Mitsubishi Electronics A171SHCPUN, A173UHCPU, A172SHCPUN User Manual

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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

− 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

(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

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

− 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

− 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.

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 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

Limit switch

output mo dule

A1S Y42

A1S input module or special function module

Manual pulse generator 1

(MR-HDP01)

Serial absolute synchronous encoder cable (MR-HSCBL M)

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

Termination resistance

*1:No. of motion slots

A17 B 1 A178B-S1 2

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

Motion slot Sequence module slot

Manual pulse generator/ synchronous encoder interface module

A172

SENC

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

A172

SENC

A172

SENC

A1S input module or special function module

Manual pulse generator 3

(MR-HDP01)

Serial absolute synchronous

encoder cable

(MR-HSCBL M)

Serial absolute synchronous encoder 4

(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

SSCNET cable

SSCNET3

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

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

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

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.)

(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

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

A30CD-PCF

K, HC-

Current

Consumption

5 VDC (A)

0.42

0.06

0.15

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

(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

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

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

Encoder connector set

Servo amplifier

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

Termination connector

SSCNET cable

Encoder cable

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

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-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.

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 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

For

A172SH/

A171SH

Without restriction Without restriction

Without restriction

Without restriction Without restriction

Without restriction

00E or later

For

A173UH

SW2SRXSV13B

SW3RNSV13B

SW2SRXSV22A

SW3RNSV22A

SW2SRXSV43A

A172SH

SW0SRXSV13D

SW2SRXSV13D

SW3RNSV13D

SW0SRXSV22C

SW3RNSV22C

SW0SRXSV43C

SW0SRXSV51D

For

A171SH

SW0SRXSV13G

SW0SRXSV22F

SW0SRXSV43F

SW0SRXSV51G

Teaching

function

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

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

0 to 55°C

-20 to 75°C

Number of Sweeps

0.075mm (0.003 in)

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

(1 octave/minute)*

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

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

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

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)

(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

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

Points 256 points

Specifications

Points 256 points

Specifications

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)

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)

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.

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.

Max. 3 blocks

(set by memory capacity)

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

1)2)

13)

A171SHCPUN

100 240VAC

105VA

[A173UHCPU]

FRONT SSCNET

4 1

3 2

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

100 240VAC

105VA

24VDC 0.6A

+24V 24G

15)

17)

1)2) 3)

15)

17)

100 240VAC

10)

18), 19)

100 240VAC

10)

16)

105VA

12)

14)

11) 19)

18)

13)

12)

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

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(5) Switch settings

SW1

ON OFF

A17 SHCPUN

Operation mode setting

ON : Installation OFF: Ordinary operation

Not used

SW402

ON OFF 4

* SW402-2 is invalid for A171SHCPUN. * Memory allocation varies depending on the PC memory capacity setting.

SW402

ON OFF 4

* Memory allocation varies depending on the PC memory capacity setting.

For A172SHCPUN/A171SHCPUN

Not used

I/O control method setting

ON : Direct m ethod f or inputs and outputs OFF: Refresh method for inputs and outputs

SCPU built-in RAM memory protect range setting

Less than a range from 64k to 256k bytes Less than a range from 0k to 64k bytes

ON : Memory protect ON OFF: Memory protect OFF

For A173UHCPU SCPU built-in RAM memory protect range setting

More than 144k bytes Less than a range from 64k to 144k bytes

Less than a range from 32k to 64k bytes Less than a range from 0k to 32k bytes

ON : Memory protect ON OFF: Memory protect OFF

1 − 19

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

CAUTION

Switch SW1-2 is for use by the manufacturer only. Leave this switch set OFF. Operation cannot be guaranteed if this switch is set to ON.

POINTS

(1) Turn off the power supply before setting the install switch. (2) After using this switch, check the switch status before turning on the power supply. (3) The switch settings shipped from the factory are as shown above. The switch settings are

indicated by a mark (

(4) Whenever the switch settings are changed, be sure to reset the key of the CPU once or turn on the

power again. (5) Turn off the power before setting the I/O control changeover switch. (6) After using this switch, check the switch status before turning on the power supply. (7) A BIN value corresponding to the selected I/O control method is input in special-function register

D9014 and can be monitored from a peripheral device. (A172SHCPUN/A171SHCPUN)

Direct method for inputs and outputs.........0

Refresh method for inputs and outputs .....3

(8) When executing the sampling trace and/or the status latch, do not protect the memory. If the

memory is protected, the result of execution cannot be stored in the memory.

1 − 20

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(6) Functions and performance specificotions of

A173UHCPU/A172SHCPUN/A171SHCPUN internal power supply.

Table 1.4 Internal Power Supply Specifications

Item Specifications

Model name A173UHCPU/A172SHCPUN A171SHCPUN Input power supply Input frequency 50/60 Hz 5 %

Max. apparent input power 105VA Rush current 20A 8ms max.

Rated output current

Overcurrent protection

Overvoltage protection

Efficiency 65% min. Power indicator LED indicator (Lit at 5VDC output) Terminal screw size M3.5 7 Applicable power cable size 0.75 to 2mm Applicable solderless terminal RAV 1.25-3.5 RAV 2-3.5 Applicable tightening torque 59 to 88 N⋅cm Permissible instantaneous power interruption time

5VDC 5A 3A 24VDC 5VDC 5.5 A min. 3.3 A min.

24VDC 0.66 A min. 5VDC 5.5 to 6.5 V

24VDC

10% 0.6A

100 to 240 VAC

(85 to 264 VAC)

20ms max.

+10%

-15%

POINTS

*1: Overcurrent protection

When current in excess of the specifications flows through the 5 VDC or 24 VDC circuits, the overcurrent protection device breaks the circuit and stops the system. A drop in voltage will extinguish or dim the CPU module indicator “POWER” display. After overcurrent protection operates, start up the system after eliminating the cause, such as insufficient current capacity or short circuit. The system initial start commences when the current returns to the normal level.

*2: Overvoltage protection

When an overvoltage of 5.5 V to 6.5 V is applied to a 5 VDC circuit, the overvoltage protection device breaks the circuit and stops the system. The CPU module indicator goes out. To restart the system, switch the input power supply off, and then turn it back on. The system initial start commences. If the system does not start up and the indicator “POWER” display remains off, the CPU module must be changed.

1 − 21

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(

)

(7) Information control processing making use of personal computer

By connecting a personal computer to the SSCNET, you can add to the motion system the digital oscilloscope functions used for monitoring the equipment status and for checking the operation, tuning and timing of the equipment and the user-developed software functions (e.g. machining/assembling recipe function and data supervising collection function). Refer to the manual of the corresponding software package.

CPU module

Panel computer, etc.

SSCNET connector

Communication cable (A270CDCBL M/A270BDCBL M)

SSCNET cable

SSC I/F card/board

A30CD-PCF/A30BD-PCF

* : Connect to SSCNET2 for the A171SHCPUN/A172SHCPUN or to

SSCNET4 for the A173UHCPU.

(8) MELSECNET(II)/10 system

The motion system can use the MELSECNET(II)/10 system. The usable MELSECNET system depends on the CPU module. (See the following table.)

Load the module given in the following table into the PC slot to configure a data link system.

MELSECNET

System

MELSECNET (II)

MELSECNET/10 Usable (local station only) Usable

A172SHCPUN/A171SHCPUN A173UHCPU Module

Usable(MELSECNET mode or MELSECNET II mixed mode only)

Usable A1SJ71AP21/R21

A1SJ71LP21/BR11

In the MELSECNET(II) data link system, the motion CPU module can be used as the master or local station in each layer. When it is used as the master station in layer 3 (local station in layer 2), up to two data link modules (A1SJAP21/R21) m a y be used. In the MELSECNET/10 network system, the motion CPU module can be used as the control or normal station. Up to four network modules (A1SJ71LP21/BR11) m a y be loaded to achiev e separ ate net wor k configurations.

Refer to the following manuals when using the MELSECNET(II) data link system and MELSECNET/10 network system.

•

MELSECNET(II), MELSECNET/B data link system reference manual

•

MELSECNET/10 data link system reference manual (Inter-PC network

manual)

1 − 22

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(a) MELSECNET(II)

Master

(64 stations max.)

Remote I/O

station

2nd class

Local station

Master station

Local station

Fiber-optic or coaxial cable

Remote I/O

station

3rd class

Local station

POINTS

As the instruction for other station access in the MELSECNET(II) data link system, note that the system is not compatible with other station access via the motion controller, e.g. access to the motion controller from the peripheral device connected to the sequencer CPU, access to the sequencer CPU from the peripheral device connected to the motion controller, and access to the motion controller from the personal computer on the network.

(b) MELSECNET/10

1) Optical loop network

Master

(64 stations max.)

Normal station

station

Network No.

Normal station

Fiber-optic cable

Master station

Normal stat ion

2) Coaxial bus network

(32 stations max.)

Normal station Normal station Normal station

Network No.

Coaxial cable

1 − 23

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(

)

(9) Connection of peripheral device

This section explains how to connect the peripheral device used to install the motion functions (motion OS) to the CPU module, create motion programs, create sequence programs, and perform JOG operation and teaching. As the peripheral device, use the IBM PC available on the market or the teaching unit (A30TU-E, A31TU-E). It may be connected by making connection either from the RS422 connector at the CPU module front or via the SSCNET. Connection via the SSCNET enables faster communication than connection via RS422 and further allows use of the digital oscilloscope functions and monitoring and operating software programs. The positioning software package used on the peripheral device (personal computer) depends on the motion functions used. For details, refer to the programming manual of the motion functions used.

SSCNET connector

CPU module

RS422 connector

RS422 cable

RS422-RS232C converter

MITSUBISHI

A30TU

Prog-

Data

ram

↓

Instruction

Write4DDelete5EIndirect

Register1AAddress

Function

Shift

Axis No.

Emergency

Valid

Invalid

Stop

Moni-

Test

tor

Stop

Teaching unit

↑

←

→

Item8#Clear

9SP

Speed

(A30TU-E/A31TU-E)

ratio

Step

−

Interval

2B C

Step +

Numeric

Insert

input

−

Return

Error

CAN

Reset

JOG −JOG +

RS232C cable

Personal computer (IBM PC(DOS))

SSCNET cable

Communication cable (A270CDCBL M/A270BDCBL M)

SSC I/F card/board

A30CD-PCF/A30BD-PCF

*1: The A31TU-E must be connected with the external circuit. For details, refer

to Section 1.5.5 (2).

*2: Use SSCNET2 for A171SHCPUN/A172SHCPUN or SSCNET4 for

A173UHCPU.

1 − 24

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

1.5.2 Extension Base Power Supply Module (1) Power supply module specifications

Table 1.5 Power Supply Module Specifications

Item

Mounting position in base Power supply m odul e mounting slot

Input power supply

Input frequency 50/60 Hz 5% Max. apparent input power 105VA Rush current 20A 8ms max.

Rated output current

Overcurrent protection *

Overvoltage protection * Efficiency 65% min.

Withstand voltage

Insulation resistance

Noise immunity

Power indicator LED indicator Terminal screw size M3.5 7 Applicable power cable size 0.75 to 2mm Applicable solderless terminal RAV 1.25-3.5 RAV 2-3.5 Applicable tightening torque 59 to 88 N⋅cm External dimensions mm (inch) 130 54.5 93.6 (5.12 2.15 3.69) Weight kg (lb) 0.6 (1.32) Permissible instantaneous power interruption time 20ms max.

5VDC 5A 3A 24VDC 5VDC 5.5 A min. 3.3 A min.

24VDC 0.66 A min. 5VDC 5.5 to 6.5 V

24VDC

10% 0.6A

2,830VAC rms/3 cycles across all inputs/LG and all outputs/FG (altitude 2,000m (6557.38 ft))

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

5M outputs/FG (1) By noise simulator of 1,500Vp-p noise voltage, 1

60Hz noise frequency

(2) Noise voltage IEC801-4, 2kV

A1S61PN A1S62PN

Specifications

200 to 240 VAC

(85 to 264 VAC)

+10%

-15%

s noise width and 25 to

POINT

*1: Overcurrent protection

When current in excess of the specifications flows through the 5 VDC or 24 VDC circuits, the overcurrent protection device breaks the circuit and stops the system. A drop in voltage will extinguish or dim the power supply module indicator “POWER” display. After overcurrent protection operates, start up the system after eliminating the cause, such as insufficient current capacity or short circuit. The system initial start commences when the current returns to the normal level.

