Mitsubishi Electronics A171SHCPUN, A173UHCPU, A172SHCPUN User Manual

MOTION CONTROLLER

User’s Manual

type A173UHCPU,A172SHCPUN,

A171SHCPUN

MITSUBISHI
ELECTRIC

INTORODUCTION

Thank you for purchasing the Mitsubishi Motion Controller/A173UHCPU/A172SHCPUN/ A171SHCPUN.
This instruction manual describes the handing and precautions of this unit. Incorrect handing will lead to
unforeseen events, so we ask that you please read this manual thoroughly and use the unit correctly.
Please make sure that this manual is delivered to the final user of the unit and that it is stored for future
reference.

Precautions for Safety

Please read this instruction manual and enclosed doc uments before starting installation, opera­tion, maintenance or inspections t o ensure correct usage. Thoroughly underst and the machine,
safety information and prec aut i ons before starting operation.
The safety precautions are ran ked as "Warning" and "Caution" in th is instruction manual.

WARNING

CAUTION

Note that some items described as cautions may lead to ma jor results depending on the
situation. In any case, import ant information that must be observed is described.

When a dangerous situation may occur if handling is mistaken
leading to fatal or m a j o r injuries.

When a dangerous situation may occur if handling is mistaken
leading to medium or minor injuries, or physical damage.

− I −

For Sate Operations

1. Prevention of electric shocks

Never open the front case or ter minal covers while the power is ON or the unit is running, as
this may lead to electric shocks.

Never run the unit with the front ca se or t erminal cover removed. The high voltage terminal
and charged sections will be exposed and may lead to electric shocks.

Never open the front case or terminal cover at times other than wiring work or per iodic
inspections even if the power is O FF. The insides of the control u nit and servo amplifier are
charged and may lead to electric shocks.

When performing wiring wor k or inspections, turn the power OFF, wait at least ten minutes,
and then check the voltage wit h a t est er, et c. Failing to do so may lead to electric shocks.

Always ground the control unit, servo amplifier and servomotor wit h C la ss 3 grounding. Do
not ground commonly with other devices.

The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the control unit, servo ampli f ier and servomotor. Failing to do

so may lead to electric shocks or damage.
Never operate the switches w it h w et hands, as this may lead to electr ic shocks.
Do not damage, apply excessive stress, place heavy t hings on or sandwich the cables, as

this may lead to electric shocks.
Do not touch the control unit, servo amplifier or servomotor terminal blocks while the power

is ON, as this may lead to electric shocks.
Do not touch the interna l power supply, internal grounding or signal wires of the control unit

and servo amplifier, as this may lead to electric shocks.

WARNING

2. For fire prevention

Install the control unit, serv o amplifier, servomotor and regenerat ive resistor on inflammable
material. Direct installation on flammable material or near flammable mater ia l may lead to
fires.

If a fault occurs in the control unit or serv o amplifier, shut the power OFF at the serv o
amplifier’s power source. If a large current continues to flow, fires may occur.

When using a regenerative resist or, shut t he pow er OFF with an error signal. The regenera­tive resistor may abnormally ov erheat due to a fault in the regenerative t r ansist or, et c. , and
may lead to fires.

Always take heat measures suc h as f lame proofing for the inside of the control panel where
the servo amplifier or regenerative resistor is installed and for the w ires used. Failing to do
so may lead to fires.

CAUTION

− II −

3. For injury prevention
CAUTION

Do not apply a voltage other than that specified in the instruction manual on any t erminal.
Doing so may lead to destruct ion or damage.

Do not mistake the termina l connections, as this may lea d t o dest r uct i on or damage.
Do not mistake the polarity (+ / -), as this may lead to destruction or damage.
The servo amplifier's heat radiat i ng f ins, regenerative resistor and servo amplifier, etc., will

be hot while the power is ON and for a short time after the power is turned OFF. Do not
touch these parts as doing so may lead t o burns.

Always turn the power OFF before touching the servomotor shaft or coup led machines, as
these parts may lead to injuri es.

Do not go near the machine dur ing t est operations or during operat ions such as teaching.
Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.
Mistaken handling of the unit may lead to faults, injuries or electric shocks.

(1) System structure

CAUTION

Always install a lea ka ge breaker on the control unit and serv o amplifier power source.
If installation of a magnetic co nt act or for power shut off during an error, etc., is specified in

the instruction manual for t he servo amplifier, etc., always inst all the magnetic contactor.
Install an external emergen cy stop circuit so that the operation c an be st opped immediately

and the power shut off.
Use the control unit, servo a mpli fier, servomotor and regenerative resistor w ith t he combi-

nations listed in the instruct ion manual. Other combinat ions may lead to fires or faults.
If safety standards (ex., robot safety rules, etc.,) apply to the syst em using t he control unit,

servo amplifier and servomotor, make sure that the safety standards are sat is fie d.
If the operation during a control unit or servo amplifier error and the safety direction

operation of the control unit di ffer, const r uct a countermeasure circuit externally of the
control unit and servo amplifi er.

In systems where coasting of the serv omot or w ill be a pro bl em during emergency stop,
servo OFF or when the power is shut O FF, use dynamic brakes.

Make sure that the system considers the coasting amount even when using dynamic
brakes.

In systems where perpendicular shaft dropping may be a problem dur ing emergency stop,
servo OFF or when the power is shut O FF, use both dynamic brakes and magnetic brakes.

The dynamic brakes must be used only during emergency stop and errors where servo OFF
occurs. These brakes must not be us ed f or normal braking.

The brakes (magnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braki ng.

Construct the system so that t here is a mechanical allow ance allowing stopping ev en i f the
stroke end limit switch is pass ed t hrough at the max. speed.

Use wires and cables that have a w ire d ia m et er, heat resistance and bending resistance
compatible with the system.

− III −

Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics o f the system parts (other than control unit, servo amplifier,

servomotor) must be compatible w ith t he control unit, servo amplifier and serv omot or.
Install a cover on the shaft so that t he rot ary parts of the servomotor are not touched during

operation.
There may be some cases where hol ding by the magnetic brakes is not possible due to the

life or mechanical structure (when the ball screw and servomotor are connected with a
timing belt, etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

Set the parameter values to those that are compatible with the control unit, servo amplifier,
servomotor and regenerative resistor model and the system applicati on. The protective
functions may not function if the settings are incorrect.

The regenerative resistor model and capacity parameters must be set to values that
conform to the operation mode, servo amplifier and servo power unit. Th e prot ect ive
functions may not function if the settings are incorrect.

Set the mechanical brake output and dynamic brake output validity parameters to values
that are compatible with the system application. The protective functions may not fu nct ion if
the settings are incorrect.

Set the stroke limit input v al idit y parameter to a value that is compatible with the system
application. The prote c t ive functions may not function if the setting is incorrect.

Set the servomotor encoder type (incre ment , absolute position type, etc.) parameter t o a
value that is compatible w ith the system application. The prot ective functions may not
function if the setting is incorrect.

Set the servomotor capacity and t ype (standard, low-inertia, flat, etc. ) paramet er t o values
that are compatible with the system application. The protective functions may not fu nct ion if
the settings are incorrect.

Set the servo amplifier capacity and type parameters to values that are compatible with the
system application. The protect ive functions may not function if the set t i ngs are incorrect.

