.410] Execute cam No. Operation cycle (During synchronous 42818+40n
control only)
[Md.411] Execute cam stroke amount Operation cycle (During synchronous 42820+40n
control only) 42821+40n
[Md.412] Execute cam axis length per cycle Operation cycle (During synchronous 42822+40n
control only) 42823+40n
[Md.420] Main shaft clutch ON/OFF status Operation cycle (During synchronous 42828+40n
control only)
[Md.421] Main shaft clutch smoothing status Operation cycle (During synchronous 42829+40n
control only)
[Md.422] Main shaft clutch slippage (accumulative) Operation cycle (During synchronous 42830+40n
control only) 42831+40n
[Md.423] Auxiliary shaft clutch ON/OFF status Operation cycle (During synchronous 42832+40n
control only)
[Md.424] Auxiliary shaft clutch smoothing status Operation cycle (During synchronous 42833+40n
control only)
[Md.425] Auxiliary shaft clutch slippage (accumulative) Operation cycle (During synchronous 42834+40n
control only) 42835+40n

■Cam operation monitor data: Cam position calculation

Item Refresh cycle Buffer memory address
[Md.600] Cam position calculation result At completing condition (Cam position 53800
calculation completion) 53801

APPX
194 Appendix 1 List of Buffer Memory Addresses (for Synchronous Control)
Control data
■Command generation axis control data
n: Axis No. - 1
Item Fetch cycle Buffer memory address*1
[Cd.3] Positioning start No. At start 61860+128n
[Cd.5] Axis error reset 14.2 ms [FX5-SSC-S] 61862+128n
16.0 ms [FX5-SSC-G]
[Cd.6] Restart command 14.2 ms [FX5-SSC-S] 61863+128n
16.0 ms [FX5-SSC-G]
[Cd.7] M code OFF request Operation cycle 61864+128n
[Cd.9] New position value At request 61866+128n
61867+128n
[Cd.10] New acceleration time value At request 61868+128n
61869+128n
[Cd.11] New deceleration time value At request 61870+128n
61871+128n
[Cd.12] Acceleration/deceleration time change value during speed At request 61872+128n
change, enable/disable
[Cd.13] Positioning operation speed override Operation cycle 61873+128n
[Cd.14] New speed value At request 61874+128n
61875+128n
[Cd.15] Speed change request Operation cycle 61876+128n
[Cd.17] JOG speed At start 61878+128n
61879+128n
[Cd.18] Interrupt request during continuous operation Operation cycle 61880+128n
[Cd.23] Speed-position switching control movement amount change At request 61886+128n
register 61887+128n
[Cd.24] Speed-position switching enable flag At request 61888+128n
[Cd.27] Target position change value (New address) At request 61894+128n
61895+128n A
[Cd.28] Target position change value (New speed) At request 61896+128n
61897+128n
[Cd.29] Target position change request flag Operation cycle 61898+128n
[Cd.40] ABS direction in degrees At start 61910+128n
[Cd.46] Speed-position switching command 0.88 ms [FX5-SSC-S] 61927+128n
Communication cycle [FX5-SSC-G]
[Cd.180] Axis stop Operation cycle 61960+128n
[Cd.181] Forward run JOG start Operation cycle 61961+128n
[Cd.182] Reverse run JOG start Operation cycle 61962+128n
[Cd.184] Positioning start Operation cycle 61964+128n
[Cd.300] Command generation axis parameter No. designation At request 61970+128n
[Cd.301] Command generation axis parameter setting value At request 61972+128n
61973+128n
[Cd.302] Command generation axis parameter control request Main cycle 61971+128n
[Cd.303] Command generation axis positioning data No. designation At request 61974+128n
[Cd.304] Command generation axis positioning data designation At request 61975+128n
[Cd.305] Command generation axis positioning data setting value At request 61976+128n
61977+128n
[Cd.306] Command generation axis positioning data control request Main cycle 61978+128n