*2: Overvoltage protection

When an overvoltage of 5.5 V to 6.5 V is applied to a 5 VDC circuit, the overvoltage protection device breaks the circuit and stops the system. The power supply module indicator goes out. To restart the system, switch the input power supply off, and then turn it back on. The system initial start commences. If the system does not start up and the indicator “POWER” display remains off, the power supply module must be changed.

1 − 25

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(2) Names of parts

(a) A1S61PN power supply module names of parts

(FG)

(LG)

100-240 VAC

No. Name Application

1) POWER indicator Display indicator for 5 VDC power supply.

2) FG terminal A grounding terminal connected with the shielding pattern on the printed circuit board.

3) LG terminal Ground for power supply filter, with 1/2 the electrical potential of the input voltage. Power supply input

4) terminals

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

5) Terminal screws M 3.5 7

6) Terminal cover A cover to protect the terminal block.

7) Module fixing screws Screws to fix the module to the base unit.

1 − 26

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(b) A1S62PN power supply module names of parts

DC24V 0.6A

24V

24G

(FG)

(LG)

100-240 VAC

No. Name Application

1) POWER indicator Display indicator for 5 VDC power supply. 24VDC, 24GDC

2) terminals

Supplies output modules which require 24 VDC internally (supplied through external wiring).

3) FG terminal A grounding terminal connected with the shielding pattern on the printed circuit board.

4) LG terminal Ground for power supply filter, with 1/2 the electrical potential of the input voltage. Power supply input

5) terminals

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

6) Terminal screws M 3.5 7

7) Terminal cover A cover to protect the terminal block.

8) Module fixing screws Screws to fix the module to the base unit.

1 − 27

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

1.5.3 Base Units and Extension Cables (1) Performance specifications

(a) Base unit specifications

1) Main base unit specifications Table 1.6 Table of Main Base Unit Specifications

Model Name

Item No. of motion slots 1 1 1248 No. of sequencer slots 1 4 7640 Extension connections OK Mounting hole size 6 dia. slot (for M5 screw)

External dimensions mm(inch)

Weight kg (lb) 0.51 (1.12) 0.75 (1.66) 0.97 (2.14) Accessories Mounting sc rews M5 25 4 pcs

A172B A175B A178B

220 (8.67

130 28

5.12

1.1)

325

(12.8

130 28

5.12

1.1)

POINT

Configure a system by choosing the motion modules and MELSEC-A series I/O modules so that the sum of 5VDC consumed currents of the motion modules, MELSEC-A series I/O modules, synchronous encoders and manual pulse generators connected to the main base unit is within 5 (A) for the A172SHCPUN or 3 (A) for the A171SHCPUN.

A178B

-S1

430

(10.93

A178B

-S2

130 28

5.12 1.1)

A178B

-S3

2) Extension base unit specific at ions

Table 1.7 Table of Extension Base Unit Specifications

Model Name

Item Max. I/O modules mountable 5 modules 8 modules Power supply module Must be mounted Connectivity of second/ subsequ-

ent stage of extension base unit Mounting hole size 6 dia. slot (for M5 screw)

External dimensions mm(inch) Weight kg (lb) 0.71 (1.56) 0.95 (2.09) 0.95 (2.09)

Accessories Mounting sc rews M5 25 4 pcs

A1S65B A1S68B A168B

Second/subsequent

stage unconnectable

315

(12.4

130 28

5.12 1.1)

420

(16.55

130 28

5.12 1.1)

(16.55

Only GOT

connectable

130 28

420

5.12 1.1)

(b) Specifications of extension cable

The specifications for extension cables which can be used with the motion system are shown in Table 1.8.

Table 1.8 Table of Extension Cable Specifications

Model Name

Item Cable length m (inch) 0.055 (2.17) 0.33 (12. 99) 1.2 (47.24) 3.0 (118.11) Resistance of 5 VDC supply line

at 55C)

( Application Connecting main base unit to extension base unit Weight kg (lb) 0.025 (0.06) 0.10 (0.22) 0.20 (0.44) 0.4 (0.48)

A1SC01B A1SC03B A1SC12B A1SC30B

0.22 0.021 0.055 0.121

1 − 28

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(2) Names and settings of parts

(a) Main base unit (A172B, A175B, A178B)

4)5)6)7)

Sequencer slot

Motion slot

No. Name Application

Extension cable

1) connector

Connects to the signal communications connector on the extension base unit with the extension cable.

A cover for protecting the extension cable connector. When connecting to an extension

2) Base cover

base unit, cut out the area surrounded by the groove under the word “OUT” on the base cover with side cutters, or some other tool. Connectors to mount the CPU module, I/O modules, and special-function modules. Install the supplied connector cover or blank cover (A1SG60) to prevent dust penetrating empty connector spaces.

P I/0

3) Module connector

: Motion slot

For A172SENC, A1SY42 or MELSEC-A1S series I/O module A1SI61

S I/0

: Sequencer slot

For MELSEC-A1S series module

4) Unit fixing screw

5) Base mounting hole

Screws to fix the unit to the base. Screw size M4 12.

Slots for mounting the base unit onto the control board panel (for M5 screws) Hooks to attach to the DIN rail.

6) DIN rail hooks

A172B......................... 1

A175B, A178B............2

Emergency stop

7) terminal

Terminal block to apply servomotor emergency stop.

CAUTION

*1 : Install the supplied blind cap or blank cover (A1SG60) to prevent dust penetrating the empty

connector spaces. Failure to do so can cause malfunctioning.

1 − 29

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(b) Main base unit (A178B-S1/S2/S3)

5) 7)

Motion slot

Sequencer slot

No. Name Application

Extension cable

1) connector

Connects to the signal communications connector on the extension base unit with the extension cable.

A cover for protecting the extension cable connector. When connecting to an extension

2) Base cover

P I/0

3) Module connector

: Motion slot

For A172SENC, A1SY42 or MELSEC-A1S series I/O module A1SI61

S I/0

: Sequencer slot

For MELSEC-A1S series module

4) Unit fixing screw

5) Base mounting hole

6) DIN rail hooks Emergency stop

7) terminal

Screws to fix the unit to the base. Screw size M4 12.

Slots for mounting the base unit onto the control board panel (for M5 screws) Hooks to attach to the DIN rail.

A178B-S1/S2/S3......... 2

Terminal block to apply servomotor emergency stop.

A178B-S2

OUT

CAUTION

*1 : Install the supplied blind cap or blank cover (A1SG60) to prevent dust penetrating the empty

connector spaces. Failure to do so can cause malfunctioning.

1 − 30

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

5) 2) 4)

A1S68B

6)1) 3)

No. Name Application

Extension cable

1) connector

2) Base cover

3) Module connector

4) Unit fixing screw

5) Base mounting hole

6) DIN rail hooks

Connects to the signal communications connector on the main base unit with the extension cable. Remove the connector cover before connecting the extension cable.

A cover for protecting the extension cable connector. Connectors to mount the power supply module, I/O modules, and special-function

modules. Install the supplied connector cover or blank cover (A1SG60) to prevent dust penetrating empty connector spaces. Screws to fix the unit to the base. Screw size M4

Slots for mounting the base unit onto the control board panel (for M5 screws) Hooks to attach to the DIN rail.

A1S65B, A1S68B ......2

12.

CAUTION

*1 : Install the supplied blind cap or blank cover (A1SG60) to prevent dust penetrating the empty

connector spaces. Failure to do so can cause malfunctioning.

1 − 31

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(d) Extension base unit (A168B)

5) 2) 4)

OUT

6)1) 3)

No. Name Application

Extension cable

1) connector

Connects to the signal communications connector on the main base unit or bus coupling type GOT with the extension cable. Take off the supplied connector cover before connecting the extension cable. A cover for protecting the extension cable connector.

2) Base cover

When connecting to bus coupling type GOT, cut out the area surrounded by the groove under the word “OUT” on the base cover with side cutters, or other appropriate tool. Connectors to mount the Power module, I/O module, and special-function modules.

3) Module connector

Install the supplied connector cover or blank cover (A1SG60) to prevent dust penetrating empty connector spaces.

4) Unit fixing screw

5) Base mounting hole

6) DIN rail hooks

Screws to fix the unit to the base. Screw size M4

12. Slots for mounting the base unit onto the control board panel (for M5 screws). Hooks to attach to the DIN rail.

A168B........................2

OUT

A168B

CAUTION

*1 : Install the supplied blind cap or blank cover (A1SG60) to prevent dust penetrating the empty

connector spaces. Failure to do so may cause malfunctioning.

1 − 32

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(3) Selection of base units and extension cables

(a) Selection of main base unit

Choose the main base unit according to the number of pulse generator/synchronous encoder interface modules (A172SENC) and limit output modules (A1SY42) fitted to the main base (number of motion slots) and the number of sequencer I/O slots (number of sequence slots).

Selection of Main Base

Main Base Model

A172B 1 1 A175B 1 4 A178B 1 7 A178B-S1 2 6 A178B-S2 4 4 A178B-S3 8 0

(No. of A172SENCs and A1SY42s)

(b) Selection of sequence extension base unit and extension cable

Choose the sequence extension base according to the number of MELSEC-A series I/O modules fitted to the sequence extension base unit.

Selection of sequence Extension Base Unit

Extension Base Unit

Model

A1S65B

A1S68B

A168B

For extension power supply + 5 slots, applicable to system with up to one extension base. For extension power supply + 8 slots, applicable to system with up to one extension base. For extension power supply + 8 slots, applicable to system where up to one extension base and GOT are bus-connected.

No. of Motion Slots

MELSEC-A Series I/O Modules

No. of Sequence Slots

Choose the extension cable according to the distance between the main base unit and sequence extension base unit and the type of the sequence extension base unit. Note that the overall distance should be within 3m (9.84ft.).

Selection of Extension Cable

Extension Cable

Model A1SC01B A1SC03B 330 mm (13 inch)

A1SC07B 700 mm (27.58 inch) A1SC12B 1200 mm (47.28 inch) A1SC30B 3000 mm (118.2 inch) A1SC60B 6000 mm (236.4 inch) A1SC05NB 450 mm (17.73 inch) A1SC07NB 700 mm (27.58 inch) A1SC30NB 3000 mm (118.2 inch) A1SC50NB 5000 mm (196.9 inch)

55 mm (2.17 inch), flat cable for horizontal extension

Length mm (inch)

Type of Sequence

Extension Base Unit

For A1S6

For A6

POINT

Choose the motion modules and MELSEC-A series I/O modules so that the sum of 5VDC consumed currents of the CPU module, motion modules, MELSEC-A series I/O modules, synchronous encoders and manual pulse generators connected to the main base unit is within 5 (A) for the A173UHCPU/A172SHCPUN or 3 (A) for the A171SHCPUN.

B/A168B

1 − 33

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(4) Motion slots

When using the A172SENC and limit output module (A1SY42), load them into

P I/O

(motion slots) of the main base.

Motion slot

(5) Main base unit emergency stop circuit

(a) By opening the main base unit emergency stop (EMG) circuit, it is possible

to effect an emergency stop all axes of the separate servo amplifiers (MRH-BN/MR-J2S-B/MR-J2-B) simultaneously. After an emergency stop, eliminate the cause of the emergency stop and reset the emergency stop by closing the emergency stop circuit (turning EMG circuit ON). (In the event of an emergency stop, the servo error detection signal does not come ON.) An example of emergency stop wiring connections is shown below.

Main base unit

OUT

Emergency stop

24VDC

EMG

EMG.COM

(b) Do not use the emergency stop terminals of the separate servo amplifiers.

If an independent emergency stop circuit is also required at a separate servo amplifier, provide an external circuit that shuts off the power supply to the separate servo amplifier.

1 − 34

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(6) Connection and I/O assignment of base units

This section explains the way to connect the base units and the concept of sequence I/O assignment. Use the extension cables for connection of the main base unit and extension base unit and connection of the extension base units. When connecting the graphic operation terminal (GOT) by the bus, load it to the last extension base. When automatic I/O assignment is executed (when the CPU module is started without I/O assignment being made on the positioning software package), the I/O numbers are automatically assigned, starting from 000, according to the number of occupying points of the I/O modules loaded to the sequencer slots, and each empty slot is assigned 16 points as occupied. Also, one base unit occupies eight sequencer slots, independently of the physical number of sequencer slots. Therefore, for example, when an extension base unit is connected to the A175B main base unit (one motion slot and four sequencer slots), the A175B main base unit has only four sequencer slots physically but automatic assignment is made as if four 16-point slots are occupied between the main and extension base units. To avoid the occupation of empty slots by automatic assignment, setting the corresponding slots as empty (S0) in the I/O assignment of the positioning software package allows the number of occupied points to be set to 0 in the I/O assignment.