Use the program commands for t he program with the conditions spec if ied in the instruction
manual.

Set the sequence function pro gram capacity setting, dev ice capacity, latch validity range, I/O
assignment setting, and v alidity of continuous operat i on during error detection to values t hat
are compatible with the syst em application. The protective functions may not function if the
settings are incorrect.

Some devices used in the program have fixed applicati ons, so use these with the conditions
specified in the instructi on manual.

The input devices and data registers assigned to the link will hold t he data previous to when
communication is terminat ed by an error, etc. Thus, an error correspondence int erlock
program specified in the instruction manual must be used.

Use the interlock program specified in the special func t io n unit's instruction manual for the
program corresponding to the special function unit.

CAUTION

CAUTION

− IV −

(3) Transportation and installation

Transport the product with the correct method according to the weight.
Use the servomotor suspension bolts only for the transportatio n of the servomotor. Do not

transport the servomotor with mac hine installed on it.
Do not stack products past the l i mit.
When transporting the control unit or servo amplifier, never hold the connected wires or

cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the control unit or servo amplifier, never hold t he fr ont case as it may fall

off.
When transporting, installing or removing the control unit or servo amplifier, never hold the

edges.
Install the unit according to the instruction manual in a place where the weight can be withstood.
Do not get on or place heavy objects on the product.
Always observe the installation direction.
Keep the designated cleara nce between the control unit or serv o amplifier and control panel

inner surface or the control unit and s ervo amplifier, control unit or serv o amp l ifier and other
devices.

Do not install or operate cont rol units, servo amplifiers or servomotors that are damaged or
that have missing parts.

Do not block the intake/outt ake ports of the servomotor with cooling fan.
Do not allow conductive matter such a s screw or cut t in g chi ps or combustible matter such

as oil enter the control unit, serv o amp lifier or servomotor.
The control unit, servo amplifier and servomotor are precision machines, so do not drop or

apply strong impacts on the m.
Securely fix the control unit a nd servo amplifier to the machine according to the instruction

manual. If the fixing is insufficient, these may co me off duri ng operation.
Always install the servomotor with reduction gears in the designated direction. Fai ling t o do

so may lead to oil leaks.
Store and use the unit in the following environmental conditions.

CAUTION

Environment

Ambient
temperature

Ambient humidity
Storage

temperature
Atmosphere

Altitude 1000m (3278.69ft.) or less above sea level
Vibration According to each instruction manual

Control unit/servo amplifier Servomotor

0°C to +55°C

(With no freezing)
According to each instruction
manual.
According to each instruction
manual.

Indoors (where not subject to direct sunlight).

No corrosive gases, flammable gases, oil mist or dust must exist

− V −

Conditions

0°C to +40°C

(With no freezing)

RH or less

80

%

(With no dew condensation)

C to +65°C

−20°

When coupling with the synchronization encoder or servomotor shaft end, do not apply
impact such as by hitting with a hammer. Doing so may lead to detector damage.

Do not apply a load larger than the t olerable load onto the servo motor shaft. Doing so may
lead to shaft breakage.

When not using the unit for a long ti me, disconnect the power line from the control unit or
servo amplifier.

Place the control unit and servo amplifier in static electric it y preventing vinyl bags an d st ore.
When storing for a long time, please co nsult our sales representative.

(4) Wiring

Correctly and securely w ire the w ires. Reconfirm the connection s for mist akes and the
terminal screws for tightness after w iring. Failing to do so may lead to run away of the
servomotor.

After wiring, install the prote ct ive covers such as the terminal cov ers t o t he original positions.
Do not install a phase adv ancing capacitor, surge absorber or radio noise filter (option FR-

BIF) on the output side of the servo amplifier.
Correctly connect the output side (terminals U, V, W). Incorrect connections will lead the

servomotor to operate abnormally.
Do not connect a commercial power supply to the serv omotor, as t his may lead to trouble.

CAUTION

CAUTION

Do not mistake the direction o f the surge absorbing diode
installed on the DC relay for the c ont rol signal output of
brake signals, etc. Incorrect installation may lead to signals
not being output when trouble occurs or the protective
functions not functioning.

Do not connect or disconnect the connection cables
between each unit, the encoder cable or sequence ex­pansion cable while the pow er is ON.

Securely tighten the cable co nnector fixing screws and fixing mechanisms. Insufficient fixing
may lead to the cables combing off during operation.

Do not bundle the power lin e or cables.

(5) Trial operation and adjustment

Confirm and adjust the progra m a nd each parameter before operation. U npredictable
movements may occur depend ing on the machine.

Extreme adjustments and changes may lead to unstable operation, so never make them.
When using the absolute posit ion system function, on starting up, and when the controller or

absolute value motor has been repla ced, always perform a home position return.

CAUTION

Servo amplifier

VIN

(24VDC)

Control output

signal

RA

− VI −

(6) Usage methods

Immediately turn OFF the pow er i f s m oke, abnormal sounds or odors are em it t ed from the
control unit, servo amplifier or servomotor.

Always execute a test operat ion before starting actual operatio ns after the program or
parameters have been changed or after maintenance and inspection.

The units must be disassembl ed and repaired by a qualified techn ici an.
Do not make any modifications t o t he unit.
Keep the effect or magnetic obstacles to a minimum by insta l ling a noise filter or by using

wire shields, etc. Magnetic obsta cl es may affect the electronic devic es used near the control
unit or servo amplifier.

When using the CE Mark-compli ant equipment, refer to the "EMC Insta llation Guidelines"
(data number IB(NA)-67339) for the motion contro ll ers and refer to the corresponding EMC
guideline information for the servo amplifiers, inverters and ot her equipment.

Use the units with the fo llowing conditions.

Item

Input power
Input frequency 50/60Hz 5%

Tolerable momentary
power failure

CAUTION

Conditions

A1S61PN A1S62PN

100 to 240VAC
(85 to 264VAC)

Within 20ms

CPU module's built-

in power supply

+10%

-15%

(7) Remedies for errors

If an error occurs in the self diagnosis of the c ont rol unit or servo amplifier, confir m the
check details according to the instruct i on manual, and restore the operation.

If a dangerous state is predicted in case of a power failure or product failure, use a
servomotor with magnetic brakes or i nst al l a brake mechanism externally .

Use a double circuit construction so that the
magnetic brake operatio n circuit can be
operated by emergency stop signa ls set
externally.

If an error occurs, remove the cause, secure
the safety and then resume operat ion.

The unit may suddenly resume operation
after a power failure is restored, so do not go
near the machine. (Design the machine so
that personal safety can be ensure d even if
the machine restarts suddenly . )

CAUTION

Shut off with servo ON signal OFF,
alarm, magnetic brake signal.

Servo motor

Magnetic
brakes

RA1

Shut of f with th e
emergency stop
signal(EMG).

EMG

24VDC

− VII −

(8) Maintenance, inspection and part replacement

CAUTION

Perform the daily and pe riodic inspections according to the instruction manua l.
Perform maintenance and insp ect io n after backing up the program and para meters for the

control unit and servo amplifi er.
Do not place fingers or hands in the c learance when opening or closing any opening.
Periodically replace consumable parts such as batteries a ccording to the instruction manual.

