Home

A173UHCPU/A172SHCPUN/A171SHCPUN Users

1. X EY g MITSUBISHI o POWER O RUNO L CLR RUN ERRORO RESET RESET A173UHCPU INPUT OUTPUT 100 240VAC 5VDC 5A 105VA 50 60Hz ae Ss B s N E ite EMG e e EMG COM E GE E S 4T FRONT SSCNET DiDi l A WARNING B 3 D 2 DEIN UUUUUUUU L PU O G SE 6 3 93 6 3 69 16 7 113 3 4 46 P lt 3 r P J gt 0 25 0 66 Unit mm inch 2 A172SHCPUN Module X p g MITSUBISHI Sop POWER O RUNO L CLR RUN ERRORO RESET RESET A172SHCPUN INPUT OUTPUT 100 240VAC 5VDC 5A 105VA lui L UU 50 60Hz T L 5 EMG e e EMG COM B Ge E aa UM i 4PFRONT SSCNET Bi AA WARNING 1 Ae UUUUUUUU L POLL O Flo e 6 3 93 6 3 69 16 7 113 3 4 46 e gt 3 0 25 0 66 Unit mm inch APP 14 APPENDICES 3 A171SHCPUN Module 93 6 3 69 X MITSUBISHI med POWER O RUNO on RUN ERRORO RESET RESET A171SHCPUN INPUT
2. d 3 95 3 74 x EE 2 lt gt E Ld a CIEN A O A ER ffe Oo o 9 z 3 DATA eo was TEST J E el IIe e Z eso ITEM CLEAR Ki fF Si 7 8 9 SP WRITE DELETE NoRecr OVERRIDE 4 JU sle STORE STEP 1 A 2 B 3 C STEP FUNCTION MDI 9 J keruen org ae JOG JOG e WS 9O O Y lt c i i I E Oo 2 A 5 o o iD QU QU QU XO CO O Unit mm inch APP 22 APPENDICES Appendix 2 6 Connector 1 Honda Tsushin Kogyo make PCR LS20LA1 PCR LS20LA1 13 0 TT 0 51 Ll n f ES m Im SA 142 0 56 1 23 0 1 122 1 SS I 091 0 04 fg 0 04 NS 38 5 Unit mm inch Connector Cae Oo oa s UII PCR LS20LA1 PCR LS20LA1W Insulation displacement tool Se e PCR S20F and PCR LS20LA1W are not options They should be prepared by the user Number of Pins 2 Sumitomo 3M make a Solder connection type Type Connector 10120 3000VE Shell kit 10320 52F0 008 12 0 0 47 10 0 0 39 Position
3. Transformer e CC u H Transformer Transformer VII H D Fuse Fuse 4 1 CPU DC power supply EE rac established signal input L M9006 i power mjt supply M9039 l ircui 1 START STOP circuit in Sr to establish DC input signal M mci No uto FMIN Program A1 c MC A voltage relay is recommended Alarm output lamp or buzzer RA1 switched ON by M9039 Interlock circuits for mutually exclusive operations such as forward reverse and parts Turns output equipment Procedure to start up the power supply which can cause damage to or destruction of machine AC 1 1 Set the CPU to RUN ei 2 Turn on the power supply 3 Turn on the start switch 4 4 Output equipment driven by program when the electromagnetic contactor MC turns on power off when STOP occurs on emergency stop on stop at upper limit AC and DC Set the CPU to RUN Turn on the power supply Turn ON RA2 when DC power supply is established Turn on timer TM when the DC power supply is 10096 established Set TM set value to the time from RA turning ON until the DC power supply is 10096 established The set time should be approximately 0 5 s Turn on the start switch Output equipment driven by program when the electromagnetic contactor MC turns on When a voltage relay is used as RA2 the timer TM in
4. motion program Positioning parameter r Positioning control r Home position return I Servo monitoring 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 e 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 A173UHCPU A172SHCPUN A171SHCPUN Module A171SHCPUN or CPU 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 b
5. where e g logo is indicated 9 33 3 12 7 1 3 0 5 Unit mm inch APP 23 APPENDICES b Threaded type Type Connector 10120 3000VE Shell kit 10320 52A0 008 e These are not options and should be prepared by the user 12 0 0 47 38 2 3 14 0 Q v 9p 4 22 0 0 55 27 4 0 86 TZ 1 08 Ae ale oe x Cx CN y CN EP UT U 33 3 HM 12 7 Nig 1 3 0 5 Unit mm inch c Insulation displacement type Type Connector 10120 6000EL Shell kit 10320 3210 000 6 7 AF 0 26 s Ua Position where e g logo is indicated IL Unit mm inch APP 24 APPENDICES Appendix 2 7 Manual Pulse Generator Specifications 3 6 0 14 3Xstuds M4 X 10 Packing t 2 0 9 PCD72 equi spaced a D gt EL D E z E ee aso es Oj 1 SIE L HJ og co ll EBHI 48 oo m a2 So Sg eve E SIS K Le Y 16 20 27 0295 10 63 0 79 1 06 3x 4 8 0 to 19 dia equi spaced Unit mm inch The figure of processing a disc Specification MR HDP01 25 PLS rev 100 PLS rev after magnigication by 4 in Pulse resolution A172SENC Output method Open collector output outpu
