AJ65BT-D75P2-S3 Positioning Module User`s Manual (Hardware)
Contents
1. BAY HBAS A 4 H ATES Mito PR UTD FRE SC fl TE MARA F ESSE RIESE nn 50 i fi i IEC61131 2 a2. INVEST FE A 7 CONDITIONS OF USE FOR THE PRODUCT 1 Mitsubishi programmable controller the PRODUCT shall be used in conditions i where any problem fault or failure occurring in the PRODUCT if any shall not lead to any major or serious accident and ii where the backup and fail safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem fault or failure occurring in the PRODUCT 2 The PRODUCT has been designed and manufactured for the purpose of being used in general industries MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY INCLUDING BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT WARRANTY TORT PRODUCT LIABILITY FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT Prohibited Application Prohibited Applications include but not limited to the use of the PRODUCT in Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT Railway companies or Public service pur
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7. 0 75 to 2 00 mm Module installation screws Over M4 x 0 7 mm 0 03 in x 16 mm 0 6 in DIN rail attachment is possible Applicable DIN rails TH35 7 5Fe TH35 7 5AI TH35 15Fe conforms to JIS C2B12 Applicable solderless terminal RAV 1 25 3 5 RAV 2 3 5 24 V DC internal current consumption 0 30 A Noise durability Noise voltage 500 Vp p noise width 1 us by the noise simulator with the noise frequency 25 to 60 Hz Dielectric withstand voltage Batch power supply communication type batch external I O 500 V AC for 1 minute Insulation resistor Batch power supply communication type batch external I O 500 V DC 10mQ or more by the insulation resistance tester External dimensions 63 5 2 5 H x 170 6 7 W x 80 3 1 D mm inch Weight 0 50 1 1 kg Ib 3 NAME OF EACH PART Corresponding axis LED display Description Indicates the axis for the 8 17 segment LED message CC Link status LED display Shows the power supply and data communication conditions Transmission speed setting switch Sets the data communication speed Station number setting switch Sets the D75P2 station number LED display mode select switch Display information is switched between 1 Correspo
8. 4 1 Handling precautions 1 The module case is made of plastic Be sure not to drop it or subject it to strong vibration 2 Do not remove the printed circuit board of the module from the case This may cause malfunctions 3 Be careful not to let foreign matters such as filings or wire chips get inside the module during wiring When such matters do enter be sure to remove them 4 Tighten the module installation screws and terminal screws within the following tightening torque range 0 78 to 1 18N m 6 9 to 10 4lbinch 0 59 to 0 88N m 5 2 to 7 8Ibinch 0 78 to 1 18N m 6 9 to 10 4lbinch Module installation screws M4 screws Terminal screws Terminal block installation screws M4 screws 4 2 Installation environment Do not install the A series programmable controller in the following environments 1 Where the ambient temperature exceeds the 0 to 55 C range 2 Where the ambient humidity exceeds the 10 to 90 RH range 3 Where condensation is produced by sudden temperature changes 4 Where corrosive or combustible gas is present 5 Where dust iron powder and other conductive powder oil mist salt or organic solvents are prevalent 6 In direct sunlight 7 Where a strong electric or magnetic field is generated 8 Where vibration and shock may be transmitted directly to the module 5 WIRING DATA LINK CABLES This section describes the method for wiring a twisted cable between the D75P2 an
9. 66714 SW1IVD AD75P Operating Manual 134915 CC Link System Master Local type AJ61BT11 A1SJ61BT11 Module IB 66721 Manual name User s Manual 134872 CC Link System Master Local Module type IB 66722 AJ61QBT11 A1SJ61QBT11 User s Manual 134873 CC Link System Master Local type QJ61BT11N Module User s SH 080394E Manual 13JR64 COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES 1 Method of ensuring compliance To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment certain measures may be necessary Please refer to one of the following manuals QCPU User s Manual Hardware Design Maintenance and Inspection Safety Guidelines This manual is included with the CPU module or base unit The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives 2 Additional measures To ensure that this product maintains EMC and Low Voltage Directives please refer to one of the manuals listed under 1 A 10 CONTENTS a O N WIRING DATA LINK CABLES EXTERNAL WIRING EXTERNAL DIMENSIONS OVERVIEW cina alan EES rE ROEE A A 1 PERFORMANCE SPECIFICATIONS NAME OF EACH PART LOADING AND INSTALLATION ei 4 4 1 Handling precautions 4 2 Installation environment 5 1 Precautionary items when handling twisted cables 5 2 Wiring