Do not touch the lead sections such as ICs or the connector contacts.
Do not place the control unit or servo amplifier on metal that may cause a power leakage or

wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulat i on resistance measurement) during inspection.
When replacing the control unit or servo amplifier, always set the new unit set t in gs correctly.
When the controller or absolute value mot or has been replaced, carry out a home positi on

return operation using one of the f ol lowing methods, otherwise p osition displacement cou ld
occur.

1) After writing the servo data to the P C using peripheral device softw are, switch on the
power again, then perform a ho me position return operation.

2) Using the backup function o f the peri pheral device software, load t he dat a backed up
before replacement.

After maintenance and inspections are complete d, confirm that the position detection of the
absolute position detector funct ion is correct.

Do not short circuit, charge, overheat, incinerate or disassemble the bat t eries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near t he

control unit or servo amplifi er.
The electrolytic capacito r and fan will deteriorate. P eriodically change thes e t o prevent

secondary damage from faults. Replacements can be made by our sales representative.

(9) Disposal

Dispose of this unit as general industrial waste.
Do not disassemble the control unit , servo amplifier or servomotor parts.
Dispose of the battery accordi ng t o local laws and regulations.

(10) General cautions

All drawings provided in the instruction manual show t he st ate with the covers and safety
partitions removed to explain detai led s ect i ons. When operating the product, always return
the covers and partitions to the designated positions, and operat e according to the
instruction manual.

CAUTION

CAUTION

− VIII −

Revisions

*The manual number is given on the bottom left of the back cover.

Print Date *Manual Number Revision

Apr.1998 IB(NA)-67395-B First edition

Sep.2000 IB(NA)-67395-C

Addition
Addition of information on the A173UHCPU

Correction
For Sate Operations (4. Various precautions (3), (6), (8)), CONTENTS, 1.1,

1.2.1, 1.2.2, 1.3, 1.4, 1.5.1, 1.5.2 (1), 1.5.3, 1.5.4, 1.5.5, 1.5.6, 2.1, 2.3, 2.3.1,

2.3.2 (2), 4.3, 4.4, 5.4.1, 5.4.1(3), 5.4.1 (4), 5.4.1 (5), APPENDICES
Delete

1.5.7 (2), 5.3.1 (2)

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.

© 2000 Mitsubishi Electric Corporation

CONTENTS

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS.....................................................1- 1 to 1-57

1.1 Overview of the Motion System ......................................................................................................... 1- 1

1.2 Overall Configuration of Motion System ............................................................................................ 1- 3

1.2.1 A172SHCPUN/A171SHCPUN System Overall Configuration....................................................1- 3

1.2.2 A173UHCPU System Overall Configuration ............................................................................... 1- 5

1.3 Equipment in System.........................................................................................................................1- 7

1.4 General Specifications......................................................................................................................1-10

1.5 Specifications and Settings of Components ..................................................................................... 1-11

1.5.1 A173UHCPU/A172SHCPUN/A171SHCPUN............................................................................. 1-11

1.5.2 Extension Base Power Supply Module ...................................................................................... 1-25

1.5.3 Base Units and Extension Cables.............................................................................................. 1-28

1.5.4 Manual Pulse Generator/Synchronous Encoder Interface Module............................................ 1-38

1.5.5 Teaching Unit ............................................................................................................................. 1-49

1.5.6 SSCNET Cables and Termination Resistor and Their Connection Method .............................. 1-53

1.5.7 Battery ........................................................................................................................................ 1-57

2. DESIGN......................................................................................................................................2- 1 to 2-22

2.1 System Designing Procedure ............................................................................................................ 2- 1

2.2 System Design...................................................................................................................................2- 4

2.3 External Circuit Design....................................................................................................................... 2- 5

2.3.1 Power Supply Circuit Design...................................................................................................... 2-10

2.3.2 Safety Circuit Design.................................................................................................................. 2-12

2.3.3 Instructions for External Circuit Wiring Design...........................................................................2-16

2.4 Layout Design within Enclosure........................................................................................................ 2-17

2.4.1 Location Environment................................................................................................................. 2-17

2.4.2 Installing the Base Units............................................................................................................. 2-18

2.4.3 Installation .................................................................................................................................. 2-19

2.4.4 Calculating Heat Generated by A173UHCPU/A172SHCPUN/A171SHCPUN.......................... 2-20

2.5 Design Checklist ............................................................................................................................... 2-22

3. MOUNTING AND WIRING.........................................................................................................3- 1 to 3-12

3.1 Mounting and Wiring Methods ........................................................................................................... 3- 1

3.2 Mounting the Base Unit...................................................................................................................... 3- 1

3.2.1 Mounting without DIN Rail........................................................................................................... 3- 2

3.2.2 Mounting with DIN Rail................................................................................................................ 3- 2

3.3 Mounting and Removing Modules ..................................................................................................... 3- 4

3.4 Mounting the Serial Absolute Synchronous Encoder ........................................................................ 3- 7

3.5 Wiring.................................................................................................................................................3- 9

3.5.1 How to Run the Power Supply and I/O Wires.............................................................................3- 9

3.5.2 Example of Routing the Power Supply and I/O Wires ............................................................... 3-11

3.6 Mounting/Wiring Checklist ................................................................................................................ 3-12

4. TRIAL RUN AND ADJUSTMENT ...............................................................................................4- 1 to 4- 8

4.1 Checklist before Trial Operation ........................................................................................................ 4- 1

4.2 Trial Run and Adjustment Procedure................................................................................................. 4- 3

− I −

4.3 Operating System Installation Procedure .......................................................................................... 4- 7

4.4 Trial Run and Adjustment Checklist................................................................................................... 4- 8

5. INSPECTION AND MAINTENANCE .........................................................................................5- 1 to 5-23

5.1 Maintenance Works ........................................................................................................................... 5- 1

5.2 Daily Inspections................................................................................................................................5- 3

5.3 Scheduled Inspections.......................................................................................................................5- 4

5.3.1 Replacing the Battery.................................................................................................................. 5- 5

5.4 Troubleshooting ................................................................................................................................. 5- 7

5.4.1 Troubleshooting for CPU Module and I/O Modules .................................................................... 5- 9

APPENDICES......................................................................................................................APP- 1 to APP-26

Appendix 1 Cables.............................................................................................................................APP- 1

Appendix 1.1 SSCNET Cables........................................................................................................ APP- 1

Appendix 1.2 Encoder Cables.........................................................................................................APP- 5

Appendix 1.3 A31TU-E Teaching Unit Cable.................................................................................APP-12

Appendix 2 Outside Dimensions....................................................................................................... APP-14

Appendix 2.1 CPU Modules..........................................................................................................APP-14

Appendix 2.2 Pulse Generator/Synchronous Encoder Interface Module (A172SENC)................APP-16

Appendix 2.3 Main Base Unit........................................................................................................APP-17

Appendix 2.4 Extension Base Units ..............................................................................................APP-19

Appendix 2.5 Teaching Unit..........................................................................................................APP-21

Appendix 2.6 Connector................................................................................................................APP-23

Appendix 2.7 Manual Pulse Generator Specifications..................................................................APP-25

Appendix 2.8 Serial Absolute Synchronous Encoder Specifications ............................................APP-26

− II −

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

1. SPECIFICATIONS OF MO TION SYS TEM COM PONENTS

This chapter provides the system configuration of the motion system and the
specifications, functions, setting methods, external equipment connection
methods, part names and other information of the related modules for those who
are involved in the design, installation, wiring, trial run, adjustment and
maintenance of the motion system.