6. e Example of a circuit using the lightening surge absorber o Motion AC i controller I O o equipment E2 Eier le Lightening surge absorber e Example of using the insulating transformer TR o Motion AC B controller I O emm equipment 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 d AC voltage CPU module transformer 9 N Separate the grounding E of the line noise filter and lightening surge absorber from the grounding E2 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 N 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 110VA A1S62PN 110VA CPU module 110VA 2 11 2 DESIGN 100 200VAC 2 3 2 Safety Circuit 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
7. e Example of using the A178B S2 main base when a 16 point module is loaded to each slot Motion slot Main base unit 4 5 67 A178B S2 HEH p Sequencer slot No ZE 012 3 iSiQiVQ ei 00 10 20 30 2 2 2 9 11 1 Ei i SS 8 8 CPU to to to to O10 01 he RR E OF 1F 2F 3F SS SS AER Eh 80 90 A0 BO CO DO EO FO A assignment When empty slots 4 to 7 are set to 0 points SO to to to to to to to to in the I O assignment the I O numbers of slot 8 of the extension base are are 40 to 4F module Power supply 8F 9F AF BF CF DF EF FF A1S68B extension base unit 1 36 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS e Example of using the A178B S3 main base when a 16 point module is loaded to each slot Den amr ier ee rl Y Monta Mo N 4Z 0104 S UJOd 9 QUBLA o 49 01 09 sjulod 9 JULA Sequencer slot No 46 01 0S Sed eh 4i Gi Op Sued Gi eoe co 46 Gi 08 SOA Gi USE ai 42 01 02 Sled 91 eeh idL 0 OF sjulod 9 JULA E 40 0 00 Sjulod 9 jueoeA ex o Oo c 9 o ER H o6 960 S d 2 Q o n M o ix L The I O numbers indicated are those 10 11 12 13 14 15 8 9 m ogo o 2ZES eI a E os cs o e o Me ON BS o 915 E MATH Oe Qowv 20 4292 2 gec o o
8. when load is a CR timer A Leak current Triac output Resistor Example 3 Calculate resistor CR timer constant from load 5 19 5 INSPECTION AND MAINTENANCE 10 Table of Error Codes of SCPU If an error occurs when RUN is executed or during CPU module operation the self diagnosis function displays an error or stores an error code including step number in the special registers Table 5 9 shows the methods for reading the error codes when an error occurs and describes how to check and correct the error Take the corrective action described to eliminate the cause of the error Table 5 9 Table of Error Codes Contents BIN CPU of Special Status Error Description and Cause Corrective Action Register D9008 The CPU could not decode an 1 Read the error step with the instruction code in the program peripheral device and modify the INSTRCT 1 The memory contents have been program at this step CODE ERR changed for some reason and include instruction codes which cannot be decoded The contents of the CPU memory 1 Read the CPU memory parameters has been changed by parameters with the peripheral noise device check and correct the contents and rewrite to memory 1 No END FEND instruction in 1 Write an END instruction at the program end of the program PARAMETER ERROR 1 The jump destination designated 1 Read the error step with the by the CJ SCJ CALL CALLP JMP peripheral device and
9. 4 TRIAL RUN AND ADJUSTMENT This chapter describes the checking items and procedures necessary for trial run and adjustment for those who will perform trial run and adjustment of the motion System 4 1 Checklist before Trial Operation Table 4 1 Checklist before Trial Operation Model Name Check Item 1 Is memory protection switch ON 1 5 1 5 2 Is the memory cassette battery A6BAT lead connector fully inserted into the PCB pin connector 3 Is the battery voltage normal Nominal value 3 6 V CPU module 4 Are the supply voltage and power supply module rated voltage correct 5 Are FG and LG wired correctly 6 Are terminal screws correctly tightened 3 5 1 6 7 Are cable sizes correct A172SENC manual 1j Is the module mounted in the correct position option slot 1 5 4 3 a 5 4 3 pulse generator synchronous encoder S 1 b interface module 2 Is the interface with external equipment correct 1 5 4 3 c Main base unit Extension base power B pplymegile 1 Do cables connected to each terminal of the terminal block match the signal names 1 0 module 2 Are terminal screws correctly tightened 3 Are cable sizes correct 4 Is the external power supply correctly connected 24 VDC 5 VDC 1 Are the setting switches correctly set 2 Do cables connected to each terminal of the terminal block match the signal A1SCPU User s Manual Special function names mo