*1 The buffer memory addresses for axes and command generation axes are different.
Refer to "List of Buffer Memory Addresses" in the following manual for the buffer memory addresses for servo amplifier axes.
MELSEC iQ-F FX5 Motion Module/Simple Motion Module User’s Manual (Application)

APPX
Appendix 1 List of Buffer Memory Addresses (for Synchronous Control) 195
 ■Synchronous control system control data
Item Fetch cycle Buffer memory address
[Cd.380] Synchronous control start Operation cycle 36320
[Cd.381] Synchronous control analysis mode At start (Synchronous control) 36322

■Synchronous encoder axis control data

j: Synchronous encoder axis No. - 1
Item Fetch cycle Buffer memory address
[Cd.320] Synchronous encoder axis control start Operation cycle 35040+10j
[Cd.321] Synchronous encoder axis control method At start (Synchronous encoder control) 35041+10j
[Cd.322] Synchronous encoder axis position value setting address At start (Synchronous encoder control) 35042+10j
35043+10j
[Cd.323] Synchronous encoder axis error reset Main cycle 35044+10j
[Cd.324] Connection command of synchronous encoder via CPU Main cycle 35045+10j
[Cd.325] Input value for synchronous encoder via CPU Operation cycle 35046+10j
35047+10j
[Cd.326] Connection command of synchronous encoder via link device Main cycle 35048+10j
[FX5-SSC-G]

■Control data for synchronous control

n: Axis No. - 1
Item Fetch cycle Buffer memory address
[Cd.400] Main shaft clutch command Operation cycle 44080+20n
[Cd.401] Main shaft clutch control invalid command Operation cycle 44081+20n
[Cd.402] Main shaft clutch forced OFF command Operation cycle 44082+20n
[Cd.403] Auxiliary shaft clutch command Operation cycle 44083+20n
[Cd.404] Auxiliary shaft clutch control invalid command Operation cycle 44084+20n
[Cd.405] Auxiliary shaft clutch forced OFF command Operation cycle 44085+20n
[Cd.406] Synchronous control change request Operation cycle 44086+20n
[Cd.407] Synchronous control change command At request (Synchronous control change 44087+20n
request)
[Cd.408] Synchronous control change value At request (Synchronous control change 44088+20n
request) 44089+20n
[Cd.409] Synchronous control reflection time At request (Synchronous control change 44090+20n
request)

■Cam operation control data: Cam data operation

Item Fetch cycle Refresh cycle Buffer memory address
[Cd.600] Cam data operation request Main cycle  45000
[Cd.601] Operation cam No. At request (Cam data  45001
operation request)
[Cd.602] Cam data first position At request (Cam data  45002
operation request)
[Cd.603] Number of cam data operation points At request (Cam data  45003
operation request)
[Cd.604] Cam data format At request (Cam data At completing condition 45004
operation request) (Cam data operation
completion)
[Cd.605] Cam resolution/coordinate number At request (Cam data At completing condition 45005
operation request) (Cam data operation
completion)
[Cd.606] Cam data starting point At request (Cam data At completing condition 45006
operation request) (Cam data operation
completion)
[Cd.607] Cam data value At request (Cam data At completing condition 45008
operation request) (Cam data operation to
completion) 53199

APPX
196 Appendix 1 List of Buffer Memory Addresses (for Synchronous Control)
■Cam operation control data: Cam auto-generation
Item Fetch cycle Buffer memory address
[Cd.608] Cam auto-generation request Main cycle 53200
[Cd.609] Cam auto-generation cam No. At request (Cam auto-generation request) 53201
[Cd.610] Cam auto-generation type At request (Cam auto-generation request) 53202
[Cd.611] Cam auto-generation data*1 At request (Cam auto-generation request) 53204
to
53779

*1 The item details on the cam auto-generation are shown below.