1.1 Overview of the Motion System A173UHCPU/A172SHCPUN/A171SHCPUN are CPUs which incorporate the

positioning control CPU (hereinafter referred to as PCPU) and the sequence
control CPU (hereinafter referred to as SCPU) and perform the following functions:

•

PCPU..........Carries out the positioning control, home position return, servo

amplifier control status monitoring using a servo program or
motion program.

•

SCPU..........Carries out the sequence control, start-up of servo program or

motion program, enabling and disabling manual pulse generator
operation, and jog operation.

Positioning data setting and programming of A173UHCPU/A172SHCPUN/
A171SHCPUN is performed using the following peripheral devices and positioning
software package.

(1) Peripheral device

•

IBM PC/AT compatible running DOS/V5.0 or higher(hereinafter abbreviated

as "IBM PC")

(2) Positioning software package

•

For IBM PC ......... SW

SRX-GSV PE, SW RN-GSV PE

The following diagram outlines the peripheral devices and programs using a
positioning software package, data creation, and A173UHCPU/A172SHCPUN/
A171SHCPUN processing.

[Peripheral device] [Program, data] [A173UHCPU/A172SHCPUN/A171SHCPUN]

IBM PC

+
SW SRX-GSV PE,
SW RN-GSV PE

+

SW SRX-SV ,
SW RN-SV

Sequence program

Servo program or
motion program
Positioning
parameter

SCPU

Positioning

device

PCPU

Sequence control
Servo program or motion

program execution
JOG operation
For communication

between SCPU and PCPU
Positioning control

Home position return
Servo monitoring

1 − 1

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

•

The sequence program written into the SCPU, the servo program or motion

program written into the PCPU, and the positioning parameters are created
after starting up corresponding positioning software package by the
peripheral device.

•

The peripheral device started up by the positioning software package can

monitor the positioning control conditions of A173UHCPU/A172SHCPUN/
A171SHCPUN, execute the servo program or motion program, and perform a
test such as JOG operation.

REMARKS

For information about a peripheral device and programming information for
producing a sequence program and a special function unit, refer to each
manual pertaining to the individual unit.
For information about creating motion programs, refer to the programming
manual of the operating system used. For information about the operation of
each peripheral software package, refer to each individual operating manuals.

In this manual, the following abbreviations are used.

Description Abbreviation

A173UHCPU/A172SHCPUN/ A171SHCPUN Module
MR-H-BN,MR-J2S-B,MR-J2-B servo amplifier MR-H-BN/MR-J2S-B/MR-J2-B

A172SENC manual pulse generator/synchronous encoder interface unit/module A172SENC
Fast serial communication betw een motion control ler and serv o ampl ifi er SSCNET

A173UHCPU/A172SHCPUN/
A171SHCPUN or CPU module

*1

*1 SSCNET: Servo System Controller NETwork

1 − 2

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

1.2 Overall Configuration of Motion System

1.2.1 A172SHCPUN/A171SHCPUN System Overall Configuration

Manual pulse generator/
synchronous encoder
interface module

Battery

A6BAT

Emergency stop input

100/200VAC

IBM PC

(DOS)

Teaching unit

A31TU-E/A30TU-E

RS422

Communication cable

(A270CDCBL M/
A270BDCBL M)

IBM PC (DOS,Windows)

SSCNET2

SSC I/F card/board
(A30CD-PCF/A30BD-PCF)

Motion CPU

RS422

Motion slot Sequence module slot

A172

SENC

SSCNET cable

SSCNET1

*1

Limit switch

output mo dule

A1S
Y42

A1S input module or
special function module

Manual pulse generator 1

P

(MR-HDP01)

Serial absolute synchronous encoder cable
(MR-HSCBL M)

E

Serial absolute synchronous encoder 1
(MR-HENC)

External input signals

FLS upper stroke limit
RLS lower stroke limit
STOP signal
DOG/CHANGE near-zero point dog/
changeover between speed and position

TRA tracking

Electromagnetic brake command output

d1 d2 d3 dn

Extension cable

(A1SC B for

A1S6 B

and A168B)

(A1S NB
for A6 B)

Main base unit(A178B-S1/A17 B)

GOT

module

Power supply

Sequence extension base
Up to one extension base unit for A1S6 B
Up to one extension base unit for A168B
(GOT compatible)
Up to one extension base unit for A6 B

A171SHCPUN A172SHCPUN

4

1

8

1

*2

Termination
resistance

*1:No. of motion slots

A17 B 1
A178B-S1 2

M
E

M
E

M

E

M
E

*2:n:No. of control axes (max.)

A171SHCPU N 4
A172SHCPU N 8

MR-H-BN/MR-J2S-B/MR-J2-B model

Servo amplifier

SSCNET:Servo System Controller NETwork

POINTS

(1) When using the sequence extension base and bus connection type GOT, select the A168B as the

sequence extension base. When not using the sequence extension base, you can connect the bus
connection type GOT directly to the extension connector of the main base unit.

(2) When using a teaching unit A31TU-E with a dead-man switch, a dedicated connecting cable

A31TUCBL03M is required between the CPU unit and A31TU-E connector. If the A31TU-E is
connected directly to the RS422 connector of the CPU without using a dedicated cable, the
A31TU-E will not operate at all. After disconnecting the A31TU-E, attach a short-circuit connector

A31SHORTCON for A31TUCBL.
(3) In a motion module, a sequence A1S I/O modules can also be installed.
(4) Though the external input signals of A172SENC are reserved for eight axes, for A171SHCPUN,

set those for the first half four axes (PX0 to PX0F).

1 − 3

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

CAUTION

Configure safety circuits external to the controller or servo amplifier if their abnormal operation
could cause axis motion in a direction other than the safe operating direction for the system.
Ensure that the characteristics of other components used in a system match those of the
controllers, servo amplifiers, and servo motors.
Set the parameters to values appropriate for the controllers, servo amplifiers, servo motors,
regenerative resistor types, and system application. The protective functions may not work if the
parameters are set incorrectly.

1 − 4

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

1.2.2 A173UHCPU System Overall Configuration

Battery

A6BAT

Emergency stop input

100/200VAC

IBM PC

(DOS)

Teaching unit

A31TU-E/A30TU-E

RS422

Communication cable

(A270CDCBL M/
A270BDCBL M)

IBM PC (DOS,Windows)

SSCNET4

SSC I/F card/board
(A30CD-PCF/A30BD-PCF)

A173UHCPU

RS422

*2

Motion slot Sequence module slot

Manual pulse
generator/
synchronous encoder
interface module

A172

SENC

*2

*1

Main base unit
(A178B-S3/
A178B-S2/
A178B-S1/
A17 B)

A172

A172

SENC

A172

SENC

SENC

A1S input module or
special function module

P

Manual pulse generator 3

P

(MR-HDP01)

P

Serial absolute synchronous

E

encoder cable

E

(MR-HSCBL M)

E

Serial absolute synchronous encoder 4

E

(MR-HENC)

External input signals

FLS upper stroke limit
RLS lower stroke limit
STOP signal
DOG/CHANGE near-zero point dog/
speed-position change