10. a twisted cable 6 1 Precautionary notes when wiring sne rrn nr nerna ann 6 6 2 I O Interface A 11 1 OVERVIEW This manual describes how to install AJ65BT D75P2 S3 Positioning Module hereafter abbreviated as D75P2 and how to wire them with external devices IMPORTANT 1 The following software packages will be needed if a D75P2 is to be used For DOS V personal computers SW1IVD AD75P or later 2 Software version D or later will be required for AD75TU After unpacking D75P2 please confirm that the following products are contained Model name Quantity Main module AJ65BT D75P2 S3 Connector for external wiring 10136 3000VE Connector cover 10336 52F0 008 2 PERFORMANCE SPECIFICATIONS The performance specifications for the D75P2 are shown below Refer to CPU module User s Manual to use for D75P2 general specifications Item Specifications Maximum output pulse When connected to a differential driver 400kpps When connected to an open collector 200kbps Maximum connection distance between servos When connected to a differential driver 10m 32 81 ft When connected to an opem collector 2m 6 56 ft Type of CC Link station Intelligent device station Number of occupied station 4 stations RX RY each 128 points RWr RWw each 16 points External power supply 24 V DC 20 4 to 26 4 V DC Applicable wire size
11. damage to the module When turning on the power or operating the module after installation or wiring work be sure the module s terminal covers are correctly attached Failure to attach the terminal covers may result in electric shock External connectors shall be correctly soldered Imperfect connections could result in short circuit or erroneous operation When connecting the communication and power supply cables to the module always run them in conduits or clamp them Not doing so can damage the module and cables due to loose moved or accidentally pulled cables or can cause a malfunction due to a cable connection fault Do not install the control lines together with the communication cables or bring them close to each other Failure to do so may cause malfunctions due to noise A 3 Wiring Connection Precautions A CAUTION When disconnecting the communication and power supply cables from the module do not hold and pull the cable part Disconnect the cables after loosening the screws in the portions connected to the module Pulling the cables connected to the module can damage the module and cables or can cause a malfunction due to a cable connection fault Startup and Maintenance Precautions A CAUTION Do not touch the terminals without having the power supply shut down externally at all phases Doing so may result in malfunctions Do not disassemble or modify the modules Doing so cou
12. dia i PF D01 Positioning complete D01 ABS data bit1 ZSP ABS transmission data preparation complete TLC Common Common COM COM Servo ON Servo ON SON SON Zero speed ZSP g E 8 During torque control TLC 8 A E 8 tt 2 f ABStransfer D13 mode ABSM Proportional control PC pcan ABS request DI4 ABSR During torque control TL Ayrton Common COM r Remarks 2 Signals in the ABS transfer mode are shown 3 Signals in the normal state not in the ABS transfer mode are shown For details refer to the specification instruction manual for the servo amplifier used 7 EXTERNAL DIMENSIONS 63 5 2 64 5 installation hole Unit mm inch MEMO Country Region Sales office Tel U S A Brazil Germany U K Italy Spain France South Africa Mitsubishi Electric Automation Inc 500 Corporate Woods Parkway Vernon Hills IL 60061 U S A Tel 1 847 478 2100 MELCO TEC Rep Com e Assessoria Tecnica Ltda Rua Correia Dias 184 Ed
13. MITSUBISHI AJ65BT D75P2 S3 Positioning Module User s Manual Hardware AJ65BT D75P2 S3 Thank you for purchasing the Mitsubishi general purpose programmable logic controller MELSEC A series Prior to use please read this and relevant manuals thorougly to fully understand the product MODEL AJ65BT D75P2 U HE MODEL CODE 13JL48 NIELSEC IB NA 66829 E 1112 MEE 2011 MITSUBISHI ELECTRIC CORPORATION SAFETY PRECAUTIONS Read these precautions before using When using Mitsubishi equipment thoroughly read this manual and the associated manuals introduced in the manual Also pay careful attention to safety and handle the module properly These precautions apply only to Mitsubishi equipment Refer to the CPU module user s manual for a description of the programmable controller system safety precautions In this manual the safety precautions are classified into two levels A WARNING and A CAUTION Indicates that incorrect handling may cause i A WARNING hazardous conditions resulting in death or severe 1 1 injury 1 Indicates that incorrect handling may cause 1 1 1 i A CAUTION hazardous conditions resulting in minor or moderate injury or property damage Under some circumstances failure to observe the precautions given under A CAUTION may lead to serious consequences Observe the precautions of both levels because they are important fo