•

Example of using the A172B main base (when a 16-point module is loaded to

each slot)

Main base unit (A172B)

CPU

module

Power supply

A1S68B extension base unit

Motion slot

Sequencer slot No.

12 C0

Vacant, 16 points 10 to 1F

Vacant, 16 points 20 to 2F

The I/O numbers indicated are those set by automatic I/O

assignment. When empty slots

1 to 7 are set to 0 points (S0) in the I/O assignment, the I/O numbers of slot 8 of the extensio

base are 10 to 1F.

Vacant, 16 points 30 to 3F

Vacant, 16 points 40 to 4F

Vacant, 16 points 50 to 5F

Vacant, 16 points 60 to 6F

Vacant, 16 points 70 to 7F

POINT

1) Max. number of actual I/O points A173UHCPU:2048 points, A172SHCPUN:1024 points, A171SHCPUN:512

points. The real I/O points can be used within the range of one extension base.

2) When using the bus connection type GOT, use the A168B.

3) Use the extension cable within 3m (9.84ft.) length.

1 − 35

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

•

Example of using the A175B main base (when a 16-point module is loaded to

each slot)

Main base unit (A175B)

CPU

Motion slot

Sequencer slot No.

123

4567

Vacant, 16 points 40 to 4F

Vacant, 16 points 50 to 5F

Vacant, 16 points 60 to 6F

Vacant, 16 points 70 to 7F

1st extention stage

nd extention stage,

lot 0

Sequencer slot No.

module

Power supply

A168B extension base unit

GOT

100

(special unit)

11F

•

Example of using the A178B-S2 main base (when a 16-point module is

The I/O numbers indicated are

those set by automatic I/O

assignment. When empty slots 4 to 7 are set to 0 points (S0) in the I/O assignment, the I/O

numbers of slot 8 of the extension base are 40 to 4F.

loaded to each slot)

Main base unit (A178B-S2)

Motion slot

Sequencer slot No.

123

11 B0

CPU

module

Power supply

A1S68B extension base unit

1 − 36

The I/O numbers indicated are

those set by automatic I/O

assignment. When empty slots 4 to 7 are set to 0 points (S0) in the I/O assignment, the I/O

numbers of slot 8 of the extension base are are 40 to 4F.

Vacant, 16 points 40 to 4F

Vacant, 16 points 50 to 5F

Vacant, 16 points 60 to 6F

Vacant, 16 points 70 to 7F

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

•

Example of using the A178B-S3 main base (when a 16-point module is

loaded to each slot)

Sequencer slot No.

234567

Vacant, 16 points 10 to 1F

Vacant, 16 points 20 to 2F

Vacant, 16 points 00 to 0F

Vacant, 16 points 30 to 3F

Vacant, 16 points 40 to 4F

Vacant, 16 points 50 to 5F

Main base unit (A178B-S3)

CPU

Motion slot

Vacant, 16 points 60 to 6F

Vacant, 16 points 70 to 7F

module

Power supply

A1S68B extension base unit

14 E0

The I/O numbers indicated are those

set by automatic I/O assignment.

When empty slots 0 to 7 are set to 0 points (S0) in the I/O assignment, the

I/O numbers of slot 8 of the extension base are are 00 to 0F.

1 − 37

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

1.5.4 Manual Pulse Generator/Synchronous Encoder Interface Module A172SENC receive external signals required for positioning control (motion control

signals and tracking inputs), manual pulse generator inputs, and synchronous encoder inputs.

(1) Specifications

Table 1.9 A172SENC Specifications

Item Specification

Model Name A172SENC

Motion control signals: 32 points (8 points each for upper stroke limit, lower stroke limit, STOP input, near-

No. of inputs

Rated input voltage 12/24VDC

Motion control signal input, tracking input

Brake output

Manual pulse generator input or incremental synchronous encoder

Serial absolute synchronous encoder input

Power consumption (5 VDC) 0.42 Product weight (kg) (lb) 0.22 (0.49)

Rated input current 12VDC 2mA/24VDC 4mA Operating voltage range ON voltage/current 7.0 VDC min./1.0 mA min. OFF voltage/current 1.8 VDC max./0.18 mA max.

Response time Tracking input

response time No. of outputs 1 point Rated load voltage 24 VDC Operating load voltage range Maximum load current

Response time No. of modules 1

H voltage 3.0 to 5.25 V L voltage 0 to 1.0 V Maximum input frequency

Applicable type

No. of modules 1 Applicable types MR-HENC Position detection method Resolution 16384 PLS/rev

zero point DOG/speed-position changeover signal) Tracking enable signal : 1 point Total : 33 points

10.2 to 26.4VDC

OFF

ON 2 ms max.

OFF 3 ms max.

OFF

ON 0.5 ms max.

OFF 0.5 ms max.

21.6 to 30 VDC (peak voltage 30 VDC)

0.1 A (max. rush current: 0.4A, 10 ms max.) OFF

ON 2 ms max.

OFF 2 ms max.

100 kpps max. Voltage-output type (5 VDC), Recommended product: MR-HDP01

Differential-output type: 26LS31 or equivalent Selectable by connector wiring

Absolute

1 − 38

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(2) Description of Parts

(a) A172SENC

No. Name Application

Display the input status from external equipment and errors detected by self-diagnosis.

LED Description

1) LED indicators

2) CTRL connector

3) PULSER connector

4) SY.ENC connector

PX0 to

PX1F

TRA Input start signal from synchronous encoder.

Connector for motion control signal input and tracking signal input of each axis. Manual pulse generator/incremental synchronous encoder input connector. Serial absolute synchronous encoder input connector.

Indicators to display the motion control signal input status of each axis.

1 − 39

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(3) Selection of A172SENC module and connection with external equipment

(a) Number of A172SENC modules

Determine the number of A172SENC modules according to the number of control axes which use such external signals as upper and lower stroke limit and near-zero point dog signals and the number of manual pulse generators/synchronous encoders used. You can use up to four modules for the A173UHCPU or only one module for the A172SHCPUN or A171SHCPUN.

A172SENC Specificati ons

Signal/Connected External

Equipment

Servo external signal

Manual pulse generator/incremental synchronous encoder (Voltage/differential output type) Serial absolute synchronous encoder

Upper stroke limit input Lower stroke limit input Stop signal input Near-zero point dog/speed-position change signal input Tracking enable input: 1 point Electromagnetic brake command output: 1 point

1 unit

Usable Number per A172SENC

Load the A172SENC to P I/O (motion slot) of the main base.

Motion slot

8 points (for 8 axes)

OUT

1 − 40

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(b) Connection of manual pulse generators/synchronous encoders

Manual pulse generators are available in voltage output type and differential output type, and synchronous encoders are available in voltage output/differential output type and serial absolute output type (Model: MRHENC). Since these types differ in connectors and connection methods, design according to the connection system described below. (The synchronous encoders are used only in the SV22 virtual mode.) In addition, the usable numbers of manual pulse generators and synchronous encoders differ between the CPU modules.

CPU Module Manual Pulse Generator Synchronous Encoder A173UHCPU 3 4 A172SHCPUN/A171SHCPUN 1 1

1) Connection of voltage output type and differential output type manual pulse generators and incremental synchronous encoders Use the PULSER connector at the A172SENC module front to connect any of the voltage output type and differential output type manual pulse generators and incremental synchronous encoders. The pin layout and connection of the PULSER connector are described below.

PULSER connector

PIN No. Signal Name PIN No. Signal Name

1SG11SG 2 Vacant 12 Vacant

*2 4 HA1 14 HB1 *2

*1 Inputs from manual pulse generator switched by HPSEL. Unconnected selects voltage-output type, HPSEL=SG

*2, *3 Connect the manual pulse generator connector cable wires according to the output type of the manual pulse

3HZ113Vacant

5SG15SG 6 P516P5 7 HA2P 17 HA2N 8 HB2P 18 HB2N 9 HZ2P 19 HZ2N

10 Vacant 20 HPSEL *1

selects differential-output type.

generator, as described belo w . *2 Voltage -output type

Connect the A-phase signal to Pin 4 (HA1) and the B-phase signal to Pin 14 (HB1).

*3 Differential-output type

Connect the A-phase signal to Pin 7 (HA2P) and the A-phase inverse signal to Pin 17 (HA2N), the Bphase signal to Pin 8 (HB2P) and the B-phase inverse signal to Pin 18 (HB2N).

Applicable connector model names

10120-3000VE connector 10320-52F0-008 (Standard connector cover accessories) (Manufactured by Sumitomo 3M )

*Also available as MR-CON1.

1 − 41

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

•

Interface between PULSER connector and voltage-output

manual pulse generator/incremental synchronous encoder

Pin No.

Input or

Output

Input

Signal Name

Manual pulse generator, phase A

Manual pulse generator, phase B

−

P5 6 16

SG 1 5 11 15

PULSER

Connector

Voltage-Output

Type

Wiring Example Internal Circuit Specification Description

Rated input

•

voltage 5.5 VDC max.

HIGH level

•

3 VDC to 5.25 VDC/2 mA

LOW level

•

1 VDC max./ 5 mA min.

Manual pulse

generator/

synchronous

encoder

To connect manual pulse generator phases A,B

Pulse width

•

10 s min.

5 s min.

(Duty ratio:50%)

Rise, fall time

•

.......1

s max.

Phase difference

•

Phase A

Phase B

(1) Positioning

(2) Positioning

2.5 s min.

address increases if Phase A leads Phase B.

address decreases if Phase B leads Phase A.

1 − 42

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

•

Interface between PULSER connector and differential-output

manual pulse generator/incremental synchronous encoder

Pin No.

Input or

Output

Input

Signal Name

Manual pulse generator, phase A

Manual pulse generator, phase B

−

P5 6 16

SG 1 5 11 15

PULSER

Connector

Voltage-Output

Type

Wiring Example Internal Circuit Specification Description

Rated input

•

voltage 5.5 VDC max.

HIGH level

•

3 VDC to 5.25 VDC/2 mA max.

LOW level

•

1 VDC max./ 5 mA max.

Manual pulse

generator/

synchronous

encoder

A A

B B

To connect manual pulse generator phases A,B

Pulse width

•

10 s min.

5 s min.

(Duty ratio:50%)

Rise, fall time

•

.......1

s max.

Phase difference

•

Phase A

Phase B

(1) Positioning

(2) Positioning

2.5 s min.

address increases if Phase A leads Phase B.

address decreases if Phase B leads Phase A.

•

Connection examples

Connection of volta ge- output manu al pulse gener ator Connection of different ial -output manu al pu lse g ener ator

A172SENC

Signal name Signal name

HA1 HA2

SG SG

*1*2

Manual pulse

generator side

B 0V 5V

A172SENC

HA2P

HA2N

HB2P

HB2N

HPSEL

CAUTION

generator side

*1*2

*1: The 5 VDC power supply from the A172SENC must not be connected if a separate power

supply is used as the manual pulse generator power supply. If a separate power supply is used as the manual pulse generator power supply, use a 5 V stabilized power supply. Any other power supply may cause a failure.

*2: Total connector cable length not to exceed 30 m (98.4 ft.)

Manual pulse

A A B

B 0V 5V

1 − 43

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(

)

2) Connection of serial absolute synchronous encoder (MR-HENC) Use the SY.ENC connector at the A172SENC module front to connect the serial absolute synchronous encoder (MR-HENC). Use the MR-HSCBL synchronous encoder (MR-HENC) and SY.ENC connector. The pin layout and connection of the SY.ENC connector are described below.

SY.ENC connector

PIN No. Signal Name PIN No. Signal Name

10 Vacant 20 SD

9 Vacant 19 Vacant 8 P5 18 Vacant 7P517SG 6 Vacant 16 P5 5 Vacant 15 SG 4 MR 14 BAT 3MRR13MDR 2SG12MD 1 SG 10 Vacant

3) Interface with external equipment The interface between the SY.ENC connector and external equipment is described below. (a) Wiring precautions

1) Tighten the screws after connecting the connector.