TRA tracking

Electromagnetic brake command output

SSCNET2

d1

*3

SSCNET cable

SSCNET3

d8

d9

Extension cable

(A1SC B for

A1S6 B

and A168B)

(A1S NB
for A6 B)

d16

GOT

module

Power supply

Sequence extension base
Up to one extension base unit for A1S6 B
Up to one extension base unit for A168B
(GOT compatible)
Up to one extension base unit for A6 B

8

1

SSCNET4

d17

8 8 8

1 1 1

d24

d25

d32

SSCNET1

*1:No. of motion slots

A17 B 1
A178B-S1 2
A178B-S2 4

M

E

M
E

M

E

M

E

M
E

M
E

M
E

M
E

A178B-S3 8

MR-H-BN/MR-J2S-B/MR-J2-B model

Servo amplifier, max. 32 axes

SSCNET:Servo System Controller NETwork

POINTS

(1) When using the sequence extension base and bus connection type GOT, select the A168B as the

sequence extension base. When not using the sequence extension base, you can connect the bus

connection type GOT directly to the extension connector of the main base unit.
(2) When using a teaching unit A31TU-E with a dead-man switch, a dedicated connecting cable

A31TUCBL03M is required between the CPU unit and A31TU-E connector. If the A31TU-E is

connected directly to the RS422 connector of the CPU without using a dedicated cable, the

A31TU-E will not operate at all. After disconnecting the A31TU-E, attach a short-circuit connector

A31SHORTCON for A31TUCBL.
(3) In a motion module, a sequence A1S I/O modules can also be installed.
*2 The A173UHCPU can use four channels of the SSCNET. When using the SSCNET card/board

(A30CD-PCF/A30BD-PCF), connect it to the SSCNET4 and the servo amplifiers to the SSCNET1

to 3.

In this case, up to 24 axes of servo amplifiers can be connected.
*3 TRA tracking enable can use any one point.

1 − 5

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

CAUTION

Configure safety circuits external to the controller or servo amplifier if their abnormal operation
could cause axis motion in a direction other than the safe operating direction for the system.
Ensure that the characteristics of other components used in a system match those of the
controllers, servo amplifiers, and servo motors.
Set the parameters to values appropriate for the controllers, servo amplifiers, servo motors,
regenerative resistor types, and system application. The protective functions may not work if the
parameters are set incorrectly.

1 − 6

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

1.3 Equipment in System (1) Table of motion modules

Part Name Model Name Description

A173UHCPU(-S1) Max. 32 axes control 1.90
A172SHCPUN Max. 8 axes control 1.63CPU module
A171SHCPUN Max. 4 axes control 1.63
A172B One motion module slot and one sequence module slot
A175B One motion module slot and four sequence module slots

Main base unit

Sequence
extension base
unit

Extension cable

Manual pulse
generator
/synchronous
encoder
interface
module

Limit output unit A 1SY4 2 Transistor output 64 points, 12/24 VDC, 0.1A 0.93
Manual pulse
generator
Serial absolute
synchronous
encoder

Serial absolute
synchronous
encoder cable

Battery A6BAT

Teaching unit

SSC I/F board A30BD-PCF ISA bus loading type, 2 channels/board
SSC I/F card A30CD-PCF PCMCIA TYPE II, 1 channel/card
SSC I/F board

cable
SSC I/F card

cable

A178B
A178B-S1 Two motion module slots and six sequence module slots

A178B-S2 Four motio n module slots and four sequence module slots
A178B-S3

A1S65B
A1S68B
A168B
A1SC01B Flat cable of 55 mm (2.17 in) in length

A1SC03B Length 330 mm (13 in)
A1SC07B Length 700 mm (27 in)
A1SC12B Length 1200 mm (47 in)
A1SC30B Length 3000 mm (118 in)
A1SC60B Length 6000 mm (236 in)
A1SC05NB Length 450 mm (17 in) AnN extension base cables
A1SC07NB Length 700 mm (27 in) AnN extension base cables
A1SC30NB Length 3000 mm (118 in) AnN extension base cables
A1SC50NB Length 5000 mm (197 in) AnN extension base cables

A172SENC

MR-HDP01

MR-HENC

MR-HSCBL

A30TU-E For SV13, cable length 5 m (16.4 ft) 0.22
A31TU-E

A31TU-RE

A31TUCBL03M CPU module to A31TU-E connector cable of 3 m (9.84 ft.) For control panel
A31SHORTCON Short-circuit connector for A31TUCBL

A270BDCBL

A270CDCBL

One motion module slot and seven sequence module
slots

Eight motion module slots and zero sequence module
slots
Extension power and five slots for system up to one
extension stage
Extension power and eight slots for system up to one
extension stage
Extension power and eight slots for system up to one
extension stage

32 points I/O signals
(FLS, RLS, STOP, DOG/CHANGE×8)
Tracking input 1 point
Electromagnetic brake control output 1 point
Manual pulse generator interface 1 point
Synchronous encoder interface 1 point

4.5 VDC to 13.2 VDC 25 PLS/rev, 100 PLS/rev at
magnification of 4

Resolution: 16384 PLS/rev,
Permitted rotational speed: 4300r/min

Synchronous encoder and A172SENC connector cables:
2 m (6.56 ft.), 5 m (16.4 ft.), 10 m (32.8 ft.), 20 m (65.6
ft.), 30 m (98.4 ft.)

M

(Same cables as encoder cables for HA-LH
SF/RF/UF(2000r/min)series motors.)
For CPU module memory back-up
(Sequence program/servo program)

For SV13 with deadman switch, cable length 5 m (16.4
ft)

For SV51 with deadman switch, cable length 5 m (16.4
ft)
(Need A31TUCBL03M and A31SHORTCON.)

3 m (9.84 ft.), 5 m (16.4 ft.), 10 m (32.8 ft.) for

M

A30BD-PCF
3 m (9.84 ft.), 5 m (16.4 ft.), 10 m (32.8 ft.) for

M

A30CD-PCF

K, HC-

Current

Consumption

5 VDC (A)

0.42

0.06

0.15

0.22

0.22

1 − 7

Remarks

Sequence extension
connector as
accessory

Extension connector
as accessory
For extension to the
right side

For A6 B

When A31TU-E is
not connected

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

y

(2) Table of servo amplifier modules

Part Name Model Name Description

50 W to 22 kW
30 kW to 55 kW

External regenerative resistor 10 W to 500 W
Regenerative power 600 W
External regenerative resistor 1300, 3900 W

For connection of CPU module and MR-H-BN, for connection of MR-H-BN and
MR-H-BN

0.5 m(1.64 ft), 1 m (3.28ft), 5 m (16.4 ft)
For connection of HA-LH

BN

M-H

2 m (16.4 ft), 5 m (16.4 ft), 10 m (32.8 ft), 20 m (65.6 ft), 30 m (98.4 ft)
For

HA-LH

Amplifier side connector and encoder side connector set
50 W to 7 kW, three-phase 200 to 230 VAC or single-phase 230 VAC
50 W to 400 W, single-phase 100 to 120 VAC

For connection of CPU module and MR-J2S-B/MR-J2-B, for connection of MR-H­BN and MR-J2S-B/MR-J2-B

M-A

0.5 m(1.64 ft), 1 m (3.28ft), 5 m (16.4 ft)
For connection of MR-J2S-B/MR-J2-B and MR-J2S-B/MR-J2-B