• Cam auto-generation data for rotary cutter
Details Buffer memory address
Cam resolution 53204
Sheet length 53206
53207
Sheet synchronous width 53208
53209
Synchronous axis length 53210
53211
Synchronization starting point 53212
53213
Synchronous section acceleration ratio 53214

■Cam operation control data: Cam position calculation

Item Fetch cycle Buffer memory address
[Cd.612] Cam position calculation request Main cycle 53780
[Cd.613] Cam position calculation: Cam No. At request (Cam position calculation 53781
request)
[Cd.614] Cam position calculation: Stroke amount At request (Cam position calculation 53782
request) 53783
[Cd.615] Cam position calculation: Cam axis length per cycle At request (Cam position calculation 53784 A
request) 53785
[Cd.616] Cam position calculation: Cam reference position At request (Cam position calculation 53786
request) 53787
[Cd.617] Cam position calculation: Cam axis position value per cycle At request (Cam position calculation 53788
request) 53789
[Cd.618] Cam position calculation: Cam axis command position value At request (Cam position calculation 53790
request) 53791

APPX
Appendix 1 List of Buffer Memory Addresses (for Synchronous Control) 197
 Appendix 2 Sample Program of Synchronous
Control
Program example [FX5-SSC-S]
The following shows a sample program of executing synchronous control on the axis 1 with the axis 4 as an input axis using
the 4-axis module. (The axis 4 is configured as the virtual servo amplifier.)

1. Set MR-J4(W)-B on the axis 1 and the virtual servo amplifier on the axis 4 in the "System Configuration" window.

2. Set the axis 4 as the servo input axis in the "Input Axis Parameter" window.

3. Create the cam data (cam No.1).

APPX
198 Appendix 2 Sample Program of Synchronous Control
4. Set the synchronous parameter of the axis 1.

5. Create the program to start synchronous control.

The sample program when start I/O No. of the Simple Motion module is set to 01H is shown below.
• For using labels
Classification Label name Description
Module label FX5SSC_1.stSysMntr2_D.bSynchronizationFlag_D Synchronization flag
FX5SSC_1.stSysCtrl_D.bPLC_Ready_D PLC READY
FX5SSC_1.stSysCtrl_D.bAllAxisServoOn_D All axis servo ON A
FX5SSC_1.stSysMntr2_D.bnBusy_D[0] Axis 1 BUSY
FX5SSC_1.stnAxMntr_D[0].wAxisOperationStatus_D Axis 1 Axis operation status
FX5SSC_1.stSysMntr2_D.bnBusy_D[3] Axis 4 BUSY
Global label, Local label Defines the global label or the local label as follows. The settings of Assign (Device/Label) are not required for the label that the
assignment device is not set because the unused internal relay and data device are automatically assigned.
The following is for global labels.

APPX
Appendix 2 Sample Program of Synchronous Control 199
 Program example
For details of the module FBs, 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

APPX
200 Appendix 2 Sample Program of Synchronous Control
• For using buffer memory

Program example

APPX
Appendix 2 Sample Program of Synchronous Control 201
 Program example [FX5-SSC-G]
The following shows a sample program of executing synchronous control on the axis 1 with the axis 4 as an input axis using
the 4-axis module. (The axis 4 is configured as the virtual servo amplifier.)

1. On the "CC-Link IE TSN" screen, set MR-J5-G for station No. 1 and 2, then set station No.1 and station No.2 as axis 1
and axis 4, respectively, on the "Parameter" screen.

2. Set the axis 4 as the servo input axis in the "Input Axis Parameter" window.

APPX
202 Appendix 2 Sample Program of Synchronous Control
3. Create the cam data (cam No.1).