CPU A172S

ENC

M encoder cable between the serial absolute

CPU : A173UHCPU/A172SHCPUN/A171SHCPUN A172SENC : Manual pulse generator/

synchronous encoder interface module

Applicable connector model names PCR-S20FS connector PCR-LS20LA1 connector cover (Manufactured by HONDA TSUSHIN KOGYO CO.,LTD

SY.SNC connector

Serial absolute synchronous encoder cable (MR-HSCBL M)

Serial absolute synchronous encoder

MR-HENC

1 − 44

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

)

CAUTION

Connect the SY.ENC connector to external equipment using a shielded cable. To reduce electromagnetic interference, do not position the cable close to, or bundle it with, power or main circuit cables. A clearance of at least 200 mm (0.66 inch) to other cables is required. Connect the shield wire of the shielded cable to the FG terminal of the external equipment. When increasing the cable length, use the cable within 30m (98.36 ft). Note that the cable should be run in the shortest possible distance to avoid induced noise. Always wire the cables when power is off. Not doing so can damage the output circuit if any of the output signal cables makes contact with the power supply or the output signal cables make contact with each other. Use extreme care when wiring the cables. Wrong wiring can damage the internal circuitry.

•

Details of encoder cable connections

MR MRR P5 SG

4 3 7 1

C D S R

MR MRR P5 SG

4 3 7 1

C D S R

BAT SG

PCR-S20FS

connector

(SY.ENC end)

*1 MR-HSCBL2M , MR-HSCBL5M (2m (6.56ft.)) (10m (32.79ft))

Model name for encoder connector set (MR-JSCNS

*1 : Encoder cables are the same as HA-UH K,HC-SF/RF/UF (2000r/min) series motor cables. *2: The encoder connector set may also be used as the detector connector set for HA-UH

SF/RF/UF (2000r/min) series motor.

F G

MS3106B20-29S

connector (synchronous encoder end)

8 2

SG P5SG16

BAT

PCR-S20FS

connector

(SY.ENC end)

*1 MR-HSCBL10M to MR-HSCBL30M (10m to 30m (98.36ft.) )

F G

MS3106B20-29S

connector (synchronous encoder end)

K,HC-

1 − 45

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

•

Interface between SY.ENC connector and external equipment

Input or

Output

Signal Name

MRR

Pin No.

SY.ENC

Connector

Wiring Example Internal Circuit Specification Description

Transmission

•

method: serial

Serial

synchronous

encoder

communications

Position detection

•

method: absolute

Input

BAT

7, 8, 16

1, 2, 15, 17

*3: Connect when using MR-HSCB L10 M to MR -HS CBL30M.

There are the following servo external signals. The A172SENC is assigned a set of input numbers per axis, with the exception of the tracking enable signal and electromagnetic brake command output. Make the system settings of the positioning software package to determine the I/O numbers corresponding to the axis No.s.

Servo External

Signal

Upper stroke limit input (FLS) Lower stroke limit input (RLS) Stop signal input (STOP)

Near-zero point dog/speed-position change input (DOG/CHANGE)

Tracking enable signal input Electromagnetic brake command output

For detection of upper and lower stroke limits

For stopping under speed or positioning control For detection of near-zero point dog at near-zero point dog or count type home position return or for switching from speed to position under speed-position change control.

Synchronous encoder input start signal

For command output to electromagnetic brake

Application

Number of Points on

One A172SENC

8 points each

(1 point/1 axis each)

1 point each

1 − 46

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

Use the CTRL connector at the A172SENC module front to connect the servo external signals. The pin layout and connection of the CTRL connector are described below. The following pin layout is the front view as seen from the CTRL connector front of the A172SENC.

POINT

Signal No.s 1 to 8 can be assigned to the specified axes. To make assignment, make the system settings of the positioning software package.

CTRL connector

PIN No. Signal Name PIN No. Signal Name

A1 BRK.COM B1 COM

External input

Signal No. A4 V acan t B4 TRA Signal No.

signal name

DOG/CHANGE A5 PX1F B5 PXF DOG/CHANGE

STOP A6 P X1E B6 PXE STOP

RLS A7 PX1D B7 PXD RLS FLS A8 PX1C B8 PXC FLS

DOG/CHANGE A9 PX1B B9 PXB DOG/CHANGE

STOP A10 PX1A B10 PXA STOP

RLS A11 PX19 B11 PX9 RLS FLS A12 PX18 B12 PX8 FLS

DOG/CHANGE A13 PX17 B13 PX7 DOG/CHANGE

STOP A14 PX16 B14 PX6 STOP

RLS A15 PX15 B15 PX5 FLS A16 PX14 B16 PX4 FLS

DOG/CHANGE A17 PX13 B17 PX3 DOG/CHANGE

STOP A18 PX12 B18 PX2 STOP

RLS A19 PX11 B19 PX1 RLS FLS A20 PX10 B20 PX0 FLS

Applicable connector model name.......FCN-361J040-AU connector (manufactured by Fujitsu)

A2 BRK B2 COM A3 Vacant B3 Vacant

FCN-360C040-B connector cover

External input

signal name

RLS

(Standard accessories)

DOG/CHANGE, STOP, RLS, FLS functions of each axis (1 to 8)

DOG/CHANGE............Near-zero point do g/sp ee d- positi on ch ang e si gn al

STOP ..........................Stop signal

RLS .............................Lower stroke limit

FLS..............................Upper stroke limit

1 − 47

For signal details, refer to the programming manual.

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

•

Interface between CTRL connector and servo external signal

Input or

Outpu

PX0, PX4, PX8, PXC PX10, PX14, PX18, PX1C

PX1, PX5, PX9, PXD PX11, PX15, PX19, PX1D

PX2, PX6, PXA, PXE PX12, PX16, PX1A, PX1E

PX3, PX7, PXB, PXF PX13, PX17, PX1B, PX1F

Input

Output

Signal Name

TRA B4

Power B1 B2

BRK A2

BRK, COM A1

Pin Number

CTRL Connector

B20

B16

A20

A16

B19

B15

A19

A15

B18

B14

A18

A14

B17

B13

A17

A13B9A9B5A5

B12 A12B8A8

B11 A11B7A7

B10 A10B6A6

Wiring Example Internal Circuit Specification Description

Supply voltage

Upper stroke limit input

Lower stroke limit input

Stop signal input

Near point DOG/ speed-position changeover command

TRA signal

5VDC to

24VDC

Brake

24VDC

6.8k

•

12 to 24 VDC (10.2 to 26.4 VDC, stabilized power supply) HIGH level

•

7.0 VDC min./1.0mA min.

LOW level

•

1.8 VDC max./0.2 mA max.

Rated load voltage 24 VDC (21.6 to 30 VDC), 0.1 mA max.

FLS

RLS

STOP

DOG/CHANGE

Tracking enable signal input.

Generates

•

interrupts to A173UHCPU/ A172SHCPUN/ A171SHCPUN. Starts counter

•

operation. Common terminals for motion control signals, external signal and TRA.

Brake signal output

CAUTION

Always use a shielded cable for connection of the SY.ENC connector and external equipment, and avoid running it close to or bundling it with the power and main circuit cables to minimize the influence of electromagnetic interference. (Separate them more than 200mm (0.66 inch) away.) Connect the shield wire of the connection cable to the FG terminal of the external equipment. Make parameter setting correctly. Incorrect setting may disable the protective functions such as stroke limit protection or may not provide the brake output, damaging the module. Always wire the cables when power is off. Not doing so can damage the output circuit if any of the output signal cables makes contact with the power supply or the output signal cables make contact with each other. Use extreme care when wiring the cables. Wrong wiring can damage the internal circuitry.

1 − 48

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

)

1.5.5 Teaching Unit (1) Names of parts

(a) A30TU-E

Emergency

Valid

Invalid

MITSUBISHI

A30TU-E

A30TU-E SV13 Ve

*Data *Monitor *PROG *Test Press the mode key.

Stop

DATA

ITEM

WRITE

STORE

SHIFT

AXIS

NO.

ERROR RESET

JOG - JOG +

TEST

STOP

CLEAR

STEP-

STEP+

MDI

RETURN

CAN

No. Name Application

1) Display

4-line With back-lighted auto light off

16-character LCD display

With contrast adjusting knob

2) Emergency stop key Shuts off servo power to stop all operations.

3) Valid/Invalid switch Changes over the operations of the teaching box between valid and invalid.

4) Operation keys Operation key switches of the teaching box

5) Internal buzzer

Buzzer sounds when key input or any alarm occurs. It is also possible to set the buzzer so that it does not sound for key input.

6) Contrast adjusting knob For contrast adjustment of display

1 − 49

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(b) A31TU-E

InvalidValid

Schematic

drawing of

front panel

Emergency Stop

MITSUBISHI A31TU-E

A31TU-E SV13 Ve

*Data *Monitor *PROG *Test Press the mode key.

Schematic drawing

of rear panel

DATA

ITEM

WRITE

STORE

SHIFT

AXIS

NO.

ERROR

RESET

JOG - JOG +

TEST

STOP

CLEAR

MDI

CAN

STEP-

STEP+

RETURN

No. Name Application

4-line 16-character LCD display

1) Display

With back-lighted auto light off With contrast adjusting knob

2) Emergency stop key Shuts off servo power to stop all operations.

3) Valid/Invalid switch Changes over the operations of the teaching box between valid and invalid.

4) Operation keys Operation key switches of the teaching box

5) Internal buzzer

Buzzer sounds when key input or any alarm occurs. It is also possible to set the buzzer so that it does not sound for key input.

6) Contrast adjusting knob For contrast adjustment of display

7) Deadman switch

Turns on the switch to enable servo operation: turns off the switch to shut off the servo power.

POINT

A dead-man switch is used for jogging operated from the teaching box. To operate the switch, press and hold it down. Releasing the deadman switch turns off servo power, bringing the servo motor to an immediate stop.

1 − 50

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(2) Selection of teaching unit and connection with CPU module

(a) Selection of teaching unit

There are the A30TU-E and A31TU-E teaching units. Refer to the following table for selection.

Selection of Teaching Unit

Comparison A30TU-E A31TU-E

Dead-man switch Emergency stop

Without With With (signal on semiconductor level)

With (signal on relay level) Directly unconnectable

Via A31TUCBL03M

Connection with CPU Directly connectable

External circuit required (In direct connection, CPU module does not operate.)

*1: Releasing the deadman switch turns off servo power.

(b) Connection of A31TU-E unit (teaching unit with deadman switch) and CPU

module To connect the A31TU-E teaching unit with deadman switch and the CPU module, use the A31TUCBL03M for connection within the panel and plug its A31TU-E side connector into the operator panel surface for A31TU-E connection. When using the A31TU-E unit, use it by plugging it into the connector on the operator panel surface. When not using the A31TU-E, fit the A31SHORTCON into the connector on the operator panel surface. The A31TUCBL03M's signal wires connected to the external circuit, e.g. EMG and EMGL, are used for external safety circuit connection for the emergency stop switch and deadman switch of the A31TU-E. Refer to Section 2.3(2) for details of the external circuit.

Control panel

CPU module

When using the A31TU-E, be sure to use the A31TUCBL03M. When the A31TU-E is not connected, be sure to connect the A31SHORTCON. Failing to do this could result in the system entering an emergency stop state. An external circuit is essential to form a safety circuit. (For details of external circuit configuration, refer to the section 2.3.)

A31TUCBL03M

EMG

EMGL

External circuit

*2: The CPU module does not o

EMG1

EMG2

POINT

DED1

DED2

A31TUCBL03M connector

erate if the A31TU-E and CPU module are connected directly.

A31SHORTCON (Fitted when A31TU-E is not used)

A31TU-E

1 − 51

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(3) Applicable teaching unit version

Teaching unit version applicable to CPU module is as follows:

Model Name Applicable Version

A30TU-E D or later A31TU-E B or later

Teaching unit version is marked on the rated name plate at the rear panel of the unit.

(4) A30TU-E rated name plate

Unit version

A30TU-E

DATE

MITSUBISHI ELECTRIC CORPORATION

(5) A31TU-E rated name plate

MITSUBISHI

TEACHING UNIT

MODEL

A31TU-E

DATE B

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN BC370D070H02

Unit version

1 − 52

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

1.5.6 SSCNET Cables and Termination Resistor and Their Connection Method

Motion controller CPU module

SSCNET cable overall length

1)+2) 30m(98.36ft.)