14. ables with the main circuit or power wires or install them close to each other They should be installed 100mm 3 9 in or more from each other Not doing so could result in noise that would cause malfunction Installation Precautions A WARNING Use the programmable controller in an environment that meets the general specifications contained in this manual Using this programmable controller in an environment outside the range of the general specifications could result in electric shock fire malfunction and damage to or deterioration of the product Tighten the module installation screws within the range of specified torque If the module installation screws are loose it may result in short circuits fire or malfunction Tightening the module installation screws too far may cause damages to the screws and or the module resulting in fallout short circuits or malfunction Do not directly touch the module s conductive parts Doing so could cause malfunction or trouble in the module Securely install the connectors for the drive unit and peripheral devices into the module connectors until a clicking sound comes Improper installation may cause false contact resulting in false input and output When the drive unit and peripheral device are not connected be sure to attach the connector cover Failure to do so may cause malfunction A 2 Wiring Connection Precautions A CAUTION Be sure to shu
15. d master module 5 1 Precautionary items when handling twisted cables Do not handle the twisted cables in the following manner These extreme activities will damage the cables 1 Applying pressure using a sharp object 2 Twisting the cable extensively 3 Pulling the cable with an extremely large force more than tolerable tension 4 Stepping on the cable 5 Placing any object atop 6 Scratching the cable cover 5 2 Wiring a twisted cable Wire the twisted cable between the D75P2 and master module in the following manner Master module side AJ65BT D75P2 S3 YO module side Gu OOo Blue 73 Terminal I DA TA 7 ar H DA rA mt Terminal resistor DB Wito White DB joie es DB resistor DG ret pe greto on i DG supp Uisp SLD FG 7 24V 7 24V 24G i 24G i FG FG II 6 EXTERNAL WIRING Precautionary notes when wiring as well as the I O interface are described below 6 1 Precautionary notes when wiring This section describes the precautionary notes for the wiring process between the D75P2 and outside drive unit 1 Length of connection cable between the D75P2 and drive unit a When an open collector is used the maximum cable length is 2 m 6 56 ft However this value might change according to the drive unit specifications Perform wiring after verifying the specifications for the drive
16. ificio Paraiso Trade Center 8 andar Paraiso Sao Paulo SP Brazil Tel 55 11 5908 8331 Mitsubishi Electric Europe B V German Branch Gothaer Strasse 8 D 40880 Ratingen GERMANY Tel 49 2102 486 0 Mitsubishi Electric Europe B V UK Branch Travellers Lane Hatfield Hertfordshire AL10 8XB U K Tel 44 1707 276100 Mitsubishi Electric Europe B V Italian Branch Centro Dir Colleoni Pal Perseo Ingr 2 Via Paracelso 12 20041 Agrate Brianza Milano Italy Tel 39 039 60531 Mitsubishi Electric Europe B V Spanish Branch Carretera de Rubi 76 80 E 08190 Sant Cugat del Valles Barcelona Spain Tel 34 93 565 3131 Mitsubishi Electric Europe B V French Branch 25 Boulevard des Bouvets F 92741 Nanterre Cedex France Tel 33 1 5568 5568 Circuit Breaker Industries Ltd Private Bag 2016 ZA 1600 Isando South Africa Tel 27 11 928 2000 Country Region Sales office Tel China Taiwan Korea Singapore Thailand Indonesia India Australia Mitsubishi Electric Automation China Ltd 4 F Zhi Fu Plazz No 80 Xin Chang Road Shanghai 200003 China Tel 86 21 6120 0808 Setsuyo Enterprise Co Ltd 6F No 105 Wu Kung 3rd Rd Wu Ku Hsiang Taipei Hsine Taiwan Tel 886 2 2299 2499 Mitsubishi Electric Automation Korea Co Ltd 1480 6 Gayang dong Gangseo ku Seoul 157 200 Korea Tel 82 2 3660 9552 Mitsubishi Electric Asia Pte Ltd 307 Alexandra Road 05 01 02 M