4. Set the synchronous parameter of the axis 1.

APPX
Appendix 2 Sample Program of Synchronous Control 203
 5. Create the program to start synchronous control.
The sample program when start I/O No. of the Simple Motion module is set to 01H is shown below.
Classification Label name Description
Module label FX5SSC_1.stSysMntr2_D.bSynchronizationFlag_D Synchronization flag
FX5SSC_1.stSysCtrl_D.bPLC_Ready_D PLC READY
FX5SSC_1.stSysCtrl_D.bAllAxisServoOn_D All axis servo ON
FX5SSC_1.stSysMntr2_D.bnBusy_D[0] Axis 1 BUSY
FX5SSC_1.stnAxMntr_D[0].wAxisOperationStatus_D Axis 1 Axis operation status
FX5SSC_1.stSysMntr2_D.bnBusy_D[3] Axis 4 BUSY
Global label, Local label Defines the global label or the local label as follows. The settings of Assign (Device/Label) are not required for the label that the
assignment device is not set because the unused internal relay and data device are automatically assigned.
The following is for global labels.

APPX
204 Appendix 2 Sample Program of Synchronous Control
 Program example
For details of the module FBs, 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

APPX
Appendix 2 Sample Program of Synchronous Control 205
 APPX
206 Appendix 2 Sample Program of Synchronous Control
MEMO

APPX
Appendix 2 Sample Program of Synchronous Control 207
 INDEX

A Command generation axis length per cycle . . . . . . 43

Command generation axis parameter . . . . . . . . . . 47
Auxiliary shaft axis No. . . . . . . . . . . . . . . . . . . 122 Command generation axis parameter control request
Auxiliary shaft clutch command . . . . . . . . . . . . 128 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Auxiliary shaft clutch control invalid command . . 128 Command generation axis parameter No. designation
Auxiliary shaft clutch control setting. . . . . . . 123,124
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Auxiliary shaft clutch forced OFF command . . . . 128
Command generation axis parameter setting value
Auxiliary shaft clutch OFF address . . . . . . . 123,126
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Auxiliary shaft clutch ON address . . . . . . . . 123,125
Command generation axis position value per cycle
Auxiliary shaft clutch ON/OFF status . . . . . . 154,156
Auxiliary shaft clutch reference address setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
Command generation axis positioning data . . . . . .47
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123,125
Command generation axis positioning data control
Auxiliary shaft clutch slippage (accumulative)
request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154,156
Command generation axis positioning data
Auxiliary shaft clutch smoothing method . . . 123,126
designation . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Auxiliary shaft clutch smoothing status . . . . 154,156
Command generation axis positioning data No.
Auxiliary shaft clutch smoothing time constant
designation . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123,126 Command generation axis positioning data setting
Auxiliary shaft gear value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Denominator . . . . . . . . . . . . . . . . . . . . . 121,122 Command generation axis valid setting . . . . . . . . .43
Numerator . . . . . . . . . . . . . . . . . . . . . . . 121,122 Composite auxiliary shaft gear . . . . . . . . . . 121,122
Composite main shaft gear . . . . . . . . . . . . . . . .113
C Connection command of synchronous encoder via
CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87,90
Cam auto-generation cam No. . . . . . . . . . . . . . 110 Connection command of synchronous encoder via link