IN OUT

Servo amplifier MR-H-BN MR-J2S-B MR-J2-B

IN OUT

Servo amplifier MR-H-BN MR-J2S-B MR-J2-B

No. Product Model Description

1) SSCNET cable

Termination

3) resistor

MR-HBUS

M Cable length within (0.5m (1.64ft.), 1m (3.25ft.), 5m (16.39ft.))

MR-J2HBUS

M-A Cable length within (0.5m (1.64ft.), 1m (3.28ft.), 5m (16.39ft.))

MR-J2HBUS

M Cable length within (0.5m (1.64ft.), 1m (3.28ft.), 5m (16.39ft.))

MR-TM

MR-A-TM

For connection of CPU and servo amplifier (MR-H-BN) For connection of servo amplifier (MR-HBN) and servo amplifier (MR-H-BN) For connection of CPU and servo amplifier (MR-J2-B) For connection of servo amplifier (MR-HBN) and servo amplifier (MR-J2S-B/MRJ2-B)

For connection of servo amplifier (MRJ2S-B/MR-J2-B) and servo amplifier (MRJ2S-B/MR-J2-B)

Fitted to the SSCNET's last servo amplifier (MR-H-BN). Fitted to the SSCNET's last servo amplifier (MR-J2S-B/MR-J2-B).

(1) Performance specifications

(a) MR-HBUS

Model Cable length (m (ft.)) 0.5 (1.64) 1 (3.28) 5 (16.39)

Item

MR-HBUS05M MR-HBUS1M MR-HBUS5M

(b) MR-J2HBUS M (-A)

Item

Model Cable length (m (ft.)) 0.5 (1.64) 1 (3.28) 5 (16.39)

MR-J2HBUS05M

(-A)

MR-J2HBUS1M

(-A)

MR-J2HBUS5M

(-A)

1 − 53

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(2) Connection of CPU module and servo amplifiers

This section explains how to connect the CPU module. Use the SSCNET to connect the CPU module and servo amplifiers. When using the A172SHCPUN/A171SHCPUN, only one line of SSCNET is available for servo amplifier connection (use SSCNET1). The A173UHCPU can use up to four lines for servo amplifier connection. One line of SSCNET allows connection of up to eight servo amplifies. As the SSCNET cables and termination connector used depend on the servo amplifiers, refer to the following connection example. The SSCNET cables and termination connector used in the connection example are any of the models shown in the following table.

Name Model Name Depiction in Connection Example

MR-HBUS M

MR-J2HBUS MSSCNET cable

Termination connector

MR-J2HBUS

MR-TM

MR-A-TM

M-A

(a) MR-H-BN configuration

CPU module MR-H-BN MR-H-BN MR-H-BN

Battery MR-BAT, A6BAT

(b) MR-J2S-B/MR-J2-B configuration

CPU module

MR-J2S-B

/MR-J2-B

Battery MR-BAT, A6BAT

MR-J2S-B

/MR-J2-B

Battery MR-BAT, A6BAT

MR-J2S-B

/MR-J2-B

Battery MR-BAT, A6BAT

Termination connector

1 − 54

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

MR-J2S-B

/MR-J2-B

MR-H-BN

CPU module

MR-J2S-B

/MR-J2-B

Termination connector

CPU module

Battery MR-BAT, A6BAT

MR-H-BN

Battery MR-BAT, A6BAT

MR-J2S-B

/MR-J2-B

Battery MR-BAT, A6BAT

MR-J2S-B

/MR-J2-B MR-H-BN

Battery MR-BAT, A6BAT

MR-J2S-B

MR-H-BN

Battery MR-BAT, A6BAT

/MR-J2-B

Battery MR-BAT, A6BAT

Termination connector

1 − 55

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

(3) Servo amplifier axis numbers and axis No. (dno.) setting

The axis No.s are used to set the axis numbers of the SSCNET-connected servo amplifiers in the program. Axis No.s 1 to 32 can be set for the A173UHCPU, 1 to 8 for the A172SHCPUN, and 1 to 4 for the A171SHCPUN. To set the axis No.s, assign the axis No.s to the axis numbers set with the axis selection switches (rotary switch) of the servo amplifiers (Positions 0 to 7 of the rotary switch correspond to d1 to d8 on the system settings screen. (On the A171SHCPUN, positions 0 to 3 of the rotary switch correspond to d1 to d4.)) to each SSCNET line in the system settings of the positioning software package. You cannot set the same axis number and axis No. (dno.) more than once.

Correspondences between dno.s and servo amplifier rotary switches

dno.

11 “0” 12 “0” 21 “1” 22 “1” 31 “2” 32 “2” 41 “3” 42 “3” 51 “4” 52 “4” 61 “5” 62 “5” 71 “6” 72 “6” 81 “7” 82 “7”

dno.

13 “0” 14 “0” 23 “1” 24 “1” 33 “2” 34 “2” 43 “3” 44 “3” 53 “4” 54 “4” 63 “5” 64 “5” 73 “6” 74 “6” 83 “7” 84 “7”

Line

SSCNET

Line

SSCNET

Servo Amplifier's

Rotary Switch

Servo Amplifier's

Rotary Switch

dno.

SSCNET

Line

SSCNET

Line

Servo Amplifier's

Rotary Switch

Servo Amplifier's

Rotary Switch

*1: dno. is the servo amplifier axis numbers displayed in the system settings of the

positioning software package. Set the axis No. relative to the dno. in system settings.

1 − 56

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

1.5.7 Battery This section describes the battery specifications and handling precautions.

(1) Battery in CPU module

(a) Specifications

The specifications of the battery for memory back-up are shown in the table below.

Table 1.10 Battery Specif ic atio ns

Model Name

Item Nominal voltage 3.6 VDC Battery warranty period 5 years

Total power interruption

Applications

External dimensions mm (inch) 16(0.63) 30(1.18)

The range is as follows. for details, see Section 5.3. Min. 5400 hrs. (1) IC-RAM back-up and memory back-up functions (2) Back up for the absolute data of a synchronous

encoder

A6BAT

(b) Mounting the battery

To reduce battery deterioration during distribution and storage, the leads are not connected during shipment. Connect the battery lead connector to the battery connector on the CPU module printed circuit board when using the CPU module as follows:

•

Using sequence programs in the CPU module internal user program area;

•

Using the power failure holding functions.

CPU module

Battery connector

Do not short a battery. Do not disassemble a battery. Do not burn a battery. Do not overheat a battery. Do not solder the battery terminals.

A6BAT

CAUTION

1 − 57

2. DESIGN

This chapter provides those who will design and manage the motion system with the procedures and instructions necessary to design the motion system. For the system and parameter settings and programming method of the motion system, refer to the operating and programming manuals. This chapter does not describe the selection of the amplifiers, motors and MELSEC-A series (I/O modules). Refer to the corresponding manuals.

2.1 System Designing Procedure Design the system which uses the motion controller in the following procedure.

Motion system design

Design of independent moti on system

Select the CPU module according to the number of control axes and the number of control I/O points.

Choose the motion functions to be installed according to the machinery and equipment to be controlled (selection of the motion OS determines the peripheral positioning packages).

Refer to Section 2.2.

Choose the number of A172SENCs and design connections according to the axis-byaxis control system and depending on whether servo external signals are required or not. When there is mechanical home position and dog type home position return is made: Near-zero point dog required For speed control: Speed-position control change signal required When overrun prevention is necessary: Stroke limits required When axis-by-axis stop is necessary: STOP signal requi red

Select A172SENC and design connections depending on whether manual pulse generators and synchron ous encoders are required or not.

Choose I/O modules according to the specifications of the external equipment to be controlled.

Choose A1SY42 when using the limit output which outputs ON/OFF according to the present value of the specif ied axis.

Choose the main base, extension bases, extension power supplies and extension cables and make I/O assignment according to the necessary number of A172SENCs and A1SY42s and the number of I/O modules.

Select the s ervo amplifier and servo motor according to the motor capacity and speed calculated from the machine mechanism to be controlled axis-by-axis.

Set servo amplifier connection by SSCNET and axis numbers and axis No.s.

Refer to Section 1.5.4( 3) .

Refer to a MELSEC-A series manual.

Refer to Section 1.5.3( 3) .

Refer to an applicable servo amplifier manual . Refer to Appendix 2.

Refer to Section 1.5.6( 2) .

Connection of peripheral equipment

Select the teaching unit when using the handy unit to perform JOG operation, teaching or the like. Choose A31TU when the deadman switch is needed or choose A30TU when not needed.

2 − 1

Refer to Section 1.5.5( 4) .

Refer to Section 1.5.1( 9) .

2. DESIGN

Design of system to which GOT and personal computer information control have been added

Choose the GOT when using the grap hi c pa nel to perform equipment status m onitoring and equipment operation.

Select the personal computer and related software packages when you want to execute the digital oscillosco pe functions d esigned for t uning and timi ng checking and user-developed software functions (e.g. machining/assembling recipe function and data supervising collection function) in addition to equipment status monitoring and equipment operation.

Design of system connected to MELSECNET

Select MELSECNET modul es and carry out MELSECNET system desi gn such as link allocation when connecting the motion controller to MELSECNET(II) or MELSECNET/10 for communications with the PC CPU, etc. over the network.

External circuit design

Power supply circuit design

Design the power supply circuit which supplies power to such system components as the motion controller, I/O equipment and servo amplifiers, taking into consideration the protective coordination and noise suppression techniques.

Safety circuit design

Design the operation-ready circuit which stops the system at occurrence of any alarm such as a motion controller or servo amplifier alarm or an emergency stop, the circuit which avoids a malfunction while power is instable at power-on, and the electromagnetic brake circuit for servo motors.

Enclosure inside layout design

Refer to Section 1.5.1(7).

Refer to Section 1.5.1(8).

Refer to Section 2.3.

Refer to Section 2.3.1.

Refer to Section 2.3.2.

Carry out layout design from suc h asp ects as installation environ me nt, e.g. temperatures and vibrations in consideration of heat generated from modules, and handling of the modules m ounted.

Refer to Section 2.4.

2 − 2

2. DESIGN

Provide appropriate circuits external to the servo system CPU to prevent cases where danger may result from abnormal operation of the overall system in the event of a power supply fault or servo system CPU failure. Mount each controller, servo amplifier, servomotor, and regenerative resistor on a nonflammable material. Fire may result if they are mounted on or near a flammable material. Take measures to cut off the servo amplifier power supply if the controller or servo amplifier fails. Large currents continuing to flow can cause fires. If a regenerative resistor is used, ensure that an alarm signal cuts off the power supply, otherwise damage to the regenerative transistor, overheating of the regenerative resistor, or even fire may result. To prevent fires, take flameproofing measures inside the control box where the servo amplifier and regenerative resistor are located and use non-flammable wiring. Do not apply a voltage to terminals which exceeds the voltage prescribed in this manual or the instruction manuals for other products used. Incorrect voltage can cause destruction of, or damage to, the equipment. Correct the terminals correctly. Incorrect connection can cause destruction of, or damage to, the equipment. Ensure polarity is correct. Incorrect polarity can cause destruction of, or damage to, the equipment. The servo amplifier cooling fins, regenerative resistor, and servomotors become hot during operation and can remain hot for some time after the power is turned off. Do not touch these parts or burn injuries may result.

To avoid injury, turn off the power before touching servomotor shafts or machinery connected to them. To avoid injury, do not approach machinery during trial or teaching operation. Connect a leak breaker to the controller and servo amplifier power supply. Provide an electromagnetic contactor for servo amplifiers and other equipment for which the instruction manual prescribes an electromagnetic contactor to cut off the power in the event of an error. Provide an external emergency stop circuit to instantaneously stop operation and cut off power. Use controllers, servo amplifiers, servomotors, and regenerative resistors in combinations prescribed in this manual and the instruction manuals for other products used. Incorrect combinations can cause damage to the system or fire. If used in systems for which safety standards apply (such as robot systems), all controllers, servo amplifiers, and servomotors must meet the prescribed safety standards. Configure safety circuits external to the controller or servo amplifiers if their abnormal operation could cause axis motion in a direction other than the safe operating direction for the system. Use dynamic braking on servomotors if free running after an emergency stop, servo OFF, or a power cut is a problem. Consider the overrun distances of the system, even if dynamic braking is used. Use both dynamic braking and electromagnetic braking on servomotors if vertical falling of axes after an emergency stop, servo OFF, or a power cut is a problem. Use the dynamic brake module to stop servomotors when an emergency error or other error occurs to turn off the servomotors. Do not use it to stop the servomotors during normal operation. The electromagnetic brake incorporated in a servomotor is intended for holding only. Do not use it during normal operation. Design systems with sufficient mechanical allowance for a safe stop if an axis passes the strokeend limit switch at maximum speed. Select cables for the system with appropriate diameter, heat resistance, and bending resistance. Use wires and cables with lengths in the range prescribed in this manual and the instruction manuals for other products used. Ensure that the characteristics of other components used in a system match those of the controllers, servo amplifiers, and servomotors. Attach covers to prevent servomotor rotating parts being touched during operation. The electromagnetic brake may not be able to hold an axis due to age or machine construction (if a servomotor is linked via a timing belt to a ball screw, for example). As a safety measure, provide a stopping device on the m ac hine.