10. Without Japanese SW3RNC GSV From OOF on n restriction SW3RN SW3RN Without Without SV22A SV22C English SW3RNC GSVE Me n restriction restriction For machine SW2SRX SWOSRX SWOSRX tool peripheral IBM PC AT DOS Japanese SW2SRX GSV43P From OOT on 00J or later No SV43 SV43A SV43C SV43F For dedicated IBM PC AT DOS Japanese SW2SRX GSV51P OOE or later robot SV51 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 4 General Specifications Table 1 1 Generation Specifications Specification Operating ambient 0 to 55 C temperature Storage ambient 20 to 75 C temperature Operating ambient M 10 to 9096 RH no condensation humidity Storage ambient f 10 to 90 RH no condensation humidity Amplitude Number of Sweeps Conforms to JIS C 0 075mm Vibration resistance 10 to 55Hz 10 11 Ge S 0 003 in 1 octave minute 55 to 150Hz Conforms to JIS C 0912 98m s 109 3 directions 3 times 1 Noise voltage 1500Vpp noise amplitude 1s noise frequency 25 to 60 Hz with a noise simulator 2 Noise voltage IEC801 4 2 kV 2830VAC rms 3 cycles across all inputs LG and all outputs FG altitude 2000m 6557 38ft Class 3 grounding Connect to enclosure when grounding is impossible Noise resistance Operating environment No corrosive gas low dust Cooling method Natural cooling REMARKS 1 An octave refers to an increase or decrease in frequency by a factor of two For exam
11. below CPU module Other CPU module ormer equipment equipment Class 3 grounding Class 3 grounding Other CPU module equipment 1 Separate ground connections 2 Common ground connection 3 Common ground connection dedo uet ehe optimum seen ACCOPtable eee NOt permitted c Grounding cables to be 2 mm min Grounding point to be as close as possible to the A173UHCPU A172SHCPUN A171SHCPUN and the distance to the grounding point as short as possible 6 Module terminal block wiring screws Tighten the wiring screws of the module terminal block within the following range Tightening Torque Range N e cm Terminal block and terminal screws M3 5 screws 99 19 88 N Connect input and output wires along different routes N Leave at least 200 mm 7 87 in clearance between I O wires and high voltage high current main circuit cables A If the I O wires cannot be kept separate from the main circuit or power cables use shielded cable for all of them and ground the shield at the CPU module end However if appropriate ground the other end of the shield CPU module Shield cable FaN ZW Keep 24 VDC I O wires separate from 100 VAC and 200 VAC wires The leakage current over long distance wiring connections exceeding 200 m 656 17 ft can lead to problems See Section 5 4 2 9 for appropriate countermeasures Ground resistance to be 1002 max class 3 grounding Do not share a common ground with othe
12. 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 Wsv IsvX5 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 Waav av X24 W 2 DESIGN 4 Average power consumption from voltage drop in output circuits of the output modules power consumption of simultaneously ON points Wout lourXVdrop XNo output points XSimultaneously ON ratio W Jour lout is the output current actual operation current A 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 Win IiNXEXNO input points XSimultaneously ON ratio W lin lin is the input current effective value for AC A E E is the input voltage actual operation voltage V 6 Power consumption of special function module power supply circuits Ws 5v X5 I24V X24 X 100v X100 W The total power consumption of each block described above is the power consumption of the entire PC system W WPW W5v W24v WOUT WIN WS W Use the overall calculated power consumption W to calculate the heat generation and temperature ris
13. e Ir IMITSUBISHI ELECTRIC CORPORATION i v ue sw 305 12 02 325 12 81 R DL 1 D nri I iL Unit mm inch APP 17 APPENDICES 3 A178B 81 82 S3 main base unit 4 Xmounting screws M5x 25 A A A A171S B02 MADE IN JAPAN d A el d d A TEL IU M id fir 110 4 33 130 5 12 MITSUBISHI ELECTRIC CORPORATION 1 mm EA Ed 94 4 410 16 15 164 S 430 16 94 L fei Lil Li ie EK ups af RES KEE EENG 85 ci I Unit mm inch APP 18 APPENDICES Appendix 2 4 Extension Base Units 1 A1S65B extension base unit 4X mounting screws M5 x25 A 130 5 12 Dn Div um Us MITSUBISHI ELECTRIC CORPORATION u u TL I 295 11 61 315 12 4 k a u i 0 UNE Unit mm inch 4 gt mounting screws M5 x25 A a bm SSES Wu A 9 0s DA Wide Wiel Dir SS MITSUBISHI ELECTRIC CORPORATION BOB26EB80652 C T I l WADE IN JAPAN ESSO ee LG I 1 m mz k 400 15 75 gt p 420 16 54 APP 19 APPENDICES 3 A168B extension