M

0.5 m(1.64 ft), 1 m (3.28ft), 5 m (16.4 ft)
Standard

M-L

cable

M-H

Long flexing
life cable

M-H

Standard

M-L

cable
Long flexing

M-H

life cable
For HC-SF/RF/UF (2000r/min), HC-SFS/RFS/UFS (2000r/min) series motors

Amplifier side connector and encoder side connector set
For HC-MF/UF (3000r/min), HA-FF, HC-MFS/KFS/UFS (3000r/min) series motors

Amplifier side connector and encoder side connector set

K, HC-SF/RF/UF (2000r/min) series motors

For connection of HC-SFS/RFS/UFS (2000r/min) series motor and
MR-J2S-B, and for connection of HC-SF/RF/UF (2000r/min) series
motor and MR-J2-B
2 m (6.56 ft), 5 m (16.4 ft), 10 m (32.8 ft), 20 m (65.6 ft),
30 m (98.4 ft)
For connection of HC-MFS/KFS/UFS (3000r/min) series motor and
MR-J2S-B, and for connection of HC-MF/UF (3000r/min), HA-FF
series motor and MR-J2-B
2 m (6.56 ft), 5 m (16.4 ft), 10 m (32.8 ft), 20 m (65.6 ft),
30 m (98.4 ft)

K, HC-SF/RF/UF (2000r/min) series motor and MR-H-

MR-H-BN
series

MR-J2S-B
series

MR-J2-B
series

Equipment
common to
MR-J2S-B
and
MR-J2-B
series

Servo amplifier
Battery MR-BAT Backup for absolute position detection

Termination
connector

Regenerative
resistor

SSCNET cable MR-HBUS

Encoder cable

*2

Encoder
connector set

Servo amplifier

Servo amplifier MR-J2­Battery MR-BAT Backup for absolute position detection

Termination
connector

SSCNET cable

Encoder cable

*2

Encoder
connector set

MR-H BN
MR-H

KBN

MR-TM Fitted to the last amplifier of SSCNET
MR-PB

MR-H

KB
Standard accessor
MR-PB -4
FR-BU Brake unit 15/30/55K
FR-RC Power return converter 15/30/55K

M

MR-HSCBL M
MR-EN1CBL
MR-JSCNS

MR-EN1CNS
MR-J2S- B
MR-J2S-

MR-A-TM Fitted to the last amplifier of SSCNET

MR-J2HBUS

MR-J2HBUS

MR-JHSCBL
MR-JHSCBL

MR-ENCBL
MR-JCCBL

MR-JCCBL

MR-J2CNS
MR-ENCNS

MR-J2CNM

*1: 5kW and 7kW are scheduled for release.
*2: Long distance cable or cable without connector (cable only) is also available.

Avoid using a short cable as it will cause a position shift or the like.

*1

B1

B 50 W to 3.5 kW

1 − 8

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(3) Table of software package

(a) Motion function

Peripheral Software Package Main OS Software Package Model Name

Use

For conveyor
assembly
(SV13)

For motion
SFC­compatible
conveyor
assembly
(SV13)

For automatic
machinery
(SV22)

For motion
SFC­compatible
automatic
machinery
(SV22)
For machine
tool peripheral
(SV43)
For dedicated
robot (SV51)

Peripheral

Devices

Japanese SW2SRX-GSV13P From 0AC on 00T or later

DOS

English SW2SRX-GSV13PE From 00J on 00F or later

IBM PC/AT

IBM PC/AT

IBM PC/AT

IBM PC/AT

IBM PC/AT DOS Japanese SW2SRX-GSV43P From 00T on 00J or later

IBM PC/AT DOS Japanese SW2SRX-GSV51P

Japanese SW3RNC-GSV From 00F on 00E or later

NT/
98

English SW3RNC-GSVE

Japanese SW3RNC-GSV From 00F on

NT/
98

English SW3RNC-GSVE

Japanese

DOS

English

Japanese SW3RNC-GSV From 00F on 00E or later

NT/
98

English SW3RNC-GSVE

Japanese SW3RNC-GSV From 00F on

NT/
98

English SW3RNC-GSVE

Model Name

SW2SRX-GSV22P From 0AC on 00T or later
SW0SRX-CAMP From 00B on 00B or later
SW2SRX-GSV22PE From 00J on 00F or later

SW0IX-CAMPE

Applicable version

For

A173UH

Without
restriction

Without
restriction

Without
restriction

Without
restriction

Without
restriction

For

A172SH/

A171SH

Without
restriction
Without
restriction

Without
restriction

Without
restriction

Without
restriction
Without
restriction

Without
restriction

00E or later

For

A173UH

SW2SRX­SV13B

SW2SRX­SV13B

SW3RN­SV13B

SW2SRX­SV22A

SW3RN­SV22A

SW2SRX­SV43A

A172SH

SW0SRX­SV13D

SW2SRX­SV13D

SW3RN­SV13D

SW0SRX­SV22C

SW3RN­SV22C

SW0SRX­SV43C

SW0SRX­SV51D

For

For

A171SH

SW0SRX­SV13G

SW0SRX­SV13G

SW0SRX­SV22F

SW0SRX­SV43F

SW0SRX­SV51G

Teaching

function

Yes

No

No

Yes

1 − 9

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

1.4 General Specifications

Table 1.1 Generation Specifications

Item Specification

Operating ambient
temperature
Storage ambient
temperature
Operating ambient
humidity
Storage ambient
humidity

Frequency Acceleration Amplitude

Vibration resistance

Shock resistance Conforms to JIS C 0912 (98m/s2 (10g), 3 directions, 3 times)*

Noise resistance

Withstand voltage 2830V A C rms / 3 cycles across all i nputs/ LG and all out puts/F G (alt itude 2000m (6557. 38f t. ))
Insulation resistance 5M
Ground Class 3 grounding. Connect to enclosure when grounding is impossible.
Operating environment No corrosive gas, low dust
Cooling method Natural cooling.

Conforms to JIS C

2

0911*

(1) Noise voltage: 1500Vpp, noise amplitude: 1
(2) Noise voltage : IEC801-4, 2 kV

or more by 500VDC insulation resistance tester across all inputs/LG and all outputs/FG

10 to 55Hz

55 to 150Hz 9.8m/s

10% to 90%RH, no condensation

10% to 90%RH, no condensation

0 to 55°C

-20 to 75°C

Number of Sweeps

0.075mm
(0.003 in)

2

2

µ

s, noise frequency: 25 to 60 Hz, with a noise simulator

(1 octave/minute)*

10

1

REMARKS

*1 An “octave” refers to an increase or decrease in frequency by a factor of

two. For example, the following are all octaves: 10 Hz to 20 Hz, 20 Hz to
40 Hz, 40 Hz to 20 Hz, and 20 Hz to 10 Hz.
Refer to “CHAPTER 2 DESIGN” for the installation environment and
mounting instructio ns.

*2 JIS: Japan Industrial Standards

WARNING

Class 3 grounding should be used. The motion controller should not share a common ground with

any other equipment. The ground terminal is located on the motion controller module terminal
block. (See Section 1.5.2.)

CAUTION

The motion controller must be stored and operated under the conditions listed in the table of

specifications above.

Disconnect the power cables from the motion controller if it is to remain unused for a long period

of time.
Insert a controller or servo amplifier into the static-proof vinyl bag for storage.
Consult the system service or service station before storing equipment for a long period of time.