Cam auto-generation data . . . . . . . . . . . . . 109,111 device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87,90
Cam auto-generation request . . . . . . . . . . . . . . 110
Cam auto-generation type . . . . . . . . . . . . . . . . 110
Cam axis command position value . . . . . . . 153,155 E
Cam axis cycle unit setting . . . . . . . . . . . . . . . . 144 Execute cam axis length per cycle . . . . . . . 153,155
Cam axis length per cycle . . . . . . . . . . . . . 144,145 Execute cam No. . . . . . . . . . . . . . . . . . . . 153,155
Cam axis length per cycle change setting . . 144,146 Execute cam stroke amount . . . . . . . . . . . . 153,155
Cam axis phase compensation advance time
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144,146
Cam axis phase compensation amount . . . . 153,155 I
Cam axis phase compensation time constant Input value for synchronous encoder via CPU
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144,147 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87,90
Cam axis position restoration object . . . . . . 165,166
Cam axis position value per cycle . . . . . . . . 153,155
Cam axis position value per cycle (Initial setting) M
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165,167 Main input axis No. . . . . . . . . . . . . . . . . . . 112,113
Cam data first position . . . . . . . . . . . . . . . . 106,107 Main shaft clutch command . . . . . . . . . . . . . . . .120
Cam data format . . . . . . . . . . . . . . . . . . . . 106,107 Main shaft clutch control invalid command . . . . . .120
Cam data operation request . . . . . . . . . . . . 106,107 Main shaft clutch control setting . . . . . . . . . 115,116
Cam data starting point . . . . . . . . . . . . . . . 106,108 Main shaft clutch forced OFF command . . . . . . .120
Cam data value . . . . . . . . . . . . . . . . . . . . 106,108 Main shaft clutch OFF address . . . . . . . . . . 115,118
Cam No. . . . . . . . . . . . . . . . . . . . . . . . . . 144,146 Main shaft clutch ON address . . . . . . . . . . 115,117
Cam position calculation Main shaft clutch ON/OFF status . . . . . . . . 154,155
Cam axis command position value . . . . . . 180,181 Main shaft clutch reference address setting
Cam axis length per cycle . . . . . . . . . . . . 180,181 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115,117
Cam axis position value per cycle . . . . . . 180,181
Main shaft clutch slippage (accumulative) . . 154,156
Cam No. . . . . . . . . . . . . . . . . . . . . . . . . 180,181
Main shaft clutch smoothing method . . . . . . 115,118
Cam reference position. . . . . . . . . . . . . . 180,181
Main shaft clutch smoothing status . . . . . . . 154,156
Stroke amount . . . . . . . . . . . . . . . . . . . . 180,181
Main shaft clutch smoothing time constant
Cam position calculation request . . . . . . . . 180,181
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115,118
Cam position calculation result . . . . . . . . . . . . . 182
Main shaft gear
Cam reference position . . . . . . . . . . . . . . . 153,155
Denominator . . . . . . . . . . . . . . . . . . . . . . . . .114
Cam reference position (Initial setting) . . . . . 165,167
Numerator . . . . . . . . . . . . . . . . . . . . . . . . . .114
Cam resolution/coordinate number . . . . . . . 106,108
Movement amount before auxiliary shaft clutch OFF
Cam stroke amount . . . . . . . . . . . . . . . . . . 144,146
Command generation axis accumulative position value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123,126
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