CAUTION

2 − 3

2. DESIGN

2.2 System Design

MELSECNET system

To exercise motion control and external I/O equipment control, the motion system consists of the CPU module, main base unit and various modules such as the power supply module, pulse generator/synchronous encoder modules and I/O modules. Each module must be selected, set, and connected according to the system specifications. Further, the motion system can connect to the graphic operation system (GOT), exercise information control using a personal computer, and connect to a control network which uses the MELSECNET so that the system may be configured up to meet various applications. Based on the following system configuration, this section explains the ways to select the modules needed in designing the motion system and to set and connect the modules, and the designing precautions.

Monitoring/OperationControl network Information control

(Such as digital oscilloscope, monitoring and recipe functions)

OUT

Refer to Section

1.5.1(8). Personal computer

Refer to Section 1.5.1(7).

Independent motion system

Motor control

Servo amplifier

Refer to Section 1.5.6(2).

I/O control

MELSEC-A I/O module

Peripheral device

MELSECNET(II)/10

SSCNET

CPU module Pulse generator/synchronous encoder interface module (refer to Section 1.5.4(3)) Limit output module Base, extension cable (refer to Section 1.5.3(3))

Teaching JOG operation

Teaching unit

Refer to Section 1.5.5(2).

I/O bus control RS422 (CPU front) Computer link

Motion controller

RS422 (CPU front)

Personal computer

SSCNET

Program development

Refer to Section

1.5.1(9).

Refer to Section 1.5.4(3).

Manual pulse generator

Synchronous encoder

Servo external signal

Stroke limit Stop signal Near-zero point DOG/Speed

-position changeover command

Refer to Section 1.5.4(3).

2 − 4

2. DESIGN

2.3 External Circuit Design

3-phase 200/220VAC

As to the ways to design the external circuits of the motion system, this section explains the method and instructions for designing the power supply and safety circuits, etc.

(1) Sample system circuit design for motion control

RST

NFB

A173UHCPU/ A172SHCPUN/ A171SHCPUN

200VAC

FG LG

EMG EMG. COM.

Motion control input for 8 axes

PX0

PX1F TRA COM

Ra2

A172SENC

PX0

PX1F TRA COM

BRAKE OUT BRAKE COM

24VDC power supply

CPU module

+24V

24G

Servo normal output (ON when servo is

Ra1

normal, OFF on occurrence of alarm)

Ra1

Operation Ready

EMG

OFF

EMG

2 − 5

2. DESIGN

POINTS

(1) *1 : A 100 VAC power supply can also be used as the power supply to the CPU module. (2) *2 : Sequence program

M9036 M9074

(3) *3 : It is also possible to use a full wave rectified power supply as the power supply for the

electromagnetic brake.

(4) For details on connecting SSCNET cables and termination resistors refer to Sections 1.5.6 (2).

Servo alarm/ Error detection

Circuit example when using MR-H-BN

Ra3

Ground

U V

Electromagnetic brake

MR-H-BN

S T

R1 S1

U V

24 VDC

COM

MBR

EM1 EM2

Circuit example when using MR-J2S-B/MR-J2-B

Ground

U V

Electromagnetic brake

MR-J2S-B /MR-J2-B

L2 L3

L11 L12

COM

MBR

EM1

U V

Ra4

24 VDC

2 − 6

Ra3

Ra4

2. DESIGN

3-phase 200/220VAC

(2) Example of system circuit configuration compatible with A31TU-E type teaching

unit

RST

NFB

EMG

EMG. COM.

A173UHCPU/ A172SHCPUN/ A171SHCPUN

200VAC 200VAC

CPU EMG CPU EMGL

FG LG

Motion control input for 8 axes

A172SENC

PX0

PX1F TRA COM

BRAKE OUT

BRAKE COM

Ym Ym+1

Ym+n

COM

A31TUCBL

PX0

PX1F TRA COM

TU EMG1 TU EMG2

DED1 DED2

24 VDC power supply

+DC24V

24G

CPU EMG (To cable)

A31TU internal circuit

TU EMG

TU EMG1 TU EMG2

(To

Cable)

Deadman switch

DED1 DED2

(To

Cable)

Ra2

Operation

Ready

EMG

OFF

Ym: PCPU Ready Completion servo normal output (Servo normal: ON, Alarm: OFF)

CPU EMGL (To cable)

Ra1 Ra2

Ra1

Ra2

2 − 7

2. DESIGN

Outside of control board

A31SHORTCON short-circuit connector (when A31TU-E is not connected)

InvalidValid

Schematic drawing of front panel

A31TU-E SV13 Ve *Data *Monitor *PROG *Test Press the mode key.

ITEM

CLEAR

E5F

B2C

MDI

ERROR

CAN

RESET

JOG - JOG +

Emergency Stop

STOP

STEP-

STEP+

RETURN

MITSUBISHI A31TU-E

DATA TEST

WRITE

STORE

SHIFT

AXIS NO.

There is a deadman switch on the rear side.

POINT

(1) *1 : 100 VAC power supply can also be used as

the power supply to the CPU module.

(2) *2 : Sequence program

M9036 M9074

Servo alarm/ Error detection

(3) *3 : It is also possible to use a full wave rectified

power supply as the power supply for the electromagnetic brake.

(4) For details on connection of SSCNET cable and

termination resistors, refer to Section 1.5.6 (2).

MR-H-BN

S T

MR-J2S-B

/MR-J2-B

L2 L3

L11

L21

COM

MER

EM1 EM2

COM

MER EM1

Servo motor

U V W

U V

Electromagnetic brake

Ra11

Servo motor

Ground

U V W

Electromagnetic brake

Ra12

2 − 8

2. DESIGN

Using AC Using AC and DC

Power supply

Start swi t ch

Stop switch

RA1

Output module

Transformer

Fuse

M9006

M9039

Program

RA1

MC2

MC1

M9084

Input module

RA1

MC1

MC2

DC power supply established signal input

START/STOP circuit (Starting possible when the PC RUN output RA1 is ON.)

Alarm output (lamp or buzzer)

RA1 switched ON by M9039

Turns output equipment power off when STOP occurs (on emergency stop, on stop at upper limit)

(Interlock circuits for mutually exclusive operations such as forward/reverse and parts which can cause damage to or destruction of machine.)

Power supply

Start swi t ch

Stop switch

Output module

Transformer Transformer

Fuse FuseCPU

CPU

M9006

M9039

M9084

MC1 NO M10

M10

Program

RA1

RA2

Input module

MC2

MC1

RA1

MC1

MC2

DC power supply

(+)(-)

Fuse

RA2

MC MC

Set TM to time to establish DC input signal

A voltage relay is recommended

Alarm output (lamp or buzzer)

RA1 switched ON by M9039

Turns output equipment power off when STOP occurs (on emergency stop, on stop at upper limit)

Procedure to start up the power supply.

(1) Set the CPU to RUN. (2) Turn on the power supply. (3) Turn on the start switch. (4) Output equipment driven by program when the

electromagnetic contactor (MC) turns on.

AC and DC

(1) Set the CPU to RUN. (2) Turn on the power supply. (3) Turn ON RA2 when DC power supply is

established.

(4) Turn on timer (TM) when the DC power supply is

100% established. (Set TM set value to the time from RA2 turning ON until the DC power supply is 100% established. The set time should be

approximately 0.5 s.) (5) Turn on the start switch. (6) Output equipment driven by program when the

electromagnetic contactor (MC) turns on.

(When a voltage relay is used as RA2, the timer

(TM) in the program is not needed.)

2 − 9

2. DESIGN

2.3.1 Power Supply Circuit Design This section describes the protective coordination and noise suppression techniques of

the power supply circuit. (1) Separation and protective coordination (leakage current protection, overcurrent

protection) of power supply lines When wiring, separate the lines of CPU module power supplies from those of the I/O equipment and servo amplifier as shown below.

100/200VAC

Main power supply

NFB

CPU module power supply

CP I/O

power supply

CPU module

I/O equipment

100/200VAC

200VAC

Main power supply

NFB

CPU module power supply

CP I/O

power supply

Servo amplifier

power

supply

NFB

CPU module

I/O equipment

Servo amplifier

2 − 10

2. DESIGN

(2) Power supply noise and lightening surge suppression techniques

If there is a possibility that a malfunction may occur due to a sneak noise from the main power supply or servo amplifier or due to a lightening surge, use a line noise filter and lightening surge absorber in the power supply lines of the motion controller and I/O equipment. Also use an insulating transformer for suppression of common noises of the power supplies (noises produced between power supplies and earth).

•

Exam ple of using the li ne no is e filter

Motion

controller I/O

equipment

Motion

equipment

Motion

controller I/O

equipment

Line noise filter

controller I/O

Lightening surge absorbe

•

Example of a circuit using the lightening surge absorber

•

Example of using the insulating transformer

(3) Circuit designed for voltage fluctuation

If the voltage fluctuation of the main power supply is greater than the specified value, use the constant-voltage transformer.

Constant-

voltage

transformer

CPU module

CAUTION

Separate the grounding (E1) of the line noise filter and lightening surge absorber from the grounding (E

) of the motion controller.

Choose the lightening surge absorber which will not cause the maximum permissible circuit voltage of the power supply module to be exceeded when the power supply voltage rises to the maximum. When using the power transformer which will drop the voltage from 200VAC to 100VAC or the insulating transformer, its capacity should be not lower than the value in the following table.

Power Supply Module Model Transformer Capacity

A1S61PN A1S62PN

CPU module

110VA 110VA 110VA

2 − 11

2. DESIGN

(4) Grounding

The motion system may malfunction as it is affected by various noises such as electric path noises from the power supply lines, radiated and induced noises from other equipment, servo amplifiers and their cables, and electromagnetic noises from conductors. To avoid such troubles, connect the earthing ground of each equipment and the shield grounds of the shielded cables to the earth. Also use ferrite cores to prevent the sneak noises of the SSCNET from entering. For grounding, use the exclusive ground terminal wire of each equipment or a single-point earth method to avoid grounding by common wiring, where possible, since noises may sneak from other equipment due to common impedances.

Panel compute

100/200VAC

2.3.2 Safety Circuit Design

Line noise filter

Motion controller

SSCNET

Servo amplifier

Ferrite cores

(1) Concept of safety circuits

When the motion controller is powered on-off, proper outputs may not be provided temporarily due to the delays and rise times of the motion controller power supply and external I/O control power supplies (especially DC). For example, if the motion controller is powered on after external process power is switched on in the DC output module, the DC output module may provide a false output instantaneously at power-on of the motion controller. Therefore, the circuit must be made up to enable the motion controller to be powered on first. Also, abnormal operations may be performed when the external power supply becomes faulty or the motion controller fails. To prevent these abnormal operations from leading to the abnormal operation of the whole system and also from the fail-safe viewpoint, configure up a circuit outside the motion controller for the areas which may lead to machine damage and accidents due to abnormal operations (e.g. emergency stop, protective and interlock circuits) .

2 − 12

2. DESIGN

(2) Main base emergency stop circuit

(a) By opening the EMG circuit of the main base unit, all axes of the external

servo amplifiers (MR-H-BN/MR-J2S-B/MR-J2-B) can be brought to an emergency stop at once. After an emergency stop, remove the emergency stop factor and cancel the emergency stop (switch on the EMG circuit) to switch on the servo amplifiers immediately. (An emergency stop does not turn on the servo error detection signal.) An emergency stop wiring example is shown below.