1 − 10

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

1.5 Specifications and Settings of Components

1.5.1 A173UHCPU/A172SHCPUN/A171SHCPUN (1) Basic specifications of A173UHCPU, A172SHCPUN and A171SHCPUN

Item A173UHCPU(-S1) A172SHCPUN A171SHCPUN

No. of control axes 32-axes 8-axes 4-axes

SV13

Motion

PC

System

configuration

Compatibility

Outside dimensions 130 113.3 93.6 (5.12 4.46 3.69) unit = mm (inch)
Weight (kg (lb)) 0.85 (1.87)

Computing
frequency

Sequencer CPU Equivalent to A3UCPU

Processing speed
(

s) (Sequence

instruction)
No. of I/O points 8192 points 2048 points

No. of real I/O points *

Memory capacity (built-in RAM)

Program capacity
(Main sequence)
No. of file register (R) Max. 8192 registers

2

block *
No. of sequencer extension

base units
Pulser synchronous encoder

interface unit

No. of SSCNET I/F 4CH.

Teaching unit (OS
with teaching
function)
Sequence program, parameter
Servo program
Mechanism program (SV22)
Parameter

System setting Must be set anew.

SV22

Direct
method
Refresh
method

1

Standard

-S1

Standard Max. 10 blocksNo. of extension file register

-S1 Max. 46 block s

(Corresponding to external signal input

A30TU-E
A31TU-E

After starting A173UHCPU and reading
a file, those created by A273UHCPU
(32-axes) can be used as it is.

3.5 ms/1 to 20 axes

7.1 ms/21 to 32 axes

3.5 ms/1 to 12 axes

7.1 ms/13 to 24 axes

14.2 ms/25 to 32 axes

0.15

s/step 0.25 s/step

2048 points 1024 points 512 points

192k bytes (Equivalent to

A3NMCA-24)

768k bytes (Equivalent to

A3AMCA-96)

Max. 30k steps Max. 30k steps Max. 14k steps

A172SENC

32-axes)

4

(With dead-man switch)

3.5 ms/1 to 8 axes 3.5 ms/1 to 4 axes

Equivalent to

reinforced I/O

memory of
A2SHCPU

0.25 to 1.9 s/step

192k bytes
(Equivalent to
A3NMCA-24)

Max. 10 blocks Ma x. 2 blocks

Max. one

A172SENC 1

(Corresponding to external signal input

8-axes)

2CH.

SSCNET1..... For connection of servo

SSCNET2..... For personal computer link

After starting A172SH/A171SH and
reading a file, those created by
A171SCPU can be used as it is.

By making sure of system setting screen
after being started up by A172SH/A171SH
and reading a file, changeover below is
carried out:
A171SCPU
A171SENC
now the system is ready for operation.

amplifier
dedicated

A172SH/A171SHCPUN
A172SENC

Equivalent to

A2SHCPU

64k bytes

(Equivalent to

A3NMCA-8)

*1 The real I/O points can be used within the range of one extension base.
*2 No. of extension file register blocks varies depending on the setting of program capacity, No. of file

registers, and No. of comments.

1 − 11

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(2) Functions and performance specifications of PCPU

The performance specifications and functions of the PCPU depend on the
motion function OS model installed in the CPU module.
Refer to the programming manual of the motion functions installed in the CPU
module.

1 − 12

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(3) SCPU performance specifications and functions

(a) SCPU performance specifications

As the SCPU performance specifications differ according to the operating
system used, refer to the appropriate OS Programming Manual for details.

Table 1.2 Table of SCPU Performance Specifications

Item A173UHCPU(-S1) A172SHCPUN A171SHCPUN

Control method Stored programs repe at ed op era ti on
I/O control method Refresh method Refresh method/direct method (selectable)

Programming language

Sequence instructions 22 26

Number of instructions

Processing speed ( s)
(sequence instructions)

No. of I/O points 8192 points (X/Y0 to 1FF) 2048 points (X/Y0 to X/Y7FF)
No. of real I/O points *
Watchdog timer (WDT) 200 ms fixed 10 to 2000 ms

Memory capacity (internal RAM)

No. of internal relays (M) *
No. of latch relays (L) 1048 points (L1000 to L2047)

No. of step relays (S) 0 point (none at initial status)
No. of link relays (B) 8192 points (B0 to B1FFF) 1024 points (B0 to B3FF)

Timers (T)

Device

Counters (C)

No. of data registers (D) *
No. of link registers (W) 8192 points (W0 to W1FFF) 1024 points (W0 to W3FF)
No. of annunciators (F) 2048 points (F0 to F2047) 256 points (F0 to F255)
No. of file registers (R) Max. 8192 points (R0 to R8191) (set with parameters)
No. of accumulators (A) 2 points (A0, A1)

No. of index registers (V, Z)

No. of pointers (P) 256 points (P0 to P255)
No. of interrupt pointers (I) 32 points (I0 to I31)
No. of special-function rela ys( M) 256 points (M9000 to M9255)
No. of special-function registers (D)

Basic instructions 252 131
Special instructions 204 106
Motion dedicated instruc ti on s 4 4
Direct method 0.25 to 1.9 s/step
Refresh method 0.15

5

Standard

-S1

Main sequence program Max. 30 k steps Max. 14k steps
Sub-sequence program Max. 30k steps None NoneProgram capacity
Micro computer program None Max. 58k bytes Max. 26k bytes

1

Points 256 points

Specifications

Points 256 points

Specifications

1

8192 points (D0 to D8191) 1024 points (D0 to D1024)

(Relay symbol language, logic symbol language, MELSAP-II (SFC))

s/step 0.25 s/step

2048 points (X/Y0 to 7FF)

192k bytes
(Equivalent to
A3NMCA-24)

768k bytes
(Equivalent to
A3AMCA-96)

7144 points (M0 to M999,

M2048 to M8191)

100 ms timer 0.1 to 3276.7s T0 to T199

10 ms timer 0.01 to 327.67s T200 to T255

100ms retentive timer 0.1 to 3276.7s No initial value

Normal counter 1 to 32767 C0 to C255

Interrupt program counter 1 to 32767

14 points

(V, V

to V6, Z, Z1 to Z6)

1

Sequence control dedicated language

1024 points (X/Y0 to

X/Y3FF)

192k bytes 64k bytes

1000 points (M0 to M999)

Time setting Device

Set with parameters

Setting range Device

Set with parameters

2 points (V, Z)

256 points (D9000 to D9255)

512 points (X/Y0 to X/Y1FF)

C224 to C255

(No initial value)

3

*

4

*

1 − 13

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

Table 4.1 Table of SCPU Performance Specifications (Continued)

Item A173UHCPU (-S1) A172SHCPUN A171SHCPUN

Standard

No. of extension file register block

-S1

No. of comments Max. 4032 points (64k by tes), 1 point = 16 bytes (set in 64-point unit)
No. of extension comments *
Self-diagnosis function Watchdog error monitoring, memory/CPU/input output/battery, etc. error detection
Operating mode on error Select stop/continue

Output mode selection when switching from STOP to RUN
Clock function Year, month, day, hour, minute, day of the week (leap year automatic distinction)

*1 Range of positioning dedicated devices differs depending on the OS. Refer to the Programming Manual of each OS.