208
 Movement amount before auxiliary shaft clutch ON Speed change ratio
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123,125 Denominator . . . . . . . . . . . . . . . . . . . . . . . . .141
Movement amount before main shaft clutch OFF Numerator . . . . . . . . . . . . . . . . . . . . . . . . . .141
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115,118 Sub input axis No. . . . . . . . . . . . . . . . . . . 112,113
Movement amount before main shaft clutch ON Synchronous control change command . . . . 149,150
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115,117 Synchronous control change request . . . . . . . . .149
Synchronous control change value . . . . . . . 149,151
Synchronous control deceleration time . . . . 144,148
N Synchronous control reflection time . . . . . . 149,152
Number of cam data operation points . . . . . 106,107 Synchronous encoder axis
Link device count direction setting . . . . . . . . 84,85
Link device start No. . . . . . . . . . . . . . . . . . 84,85
O Link device type . . . . . . . . . . . . . . . . . . . . 84,85
Ring counter maximum value . . . . . . . . . . . 84,85
Operation cam No. . . . . . . . . . . . . . . . . . . 106,107
Ring counter minimum value . . . . . . . . . . . . 84,85
Output axis smoothing time constant . . . . . . 144,148
Synchronous encoder axis control method . . . 87,89
Synchronous encoder axis control start . . . . . . 87,88
P Synchronous encoder axis error No. . . . . . . . . 91,93
Synchronous encoder axis error reset . . . . . . . 87,90
Position value after composite main shaft gear
Synchronous encoder axis length per cycle . . . 78,81
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153,154 Synchronous encoder axis phase compensation
Position value per cycle after auxiliary shaft gear advance time . . . . . . . . . . . . . . . . . . . . . . . . 78,82
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153,155 Synchronous encoder axis phase compensation
Position value per cycle after auxiliary shaft gear (Initial amount . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91,92
setting) . . . . . . . . . . . . . . . . . . . . . . . . . . 165,167 Synchronous encoder axis phase compensation time
Position value per cycle after main shaft gear constant . . . . . . . . . . . . . . . . . . . . . . . . . . . 78,82
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153,155 Synchronous encoder axis position value . . . . . . .91
Position value per cycle after main shaft gear (Initial Synchronous encoder axis position value per cycle
setting) . . . . . . . . . . . . . . . . . . . . . . . . . . 165,167 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .91
Synchronous encoder axis position value setting
R address . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87,89
Synchronous encoder axis rotation direction restriction
Resolution of synchronous encoder via CPU . . 79,83 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78,83
Synchronous encoder axis rotation direction restriction
S amount . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91,92
Synchronous encoder axis smoothing time constant
Servo input axis phase compensation advance time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78,82
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34,35 Synchronous encoder axis speed . . . . . . . . . . . . .92
Servo input axis phase compensation amount . . . 37 Synchronous encoder axis start request I
Servo input axis phase compensation time constant Link device bit specification . . . . . . . . . . . . 84,85
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34,35 Link device logic setting . . . . . . . . . . . . . . . 84,86
Servo input axis position value . . . . . . . . . . . . . . 37 Link device start No. . . . . . . . . . . . . . . . . . 84,85
Servo input axis rotation direction restriction . . 34,36 Link device type . . . . . . . . . . . . . . . . . . . . 84,85
Servo input axis rotation direction restriction amount Synchronous encoder axis status . . . . . . . . . . 91,93
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Synchronous encoder axis type . . . . . . . . . . . 78,79
Servo input axis smoothing time constant . . . . 34,35 Synchronous encoder axis unit conversion
Servo input axis speed . . . . . . . . . . . . . . . . . . . 37 Denominator . . . . . . . . . . . . . . . . . . . . . . . 78,80
Servo input axis type . . . . . . . . . . . . . . . . . . . . . 34 Numerator . . . . . . . . . . . . . . . . . . . . . . . . 78,79
Setting method of cam axis position value per cycle Synchronous encoder axis unit setting . . . . . . 78,79
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165,166 Synchronous encoder axis warning No. . . . . . 91,93
Setting method of cam reference position . . 165,166
Setting method of position value per cycle after
auxiliary shaft gear . . . . . . . . . . . . . . . . . . 165,166
Setting method of position value per cycle after main
shaft gear . . . . . . . . . . . . . . . . . . . . . . . . . 165,166
Slippage amount at auxiliary shaft clutch OFF
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124,127
Slippage amount at auxiliary shaft clutch ON
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124,127
Slippage amount at main shaft clutch OFF
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116,119
Slippage amount at main shaft clutch ON . . 116,119
Speed change gear . . . . . . . . . . . . . . . . . . . . . 141
Speed change gear smoothing time constant . . . 141