17. itsubishi Electric Building Singapore 159943 Tel 65 6470 2480 Mitsubishi Electric Automation Thailand Co Ltd Bang Chan Industrial Estate No 111 Moo 4 Serithai Rd T Kannayao A Kannayao Bangkok 10230 Thailand Tel 66 2 517 1326 P T Autoteknindo Sumber Makmur Muara Karang Selatan Block A Utara No 1 Kav No 11 Kawasan Industri Pergudangan Jakarta Utara 14440 P O Box 5045 Jakarta 11050 Indonesia Tel 62 21 6630833 Messung Systems Pvt Ltd Electronic Sadan NO III Unit No15 M 1 D C Bhosari Pune 411026 India Tel 91 20 2712 3130 Mitsubishi Electric Australia Pty Ltd 348 Victoria Road Rydalmere N S W 2116 Australia Tel 61 2 9684 7777 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
18. ld cause failure malfunction injury or fire Do not drop the module or give it hard impact since its case is made of resin Doing so can damage the module Make sure to switch all phases of the external power supply off before cleaning If you do not switch off the external power supply it will cause failure or malfunction Make sure to switch all phases of the external power supply off before mounting or removing the module If you do not switch off the external power supply it will cause failure or malfunction of the module Before performing a test operation set slow speed for the speed limit parameter value and prepare to stop immediately in case any dangerous conditions occur Do not install remove the terminal block more than 50 times after the first use of the product IEC 61131 2 compliant Before handling the module always touch grounded metal etc to discharge static electricity from the human body Failure to do so can cause the module to fail or malfunction Disposal Precautions A CAUTION When disposing of this product treat it as industrial waste A 4 REE BONOLIGR ARP EN AN
19. nding axis LED display and 8 17 segment LED each time the switch is pressed Reset switch When pressed it initializes input signals remote registers and operation processing Drive unit connectors AX1 AX2 For connection to the drive unit mechanical system input and manual pulse generator 17 segment LED Displays messages indicating the operation status according to the mode RS 422 peripheral connector For connection to peripheral devices Terminal block For connection to the master module Terminal block assignment diagram 1 3 5 7 DA DG 24G 2 4 6A DB SLD FG Maintenance connector for manufacturer This connector is for manufacturer use only Do not open the cover 1 For modules of the hardware version L or later the display part is changed to a LED module The display contents remain the same as the 17 segment LED Before change After change Et 17 segment LED module Example of Example of display IDL display IDL T TH Til WIE de dti 4 LOADING AND INSTALLATION The following is explanations of the handling precautions and installation environment which is common to modules when handling D75P2 from unpacking to installation For the details of loading and installation of the module refer to User s Manual of programmable controller CPU module to be used
20. oint signal Common VO P Pin dia Wiring io External wiring Internal circuit Signal name 7 classification number requirement Deviation bid oe 5 counter CLEAR 4 CR a ev clear O j CLEAR a 23 ESR Common COM I n PULSE r zY Phase A 19 PULSE PULSE COM g 2 CCW den Output i Phase B 20 SIGN PULSE COM 1 PP 30 ey ew ica ape Phase A PULSE 210 PULSE L Ne F o f e 4 Le cow PSE rast Phase B PULSE 22 SIGN R elect open collector output or differential output according to the drive unit used Remarks The following shows the relationship between the pulse output mode selected via the parameter and the pulse output according to positive logic negative logic selection Positive logic Negative logic Forward rotation Reverse rotation Forward rotation Reverse rotation Mode selection hi To construct an absolute position detection system perform wiring as shown below Signal name abbreviation YO When ABS transfer classificatio External wiring Internal circuit When ABS mode OFF 3 i transfer n mode ON 2 Upper level MR H Lower level MR J2 When MR J2 OA
21. poses and or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User Aircraft or Aerospace Medical applications Train equipment transport equipment such as Elevator and Escalator Incineration and Fuel devices Vehicles Manned transportation Equipment for Recreation and Amusement and Safety devices handling of Nuclear or Hazardous Materials or Chemicals Mining and Drilling and or other applications where there is a significant risk of injury to the public or property A 8 Notwithstanding the above restrictions Mitsubishi may in its sole discretion authorize use of the PRODUCT in one or more of the Prohibited Applications provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail safe redundant or other safety features which exceed the general specifications of the PRODUCTs are required For details please contact the Mitsubishi representative in your region A 9 ABOUT THE MANUALS The following product are available for this equipment Refer to the table given below to choose suitable manuals Detailed manual Manual name Manual number Model code es 1B 66824 gt Pi g AJ65BT D75P2 S3 Positioning Module User s Manual 13JL46 Related Manual Manual number Model code Positioning module software package type 1B
