Mitsubishi PLC and Servo Drive interfacing Ladder Program

 

Mitsubishi PLC FX5U and Mitsubishi Servo Drive MR-JE-20A interfacing Ladder Program

Objective:

  • To learn and understand interfacing of PLC (Mitsubishi FX5U) and Servo amplifier (MR-JE-20A).

  • To understand communication and signal wiring between mentioned PLC and Servo amplifier.

Hardware:

1) Mitsubishi FX5U PLC

2) Mitsubishi Servo Drive MR-JE-20A

3) Mitsubishi Servo HG-KN23 0.64N 3000 rpm

4) Servo Power Cable

5) Servo Encoder Cable

6) Power cable for PLC & Servo Drive

7) CN1 Cable

8) USB A to B mini Data Cable

9) SMPS 24V

10) 0.5 gauge wires for connection

11) MCB 16A

Software Required:

  • GX Works3 (Version 1.054G)
  • MR Configurator2 Version 1.70Y

Wiring Diagram:

Mitsubishi PLC FX5U and Mitsubishi Servo Drive MR-JE-20A interfacing Ladder Program
Mitsubishi PLC FX5U and Mitsubishi Servo Drive MR-JE-20A interfacing Ladder Program

Procedure:

  • Start the GX Works 3, and create new project.
GX Works 3
GX Works 3
  • In the left navigation panel expand options as follows:

Project > Parameter > FX5UCPU > Module Parameter > High Speed I/O .

In the output function select positioning

High Speed IO
High Speed IO
  • Open Detailed setting and set the following settings as shown.

For Axis 1

Pulse Output Mode > 1: PULSE/SIGN

Output Device SIGN > Y4

Max. Speed > 200000 pps

 

High Speed IO Setting
High Speed IO Setting
  • Click the Check button, and the No Error Found Dialogue should pop up. If so, Click Apply and proceed further. If no, click Restore Default Settings and Set up again.

PLC Servo Ladder Program
PLC Servo Ladder Program

 

 

  • Rebuild all and Download by selecting ‘Parameters + Program’.
Parameters + Program
Parameters + Program
  • Wait for downloading to finish and reset the cpu
PLC downloading
PLC downloading
  • Add the D0 and D2 to watch window by selecting data type to Double Word.
PLC Watch Window
PLC Watch Window

The frequency (speed) and distance of servo travel can be adjusted from here for verification

  • Start MR Configurator 2 and create new project.
MR Configurator
MR Configurator

Set the Station number as 00

  • Double click on parameters to open parameter window.
  • Navigate to Function Display > Position Control
Position Control
Position Control
  • Set pulse train filter selection to 200kpulse/s or less
pulses
pulses
  • Now open Electronic Gear Ratio on same window and set the following

Electronic Gear Selection > Electronic Gear

Motor Encoder Resolution > 131072

Electronic Gear Numerator > 1

Electronic Gear Denominator > 1

Click Ok.

  • Set Accel/Deccel Constant to 1000 mS for smooth start stop

  • Navigate to Function Display > Common > basic
Function Display
Function Display

 

Open Encoder Output Pulses

  • Set the Encoder Output Pulses settings as follows

Pulse Setting Selection > Output Pulse Similar to command Pulses

Encoder Resolution > 131072

Click Ok.

  • Navigate to List Display in parameter settings and select I/O

Set PD01 to > 1C04

Servo Parameters
Servo Parameters
  • The explanation for PD01 is as follows
PD01 Servo Parameter manual
PD01 Servo Parameter manual
  • Save the project and click axis writing. After a successful write. Turn off Servo amplifier. wait for 10 sec. and turn on again to apply new parameters.
  • Verify the output by changing frequency and distance by changing PLC memory value.

Youtube Link

 

 

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