209
 REVISIONS
*The manual number is given on the bottom left of the back cover.
Revision date *Manual number Description
November 2014 IB(NA)-0300255ENG-A First edition
January 2015 IB(NA)-0300255ENG-B ■Added or modified parts
SAFETY PRECAUTIONS, RELEVANT MANUALS, TERMS, Section 1.1, 1.3, 2.1, 2.2, 4.9
August 2015 IB(NA)-0300255ENG-C ■Added functions
Command generation axis
■Added or modified parts
Section 1.1, 1.2, 2.1, 2.2, 2.3, 3.1, 4.1. 4.2, 4.7, 4.9, 5.1, Appendix 1, 2
April 2016 IB(NA)-0300255ENG-D ■Added or modified parts
Appendix 1
October 2016 IB(NA)-0300255ENG-E ■Added models
FX5-80SSC-S
■Added or modified parts
SAFETY PRECAUTIONS, INTRODUCTION, RELEVANT MANUALS, TERMS, Section 1.1, 1.2, 1.3,
Chapter 2, Section 2.1, 2.2, 2.3, 3.1, 3.2, 4.1, 4.2, 4.3, 4.5, 4.8, 4.9, 5.3, 5.4, Appendix 1, 2
March 2021 IB(NA)-0300255ENG-F ■Added models
FX5-40SSC-G, FX5-80SSC-G
■Added or modified parts
SAFETY PRECAUTIONS, INTRODUCTION, RELEVANT MANUALS, TERMS, Chapter 1, Section
1.1, 1.2, 1.3, Chapter 2, Section 2.1, 2.2, 2.3, 3.1, 3.2, Chapter 4, Section 4.6, 4.7, 4.8, 4.9, Chapter
5, Section 5.1, 5.3, 5.4, 5.6, Appendix 1, 2, WARRANTY, TRADEMARKS
December 2021 IB(NA)-0300255ENG-G ■Added or modified parts
SAFETY PRECAUTIONS, RELEVANT MANUALS, TERMS, Section 1.3, 2.2, 2.3, 3.1, 4.1, 4.2, 5.1,
Appendix 2
July 2022 IB(NA)-0300255ENG-H ■Added or modified parts
SAFETY PRECAUTIONS, RELEVANT MANUALS, TERMS, GENERIC TERMS AND
ABBREVIATIONS, Chapter 1, Section 1.3, 2.1, 2.2, 2.3, Chapter 3, Section 3.2, 4.1, 4.2, 4.3, 4.4,
4.5, 4.6, 4.7, 4.9, 5.2, 5.4, 5.5, Appendix 1, 2
September 2022 IB(NA)-0300255ENG-J ■Added or modified parts
Section 1.3, 4.9, 5.4
November 2023 IB(NA)-0300255ENG-K ■Added or modified parts
SAFETY PRECAUTIONS, RELEVANT MANUALS, TERMS, Section 1.1, 1.3, 2.1, 2.2, 2.3, 3.1, 3.2,
4.1, 4.2, 4.3, 4.5, 4.6, 4.7, 4.8, 5.1, 5.2, 5.3, 5.4, 5.5, 5.6, Appendix 1, INFORMATION AND
SERVICES, TRADEMARKS
July 2024 IB(NA)-0300255ENG-L ■Added functions
Synchronous encoder via link device
■Added or modified parts
SAFETY PRECAUTIONS, TERMS, GENERIC TERMS AND ABBREVIATIONS, Section 1.2, 1.3,
2.2, 2.3, 5.1, Appendix 1
November 2024 IB(NA)-0300255ENG-M ■Added or modified parts
SAFETY PRECAUTIONS, RELEVANT MANUALS, TERMS, GENERIC TERMS AND
ABBREVIATIONS, Section 2.3, 3.2, 4.8, TRADEMARKS