22. r personal and system safety Make sure that the end users read this manual and then keep the manual in a safe place for future reference Design Precautions A WARNING Install a safety circuit external to the programmable controller that keeps the entire system safe even when there are problems with the external power supply or the programmable controller main module An accident may occur by a false output or a malfunction 1 Configure interlock circuits such as an emergency stop circuit and high low limits of positioning to prevent damages to the equipment Configure these circuits outside of the programmable controller 2 The zero return action is controlled by two kinds of data the zero return direction and zero return speed Since the system keeps operating without decelerating if a wrong zero return direction is set apply damage prevention measures to the equipment Design Precautions ZA WARNING When data link becomes faulty the operation of communication faulty station vary depending on its data link type Configure an interlock circuit in the sequence program using the communication status information so the safety of the entire system is always maintained Refer to the manual of each data link for how to confirm communication faulty stations and the operation status during a communication error Design Precaution A CAUTION Do not bunch the control wires or communication c
23. t off all phases of the external power supply used by the system before installation or wiring Not doing so can cause the product to be damaged or malfunction Be sure to ground the FG terminal to the class D class 3 or higher grounding Otherwise there will be a danger of malfunctions Use applicable solderless terminals and tighten them with the specified torque If any solderless spade terminal is used it may be disconnected when the terminal screw comes loose resulting in failure When wiring the programmable controller check the rated voltage and terminal layout of the wiring and make sure the wiring is done correctly Connecting a power supply that differs from the rated voltage or wiring it incorrectly may cause fire or failure Be sure to confirm terminal assignments before wiring the module Be sure there are no foreign substances such as sawdust or wiring debris inside the module Such debris could cause fire failure or malfunction Tighten the terminal screws with the specified torque Loose terminal screws may cause a short circuit fire or erroneous operation Tightening the terminal screws too far may cause damage to the screws and or the module resulting in fallout short circuits or malfunction Before beginning any installation or wiring work make sure all phases of the power supply have been obstructed from the outside Failure to completely shut off the power supply phases may cause electric shock and or
24. unit to be used b When a differential driver is used the maximum cable length is 10 m 32 81 ft To extend the distance between the D75P2 and drive unit use a differential driver 2 Wiring for I O signals a Avoid bundling with or installing near the proximity of power wires or main circuit wires b When installing near the proximity of power wires or main circuit wires use separate ducts or piping c If bundling cannot be avoided use a batch shielded cable and ground it on the programmable controller side d When wiring is done via piping be sure to ground the pipe e If the connection cable is long or the main circuit wiring is in the proximity operation error may occur due to noise 6 2 I O Interface O Wiring required A Wiring performed as required Vo r External wiring Fin nternal circuit Signal name Wiring classification number requirement Near point When the high signal limit LS is not High limit LS When the low limit LS is not Low limit LS Stop signal Speed position switch signal External start STRT Common com PULSER Manual A pulser PULSER phase A A PULSER MR HDP01 Manual B pulser phase B PULSER B When MR J2 DA Drive unit ready READY In position signal Common Zero p
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