Main base unit

Emergency stop

24VDC

EMG

EMG.COM

(b) Do not use the emergency stop terminals on the external servo amplifier

side. When the external servo amplifier side requires its own emergency stop circuit, use an external circuit to power off the external servo amplifiers.

(3) External electromagnetic brake circuit

When configuring an electromagnetic circuit externally, create a sequence program to turn off the electromagnetic brake output when the servo error detection or servo OFF command turns off. Also, write the sequence program to turn on the electromagnetic brake output 200ms after normal detection (servo error detection : OFF and servo OFF command : ON) on the servo side. Configure the external circuit to open the electromagnetic brake terminal of the servo motor when the electromagnetic brake output turns ON.

2 − 13

2. DESIGN

•

For A172SHCPUN/A171SHCPUN

M1608+20n

M1815+20n

M1608+20n M1815+20n

M1608+20n M1815+20n M0 T200 Yn

M2408+20n

M3215+20n

M2408+20n M3215+20n

T200

Servo error detection

Servo OFF command

Servo error or servo ready OFF detection flag

Servo side normal period (200ms) measuring timer Electromagnetic brake operation instruction

•

For A173UHCPU

T200

K20

T200

K20

T200

Turns on M0 when servo error detection (M1608+20n) turns on or servo OFF command (M1815+20n) turns off.

Servo error Servo ready

Turns on Yn when M0 turns off and T200 turns on.

Turns on M0 when servo error detection (M2408+20n) turns on or servo OFF command (M3215+20n) turns off.

Servo error Servo ready

Turns on Yn when M0 turns off and T200 turns on.

Turns on T200 200ms

after servo error turns off

and servo ready turns on.

Turns on T200 200ms

after servo error turns off

and servo ready turns on.

M2408+20n M3215+20n M0 T200 Yn

Servo error detection

Servo OFF command

Servo error or servo ready OFF detection flag

Servo side normal period (200ms) measuring timer

Electromagnetic brake operation instruction

POINT

*1 : T200 is a 10ms timer and has an error produced by the scan time of a sequence program, and that

error is -2/+1 scan. Actually open the electromagnetic brake and adjust the setting to avoid a servo side error.

CAUTION

For details of the electromagnetic brake circuit and amplifier periphery, refer to the manual of the servo amplifier used. For vertical lift applications, make up a system which makes a stop using the mechanical locking mechanism which will operate at power-off, emergency stop and alarm occurrence, in addition to the electromagnetic brake, to prevent a drop. When you want to make a sudden stop at an emergency stop, use the dynamic brake. If it is used with the electromagnetic brake, the coasting distance will not be so short as expected. When considering double safety, calculate the coasting distance when the dynamic brake fails, and examine whether safety is ensured or not. Refer to Appendix 2 and 3 for the brake characteristics.

2 − 14

2. DESIGN

(4) Failsafe measures for Motion controller failure

Failure of the CPU module or memory is detected by the self-diagnosis function, but some abnormalities in the I/O control components cannot be detected by the CPU. Some failures can result in situations such as all points turning on or off, where normal operation and safety of the controlled object cannot be assured. The manufacturer makes every effort to ensure perfect quality control. However, external failsafe circuits should be provided to prevent accidents or damage to machines in the event that a failure does occur in the CPU module. An example of a failsafe circuit is shown in the diagram below.

On-delay timer

Off-delay timer

24VDC

M9032

Y00

Internal program

Y00

0.5s 0.5s

CPU module Output

Y00

Y01

Y0F

24V

module

External load

CAUTION

*1 : Use a non-contact output module for Y00, as it turns ON/OFF at 0.5 s intervals. A transistor

is shown in the example above. Using a contact module for Y00 can cause failures.

2 − 15

2. DESIGN

2.3.3 Instructions for External Circuit Wiring Design (1) Wiring

(a) Use the wires of the following diameters for wiring.

Application Recommended Wire Diameter 100VAC, 200VAC, 24VDC wires Thickest possible wires of 2.0mm2 max. I/O equipment 0.75mm2 (0.75 to 1.5mm2 usable) Ground wire 2.0mm2 or more

(b) Twist the 100VAC, 200VAC and 24VDC wires as closely as possible and

run them to connect modules in the shortest distance.

module Do not connect the 24VDC outputs of two or more power supply modules in parallel to supply power to one I/O module. Parallel connection will damage the power supply modules. If one power supply module cannot provide enough 24VDC output capacity, use an external 24VDC power supply to supply extra power.

CPU module

24VDC

Power supply module

I/O

module

CPU module

24VDC

External power supply

CAUTION

Do not connect the 24VDC outputs of two or more power supply modules in parallel to supply power to one I/O module. Doing so can cause burst, damage or the like. Do not bundle the 100VAC, 200VAC and 24VDC wires with or run them close to the main circuit (high-voltage, large-current) wires and I/O signal wires. Separate them more than 100mm (3.94inch) where pos s ible.

I/O

module

2 − 16

2. DESIGN

2.4 Layout Design within Enclosure

2.4.1 Location Environment Avoid locating the motion controller system in environments subject to:

(1) Ambient temperature outside the range 0°C to 55°C (2) Ambient humidity outside the range 10% to 90% RH (3) Condensation resulting from sudden temperature changes (4) Corrosive or inflammable gas (5) Large amounts of conducting dust or iron filings, oil mist, salt, organic solvents (6) Direct sunlight (7) Strong electrical or magnetic fields (8) Direct vibrations or shocks on the unit.

The storage conditions are listed in the table below.

Environment Conditions

CAUTION

Ambient temperature 0Cto 55 Ambient humidity 10% to 90% RH

No condensation resulting from sudden temperature changes No corrosive or inflammable gas

Atmosphere

Low levels of conducting dust or iron filings, oil mist, salt, organic solvents Not subject to direct sunlight No strong electrical or magnetic fields No direct vibrations or shocks on the equipment.

2 − 17

2. DESIGN

2.4.2 Installing the Base Units This section describes the precautions related to mounting a motion controller in

an enclosure. (1) To improve ventilation and permit easy mounting of the unit, leave a space of

(2) Provide a wiring duct, if required.

at least 30 mm (1.18 inch) between the top of the unit and any other object.

Consider the following points if the dimensions from the top or bottom of the motion controller are less than those shown in Fig. 2.1. (a) If the duct is above the motion controller, limit the duct height to 50 mm

(1.97 inch) max. to improve ventilation. Leave sufficient clearance above the motion controller to allow the mounting screws on top of the unit to be tightened or removed. It is impossible to replace the unit if the screws cannot be removed.

(b) If the duct is below the motion controller, leave sufficient clearance to

eliminate effects on the CPU module 100/200 VAC input cables, the I/O module input wires, and 12/24 VDC wires.

CAUTION

Due to ventilation problems, do not install the base units vertically or horizontally. Install the base units on a flat surface. Unevenness or warping of the surface can apply undue force to printed circuit boards and lead to malfunctions. Avoid installing the base units close to a vibration source, such as a large electromagnetic contactor or no-fuse breaker. Mount them on a separate panel or at a safe distance. To limit the effects of reflected noise and heat, leave at least 100 mm (3.94 in) clearance to instruments mounted in front of the motion controller (on the rear of the door). Similarly, leave at least 50 mm (1.97 in) clearance between instruments and the left and right sides of the base units.

2 − 18

2. DESIGN

(

)

(

)

2.4.3 Installation

Connecto r fo r SSCNET

40mm (1.57inch)

The mounting positions of the main base unit and extension base unit are shown below.

Main base unit Extension base unit

Fig.2.1 Parallel Installation *1: If a DIN rail is used, consider the mounting position of the DIN rail.

Top of enclosure,wiring duct, or other components

Top of enclosure, wiring duct, or other components

30mm (1.18inch) min.

70mm (2.76inch) min.

Duct height 50mm (1.97inch) max.

Enclosure, etc.

CPU module

Contactor, relay, etc.

Main base unit

Extension base unit

Door

30mm (1.18inch) min.

70mm (2.76inch) min.

30mm (1.18 inch) min.

Fig.2.2 Series Installation

*2:Extension Cable Lengths A1SC03B cable A1SC12B cable A1SC30B cable

70mm (2.76inch) min.

280mm(11.02inch)max. 1100mm(43.3inch)max. 2900mm(114.17inch)max.

100mm (3.94 inch) min.

Fig.2.3 Clearance to Instruments in Front of CPU module

Fig.2.4 Vertical Installation

Not Permitted

Fig.2.5 Horizontal Installation

Not Permitted

2 − 19

2. DESIGN

2.4.4 Calculating Heat Generated by A173UHCPU/A172SHCPUN/A171SHCPUN If a motion controller is installed in an encl os ure, the tem per ature inside the

enclosure must be restricted to the operation ambient temperature of 55 The average power consumption (heat generation) of the equipment and instruments in the enclosure must be known to design the heat dissipation of the enclosure. This section describes how to calculate the motion controller system power losses and average power consumption. Calculate the temperature rise in the enclosure from the power consumption.

Calculating Average Power Consumption

The major motion controller parts consuming power are shown in the block diagram below.

5VDC line

power

supply

CPU

(power supply) module

Exaternal

24 VDC

power supply

24V

24VDC line

Output module

Relay transistor

Output current

) Vdrop

OUT

Output power supply

OUT

LOAD

Input module Input current

) E

)

Special-function

module

Power supply

Input

power

supply

)

(1) Power consumption of power supply module

The power conversion efficiency of a power supply module is approximately 70%, with the remaining 30% consumed in heat generation. Therefore, the heat generation is 3/7 of the output power, calculated by the following equation:

Wpw = {(I

5V:I5V

24V:I24V

3 7

5) + (I

24)}(W)

24V

is the current consumption of the 5 VDC logic circuits of each module

is the 24 VDC average current consumption of the power supply for output module internal consumption (current consumption of simultaneously ON points)

(2) Total power consumption of 5 VDC logic circuits of all modules

The CPU power supply 5 VDC output circuit power is the total power consumption of each module.

= I5V5(W)

(3) Output module average power consumption (power consumption of

simultaneously ON points) The CPU power supply 24 VDC output circuit average power is the total power consumption of each module.

24V

= I

24V

24(W)

2 − 20

2. DESIGN

(4) Average power consumption from voltage drop in output circuits of the output

modules (power consumption of simultaneously ON points)

OUT

= I

: I

OUT

Vdrop No. output points Simultaneously ON ratio (W)

OUT

is the output current(actual operation current) (A)

OUT

I Vdrop: Vdrop is the voltage drop of each output module (V)

(5) Average power consumption from voltage drop in input circuits of the input

modules (power consumption of simultaneously ON points)

=IINE No. input points Simultaneously ON ratio (W)

: IIN is the input current (effective value for AC) (A)

E : E is the input voltage (actual oper ati on vo lta ge) (V)

(6) Power consumption of special-function module power supply circuits

= I5V5 + I

24V

24 I

100

v 100(W)

The total power consumption of each block described above is the power consumption of the entire PC system.

W = W

+ W5V + W

24V

+ W

OUT

+ WIN + WS (W)

Use the overall calculated power consumption (W) to calculate the heat generation and temperature rise inside the enclosure. The following equation approximately calculates the temperature rise in the enclosure:

T = ( C)

W : W is the overall power consumption of the motion controller (calculated

above)

A : internal surface area of the enclosure (m

)

U : if a fan is used to make enclosure temperature uniform ............6

if air is not circulated inside the enclosure..................................4

CAUTION

If the enclosure temperature rises above the prescribed range, a heat exchanger should be attached to the enclosure to lower the temperature. Ventilation of the enclosure with a fan can result in dust problems with the motion controller because of the dust which is introduced with the ambient air.