Japanese manual number: IB-0300254-L

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.

2014 MITSUBISHI ELECTRIC CORPORATION

210
WARRANTY
Please confirm the following product warranty details before using this product.
1. Gratis Warranty Term and Gratis Warranty 3. Overseas service
Range Overseas, repairs shall be accepted by Mitsubishi's local
If any faults or defects (hereinafter "Failure") found to be overseas FA Center. Note that the repair conditions at
the responsibility of Mitsubishi occurs during use of the each FA Center may differ.
product within the gratis warranty term, the product shall 4. Exclusion of loss in opportunity and
be repaired at no cost via the sales representative or secondary loss from warranty liability
Mitsubishi Service Company. However, if repairs are
Regardless of the gratis warranty term, Mitsubishi shall
required onsite at domestic or overseas location,
not be liable for compensation to:
expenses to send an engineer will be solely at the
(1) Damages caused by any cause found not to be the
customer's discretion. Mitsubishi shall not be held
responsibility of Mitsubishi.
responsible for any re-commissioning, maintenance, or
(2) Loss in opportunity, lost profits incurred to the user
testing on-site that involves replacement of the failed
by Failures of Mitsubishi products.
module.
(3) Special damages and secondary damages whether
[Gratis Warranty Term] foreseeable or not, compensation for accidents, and
For terms of warranty, please contact your original place compensation for damages to products other than
of purchase. Mitsubishi products.
(4) Replacement by the user, maintenance of on-site
[Gratis Warranty Range] equipment, start-up test run and other tasks.
(1) The range shall be limited to normal use within the 5. Changes in product specifications
usage state, usage methods and usage environment, The specifications given in the catalogs, manuals or technical
etc., which follow the conditions and precautions, documents are subject to change without prior notice.
etc., given in the instruction manual, user's manual
and caution labels on the product.
6. Product application
(1) In using the Mitsubishi MELSEC programmable
(2) Even within the gratis warranty term, repairs shall be
controller, the usage conditions shall be that the
charged for in the following cases.
application will not lead to a major accident even if
1. Failure occurring from inappropriate storage or any problem or fault should occur in the
handling, carelessness or negligence by the programmable controller device, and that backup and
user. Failure caused by the user's hardware or fail-safe functions are systematically provided outside
software design. of the device for any problem or fault.
2. Failure caused by unapproved modifications, (2) The Mitsubishi programmable controller has been
etc., to the product by the user. designed and manufactured for applications in general
3. When the Mitsubishi product is assembled into a industries, etc. Thus, applications in which the public
user's device, Failure that could have been could be affected such as in nuclear power plants and
avoided if functions or structures, judged as other power plants operated by respective power
necessary in the legal safety measures the user's companies, and applications in which a special quality
device is subject to or as necessary by industry assurance system is required, such as for railway
standards, had been provided. companies or public service purposes shall be excluded
4. Failure that could have been avoided if from the programmable controller applications.
consumable parts (battery, backlight, fuse, etc.) In addition, applications in which human life or property
designated in the instruction manual had been that could be greatly affected, such as in aircraft,
correctly serviced or replaced. medical applications, incineration and fuel devices,
5. Relay failure or output contact failure caused by manned transportation, equipment for recreation and
usage beyond the specified life of contact amusement, and safety devices, shall also be excluded
(cycles). from the programmable controller range of applications.
6. Failure caused by external irresistible forces such However, in certain cases, some applications may be
as fires or abnormal voltages, and failure caused possible, providing the user consults their local
by force majeure such as earthquakes, lightning, Mitsubishi representative outlining the special
wind and water damage. requirements of the project, and providing that all
7. Failure caused by reasons unpredictable by parties concerned agree to the special circumstances,
scientific technology standards at time of solely at the user's discretion.
shipment from Mitsubishi. (3) Mitsubishi shall have no responsibility or liability for any
8. Any other failure found not to be the responsibility problems involving programmable controller trouble and
of Mitsubishi or that admitted not to be so by the system trouble caused by DoS attacks, unauthorized
user. access, computer viruses, and other cyberattacks.

2. Onerous repair term after discontinuation

of production
(1) 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.
(2) Product supply (including repair parts) is not available
after production is discontinued.

211
 INFORMATION AND SERVICES
For further information and services, please contact your local Mitsubishi Electric sales office or representative.
Visit our website to find our locations worldwide.

MITSUBISHI ELECTRIC Factory Automation Global Website

Locations Worldwide
www.MitsubishiElectric.com/fa/about-us/overseas/

TRADEMARKS
CANopen is registered Community Trademarks of CAN in Automation e.V.
Microsoft and Windows are trademarks of the Microsoft group of companies.
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.

212 IB(NA)-0300255ENG-M
IB(NA)-0300255ENG-M(2411)MEE
MODEL: FX5SSC-U-ADV-E
MODEL CODE: 1XB022

HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN

When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.

Specifications subject to change without notice.