When shared between M, L and S, the total number of devices points is 8192 for the A173UHCPU or 2048 for the A172SHCPUN/A171SHCPUN.
*2 Extension comments are not stored into the internal memory of the CPU.
*3 For the A173UHCPU, set the times of the extension timers (T256 to T2047) using the word devices (D, W, R).
*4 For the A173UHCPU, set the count values of the extension counters (C256 to C1023) using the word devices (D, W, R).
*5 The real I/O points can be used within the range of one extension base.
*6 SW0GHP-UTLP-FN1 is necessary for using A6GPP and A6PHP.

2

Max. 10 blocks

(set by memory

capacity)

Max. 46 blocks

(set by memory

capacity)

Max. 3968 points (63k bytes), 1 point = 16 bytes (set in 64-point unit)

Select re-output operation status before STOP (default) or output after operation

Max. 10 blocks

(set by memory capacity)

execution.

*6

Max. 3 blocks

(set by memory capacity)

*6

1 − 14

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(b) SCPU functions

Refer to the A2SHCPU user's manual for details of the SCPU functions of
A171SHCPUN/A172SHCPUN and A3UCPU user’s manual for details of
the SCPU functions of A173UHCPU.

Table 1.3 Table of SCPU Functions

Function Description

!

Sets a constant time for one scan of a sequence program which is independent of the sequence

Constant scan

Latch (hold on
power interruption)

Remote
RUN/STOP

PAUSE

Status latch

Sampling trace

Off-line switch
Error indicator

order or priority

Clock

program scan.

!

Set the constant scan time between 10 ms and 2000 ms.

!

The contents of devices set as latch devices are retained when a reset or a power interruption

over 20 ms occurs if the power is turned off.

!

Devices L, B, T, C, D, W can be set as latch devices.

!

Conducts remote RUN/STOP sequence control from external inputs or peripheral devices when

the RUN/STOP switch is set to RUN.

!

Stops the operation and holds the output (Y) ON/OFF status.

!

The PAUSE status can be set by two method:

!

With the remote PAUSE contacts

!

From a peripheral device

!

The contents of all devices are written to the CPU module status latch area when the status

latch conditions are met.

!

The contents of the devices stored in the status latch area can be monitored from a peripheral

device.

!

The operating status of the designated device is sampled at the set interval, and the results are

stored in the CPU module sampling trace area.

!

Data stored in the sampling trace area can be monitored from a peripheral device.

!

Separates the devices (Y, M, L, S, F, B) used by the OUT instruction from the sequence

program operations.

!

Sets order in which the indicators light and go out when an error occurs.

!

Executes the CPU module internal clock operations .

!

Clock data is: year, month, day, hour, minute, second, day of week.

!

The clock data can be read to D9025 to D9028.

1 − 15

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(4) Names of A173UHCPU/A172SHCPUN/A171SHCPUN Parts

A173UHCPU/A172SHCPUN

3)

1)2)

13)

6)

7)

8)

9)

A171SHCPUN

5)

6)

7)

8)

9)

N

100 240VAC

105VA

NC

NC

[A173UHCPU]

FRONT
SSCNET

4 1

3 2

1:SSCNET1 2:SSCNET2
3:SSCNET3 4:SSCNET4

N

100 240VAC

3

105VA

24VDC 0.6A

+24V
24G

15)

17)

1)2) 3)

15)

17)

4)

100 240VAC

10)

18), 19)

4)

100 240VAC

10)

16)

N

105VA

12)

14)

11) 19)

18)

13)

12)

N

3

105VA

24VDC 0.6A

16)

14)

18), 19)

11) 19)

No. Name Application

!

RUN/STOP: Starts or stops operation of a sequence program.

!

RESET: Resets the hardware.

1) RUN/STOP key switch

!

LATCH CLEAR (L. CLR): Clears the latch area data set with the parameters

Applies a reset after an operation error occurs and initializes the operations.

(to OFF or 0).
(LATCH CLEAR also clears data outside the latch area.)

2) POWER indicator

!

Display indicator for 5 VDC power supply.

1 − 16

18)

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

No. Name Applications

!

Lit: Sequence program operating with RUN/STOP key switch set to RUN.

The indicator remains lit if an operation error occurs in the sequence
program (Refer to section 5.4.1 (10)).

!

Not lit: The RUN indicator is not lit in the following cases:

!

No 100/200 VAC power supplied to the CPU module.

!

RUN/STOP key switch is set to STOP.

!

3) RUN i ndicator

4) ERROR indicator

24 VDC, 24 GDC

5)
terminals

6) FG terminal

7) LG terminal
Power supply input

8)
terminals

9) Terminal screws

10) Terminal cover

11) RS-422 connector

12) Covers

13) Module fixing screws

14) Battery

15) DIP switch 1

16) DIP switch 402

17) Battery connector
Motion network connector

SSCNET1 to 2
(A172SHCPUN/

18)
A171SHCPUN)

SSCNET1 to 4
(A173UHCPU)

!

Flashing: The RUN indicator flashes in the following cases:

!

Lit: Self-diagnosis function detected an error.

!

Not lit: Normal, or error detected by

!

Flashing: Sequence program annunciator (F) is on.

!

Internally supplies output modules which require 24 VDC (supplied through external

wiring). (A171SHCPUN only)

!

A grounding terminal connected with the shielding pattern on the printed circuit

board.

!

Ground for power supply filter, with 1/2 the electrical potential of the input voltage.

!

Connect the 100 VAC or 200 VAC power supply to the power supply input

terminals.

!

M3.5 7

!

A cover to protect the terminal block.

!

Connector to read, write, monitor, or test main programs with a peripheral device.

!

Covered by a cover when not connected to a peripheral device.

!

Open the protective cover for the printed circuit board, RS-422 connector, or

battery to carry out the following operations:

!
!
!

!

Screws to fix the module to the base unit.

!

Back-up battery for programs, devices in the latch range, and file registers.

(See Section 1.5.7 for the battery mounting procedure.)

!

Installation switch

This switch is used to change the installed CPU modu le opera t ing syst em w ith a
peripheral device.
(See Section 1.5.1 (5) for details about the switch settings.)
ON : Turn ON to install an operating system.
OFF : Turn OFF to enable CPU operation when OS installation is complete.

!

This switch selects the I/O control method and enables or disables memory

protection.
(See Section 1.5.1 (5) for details about the switch settings.)

!

A connector for connecting the battery unit

!

Connectors to HR-H-BN/MR-J2S-B/MR-J2-B.

A remote STOP is applied.

!

A remote PAUSE is applied.

!

Self-diagnosis function detected an error which stops sequence

program

operation.

!

A latch clear operation is conducted.

However, the indicator does not light if it is set not to light for the error
detected in the order of priority settings.

CHK

instruction.

Set DIP switches.
Connect the battery connectors.
Replace the battery.

1 − 17

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

No. Name Applications

Personal computer link
SSC connector
SSCNET2
(A172SHCPUN/

19)
A171SHCPUN)
SSCNET4
(A173UHCPU)

!

A connector for linking a personal computer and personal computer link SSC.

When using the A172SHCPUN/A171SHCPUN, connect the servo amplifier or
personal computer to SSCNET2, or when using the A173UHCPU, connect it to
SSCNET4.

1 − 18