2 − 21

2. DESIGN

2.5 Design Checklist At the worksite, copy the following table for use as a check sheet.

Item Sub Item Design Confirmation Check

Number of axes axes Number of I/O points pointsCPU module selection Selected CPU module Manual pulse generator pcs. Synchronous encoder pcs. Number of upper limit points points

Pulse generator/synchronous encoder interface module selection

Limit output module

Module/unit selection

External circuit design

Layout design Module layout design

selection

Main base unit selection

Sequence extension base unit and extension cable selection

Extension base power supply module selection

Fail-safe circuit design

Number of lower limit points points Number of STOP input points points Near-zero point input points Speed-position change input points Tracking enable signal points Brake unit output points A172SENC modules Number of limit output points points A1SY42 modules Use of teaching unit Yes / No Use of deadman switch Yes / NoTeaching unit selection Selected teaching unit Number of motion modules modules Number of I/O modules loaded to main base modules Selected main base unit

Number of I/O modules loaded to extension base Distance between main base and extension base

Selected extension base unit Selected extension cable

Total of currents consumed by modules loade d to extension base Current consumption of 24VDC supplied by extension power supply

Selected extension power supply modul e Avoidance of malfunction at power-on Avoidance of hazard at motion controller failure Safety circuit for use of teaching unit with deadman switch Safety circuit of motor equipped with electromagnetic brake

Conformance with general specifications such as ambient temperature, humidity, dust, dirt, etc. Layout in consideration of clearances between enclosure's inside walls, other structures and modules and heats generated by modules inside enclosure

modules

2 − 22

3. MOUNTING AND WIRING

This chapter provides the mounting and wiring procedures and hardware handling information for those who will mount each equipment to a control box or the like, design wiring and install the hardware. This chapter does not give the ways to install and wire the amplifiers, motors and others and the way to wire the external relay circuit. Refer to the corresponding manuals.

3.1 Mounting and Wiring Methods

Item Sub Item Mounting/Wiring Outline Refer To

Base unit mounting

Unit/module mounting

Wiring

Mounting of modules to base unit

Synchronous encoder mounting

Running of power supply and I/O wires

Mounting of base unit to enclosure

Mounting without DIN rail

Mounting with DIN rail Mount the CPU, power supply, I/O, special function, motion and other modules to the base unit. Mounting of serial synchronous encoder to machine side rotary shaft Running of power supply and I/O wires of power supply and I/O modules

Section 3.2

Section 3.3

Section 3.4

Section 3.5

3.2 Mounting the Base Unit

The terminal block and pin connectors of this base unit are made of resin. Do not drop them or give them hard impact. Do not remove the printed circuit boards of the base unit. Doing so can cause a failure. Wire the cables carefully to ensure that no foreign matter such as wire-offcuts enter the base unit. Remove them if any. Tighten the base unit mounting screws within the tightening torque range. While power is on, do not install or remove the base unit. While power is on, do not mount or dismount the modules to or from the base unit. Install the base unit in a weight-bearing place according to this manual. Do not stand or rest heavy objects on the product. Always check that the mounting orientation is correct.

This section provides the way to mount the main or extension base unit to an enclosure or the like. Place the base unit according to the precautions for base unit layout design in Section 2.4.2.

CAUTION

3 − 1

3. MOUNTING AND WIRING

3.2.1 Mounting without DIN Rail Drill mounting screw holes in accordance with the outline dimensional drawings in

Appendix 1.3 Main Base Unit and Appendix 1.4 Extension Base Unit.

Base mounting screw (M5 screw)

3.2.2 Mounting with DIN Rail The main base unit and extension base unit are fitted with DIN rail mounting hooks

as standard. This section describes the method for mounting the DIN rail.

(1) Applicable DIN rail models (JIS-C2B12)

TH35-7.5Fe TH35-7.5AI TH35-15Fe

Screw Tightening Torque Range N cm

273 to 361

(Control box, when screws are made of iron)

(2) Spacing of DIN rail mounting screws

If a TH35-7.5Fe or TH35-7.5AI DIN rail is used, insert screws at a pitch of 200 mm (7.87 inch) max. to reinforce the rail mounting.

DIN rail

35mm (1.38 inch)

PPP

DIN rail mounting screw

P=200mm (7.87 inch) max.

3 − 2

3. MOUNTING AND WIRING

(3) Mounting units to, and removing them from, the DIN rail

(a) Mounting to DIN rail

The procedure to mount a base unit on the DIN rail is described below.

1) Engage the top of the base unit DIN rail groove with the top of the DIN rail.

2) Push the base unit toward the DIN rail to fasten it.

DIN rail groove

Base Unit

Modules

DIN rail

Fixed on the DIN rail.

(b) Removing from DIN rail

The procedure to remove a base unit from the DIN rail is described below.

1) Use a flat screwdriver to push down the hook under the base unit.

2) Pull the unit forward while pushing the hook down to remove the unit from the DIN rail.

Base unit

Hook

Screwdriver

Modules

Direction to remove the uni

3 − 3

3. MOUNTING AND WIRING

3.3 Mounting and Removing Modules This section describes how to mount CPU modules, I/O modules, and special-

function modules in a base unit, and how to remove them. (1) Mounting modules

Follow the procedure below to mount a module in the base unit.

Insert the two lugs on the rear panel of the module into the module fixing holes in the base unit.

Push the module in the direction of the arrow to mount it in the base unit.

Ensure that the module is fully inserted in the base unit and fasten the module in position with the fastening screws.

End

Module fixing screw

Base unit

Module

Base unit

Module fixing holes

Module Module connector

Module lug

CAUTION

The lugs must be inserted in the module fixing holes when the module fixing screws are inserted. Forcibly fixing a module in place with out ins ert ing the lugs in the ho les wil l bend the m odul e connector pins and cause other damage. Turn off the power supply before mounting or removing a module.

3 − 4

3. MOUNTING AND WIRING

(2) Removing modules

Follow the procedure below to remove a module from the base unit.

Remove the fixing screws and pivot the module around the bottom lugs toward you.

Lifting the module up, detach the lugs from the module fixing holes.

End

Base unit

Module connector

Module

Module fixing holes

(3) Fixing modules

When fixing the modules to the base unit, tighten the screws within the following range.

Screw Tightening Torque Range N cm

Module mounting screw (M4 screw)

78 to 117

3 − 5

3. MOUNTING AND WIRING

When removing a module, remove the module fixing screws before attempting to remove the lugs from module fixing holes. Forcing out a module may damage the lugs. Turn off the power supply before mounting or removing a module. The terminal block and pin connectors of this base unit are made of resin. Do not drop them or give them hard impact. Do not remove the printed circuit boards of each module. Doing so can cause a failure. Wire the cables carefully to ensure that no foreign matter such as wire-offcuts enter from the module top. Remove them if any. Tighten the module mounting and emergency stop input terminal screws within the tightening torque ranges. When fitting the module to the base, press the module against the base to ensure that the latch is locked into the base. When removing the module, push the latch until the latch comes out of the base completely, and pull the module toward you.

CAUTION

3 − 6

3. MOUNTING AND WIRING

3.4 Mounting the Serial Absolute Synchronous Encoder Precautions when using a MR-HENC serial absolute synchronous encoder.

(1) If the serial absolute synchronous encoder is linked to a chain, timing belt, or

gears, the machine rotating shaft should be supported by a separate bearing and connected to MR-HENC through a coupling. Ensure that excessive force (greater than the permitted shaft load) is not applied to the encoder.

Gear

Bearing

Coupling

MR-HENC

Fig. 3.1 Example of Encoder Linked to a Gear

(2) Large errors in eccentricity and angle of deviation during mounting can apply

an excessive force to the MR-HENC shaft, which can cause deterioration in performance drastically reduce encoder life. Minimize loads applied to the shaft such that they lie within the permitted shaft load range. The permitted shaft loads are shown in Fig. 3.2 for the recommended coupling type.

Table 3.2 Permitted Values for Coupling Mounting Errors

Eccentricity

Table 3.1 Permitted Shaft Loads

Permitted shaft load

0.2mm (0.008 inch) max.

Radial Direction Thrust Direction

98N max. 49N max.

Angle of deviation

Axial displacement

1.5° max.

0.5mm (0.02 inch) max.

3 − 7

3. MOUNTING AND WIRING

The MR-HENC contains a glass disk and precision mechanism. Take care when handling it. The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration exceeding the prescribed limits. Do not connect the encoder directly to the rotating machine shaft. Always connect the encoder through a flexible coupling.

CAUTION

Coupling

Rotating machine shaft

MR-HENC

Fig. 3.2 Connecting the Encoder to a Machine Shaft

Never hit the end o f th e MR -HE N C cou pl in g sha ft wi th a ha mmer w he n con ne cti ng th e co upl in g t o it. The large loads applied to MR-HENC will damage it. The MR-HENC uses optical parts. Install it in an atmosphere where there are extremely few water drops and little oil and dust. In any place where the MR-HENC is exposed to water and/or oil, provide protection from oil and water, e.g. install a cover. In addition, run the cable downward to prevent oil and/or water from running on the cable into the MR-HENC. When it is inevitable to mount the MR-HENC vertically or obliquely, trap the cable. Use the MR-HENC within the specified temperature range (0C to 55C).

3 − 8

3. MOUNTING AND WIRING

3.5 Wiring

3.5.1 How to Run the Power Supply and I/O Wires (1) Precautions when using the A1S62PN power supply module 24 VDC output

Do not connect 24 VDC outputs from multiple power supply modules in parallel to supply a single I/O module. The power supply modules will be damaged if the outputs are connected in parallel. If the 24 VDC output capacity of a single power supply module is insufficient, supply power from an external 24 VDC power supply.

CPU module

4VDC

Power supply module

I/O

module

CPU module

24VDC

External power supply

(2) Twist 100 VAC, 200 VAC, and 24 VDC wires together as tightly as possible.

Connect units together over the minimum distance.

(3) To minimize the voltage drop, use the thickest 100 VAC, 200 VAC, and 24

VDC wires possible (2 mm

(4) Wiring the I/O equipment

(a) Wires between 0.75 mm

block, but 0.75 mm

max. ).

and 1.5 mm2 can be connected to the terminal

wires are recommended.

(b) If wires pass through a conduit, the conduit must be grounded.

I/O

module

CAUTION

Do not connect 24 VDC outputs from multiple power supply modules in parallel to supply a single I/O module. This can damage or destroy the power supply modules. Do not position the 100 VAC, 200 VAC or 24 VDC cables close to, or bundle them with, powercircuit (high-voltage, high-current) cables or I/O signal cables. A clearance of at least 100 mm (3.94 in) to other cables is required.

3 − 9

Mitsubishi Electronics A171SHCPUN, A173UHCPU, A172SHCPUN User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

INTORODUCTION

Precautions for Safety

For Sate Operations

Revisions

CONTENTS

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

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

1.2 Overall Configuration of Motion System

1.2.1 A172SHCPUN/A171SHCPUN System Overall Configuration

1.2.2 A173UHCPU System Overall Configuration

1.3 Equipment in System (1) Table of motion modules

1.4 General Specifications

1.5 Specifications and Settings of Components

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

1.5.2 Extension Base Power Supply Module (1) Power supply module specifications

1.5.3 Base Units and Extension Cables (1) Performance specifications

1.5.4 Manual Pulse Generator/Synchronous Encoder Interface Module A172SENC receive external signals required for positioning control (motion control

1.5.5 Teaching Unit (1) Names of parts

1.5.6 SSCNET Cables and Termination Resistor and Their Connection Method

1.5.7 Battery This section describes the battery specifications and handling precautions.

2. DESIGN

2.1 System Designing Procedure Design the system which uses the motion controller in the following procedure.

2.2 System Design

2.3 External Circuit Design

2.3.1 Power Supply Circuit Design This section describes the protective coordination and noise suppression techniques of

2.3.2 Safety Circuit Design

2.4 Layout Design within Enclosure

2.4.1 Location Environment Avoid locating the motion controller system in environments subject to:

2.4.2 Installing the Base Units This section describes the precautions related to mounting a motion controller in

2.4.3 Installation

2.4.4 Calculating Heat Generated by A173UHCPU/A172SHCPUN/A171SHCPUN If a motion controller is installed in an encl os ure, the tem per ature inside the

2.5 Design Checklist At the worksite, copy the following table for use as a check sheet.

3. MOUNTING AND WIRING

3.1 Mounting and Wiring Methods

3.2 Mounting the Base Unit

3.2.1 Mounting without DIN Rail Drill mounting screw holes in accordance with the outline dimensional drawings in

3.2.2 Mounting with DIN Rail The main base unit and extension base unit are fitted with DIN rail mounting hooks

3.3 Mounting and Removing Modules This section describes how to mount CPU modules, I/O modules, and special-

3.4 Mounting the Serial Absolute Synchronous Encoder Precautions when using a MR-HENC serial absolute synchronous encoder.

3.5 Wiring

3.5.1 How to Run the Power Supply and I/O Wires (1) Precautions when using the A1S62PN power supply module 24 VDC output