14. for the servo amplifier s you are using e MITSUBISHI AC Servo MR H BN Instruction Manual e MITSUBISHI AC Servo MR J2S B Instruction Manual e MITSUBISHI AC Servo MR J2 B Instruction Manual 1 Bagic troubleshooting flow charts The flowcharts below are classified according to symptoms Problem occurs POWER indicator not lit Lit Not lit Go to Section 5 4 1 2 Flowchart when POWER Indicator is Not Lit m Not lit Go to Section 5 4 1 3 RUN indicator not lit Flowchart when RUN Indicator is Not Lit Lit Flash E Flash Go to Section 5 4 1 4 RUN indicator flashes Flowchart when RUN Indicator is Flashing Lit ERROR indicator lit Lit Go to Section 5 4 1 5 Flowchart when ERROR Indicator is Lit Flash Not lit Flash Go to Section 5 4 1 6 ees Flowchart when ERROR Indicator is Flashing Not lit Go to Section 5 4 1 7 9 UO module malfunctions Flowchart when Output Module Load Does Not Turn On and Possible Problems with I O Modules Normal Abnormal Go to Section 5 4 1 8 Cannabis program Flowchart when Program Cannot Be Written 5 INSPECTION AND MAINTENANCE 2 Flowchart when POWER indicator is not lit Follow the flowchart below if the POWER indicator does not light when the power is turned on or goes out during operation C POWER indicator not lit b NO Is power supplied Supp
15. standards apply such as robot systems all controllers servo amplifiers and servomotors must meet the prescribed safety standads N Configure safety circuits extemal to the controller or servo amplifiers if their abnomal operation could cause axis motion in a direction other than the safe operating direction for the system Detected error description and servo amplifier axis number displayed on initial check screen Compare the set servomotor and servo amplifier model names with the displayed model names Release brake on motor with brake e f an error occurs reset the emergency stop in a status where an emergency stop can be applied 4 TRIAL RUN AND ADJUSTMENT i A Test ModeeJOG Operation CAUTION and Manual Pulse Generator AN Design system with sufficient mechanical Check machine movements allowance for a safe stop if an axis passes 1 Check the following machine movements the stroke limit switch at maximum speed using JOG operation from a peripheral device or manual pulse generator operation a Machine moves normally no vibrations hunting etc b Stroke limits operate correctly c Emergency stop stops machine movements Test ModeeHome Position Return Check home position return 1 Conduct home position return and check the following a Direction of home position return b Home position return data c Near zero point dog position Programming
16. 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 Module connector 1 31 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS d Extension base unit A168B sie Neo Hei A Application 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 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 Module connector 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 X 12 Base mounting hole Slots for mounting the base unit onto the control board panel for M5 screws Hook h to the DIN rail a Joi EEN ooks to attach to the DIN rai Extension cable connector Unit fixing screw 1 Install the supplied b
17. 22 6 pair B A14B2343 6P 10t030 A14B0238 7P 2 UL 20276 AWG 28 4 pair B MR JHSCBL 10 to 30 UL20276 AWG 22 6 pair B 25 A14823394P MR JHSCBL 10t030 A14B2343 6P 25 A14823394P MR ENCBL 101030 A14B2343 6P A CAUTION N When fabricating the encoder cable make correct connection Wrong connection will cause runaway explosion APP 5 APPENDICES Characteristics of One Core Core Size Insulati Finish OD Wire Model Numberef ores Structure conducir nsulating a mm Number of resistance sheath OD mm wires mm 2 km d mm UL20276 AWG 22 6 pairs BLAC 0 3 12 6 pairs 12 0 18 1 dis as shown below d or Insulation sheath Conductor 2 Supplier Toa Electric Industry 8 Standard OD Max OD is about 10 greater APP 6 APPENDICES 2 Servo amplifier connector MR HSCBL M Long flexing life product a Explanation of type Type MR HSCBL M Cable Length m 2 2 5 5 10 10 20 20 30 30 b Connection diagram When fabricating a cable use the recommended wire and encoder cable fabricating connector set given on Appendix 1 2 1 and make the cable as shown in the following connection diagram This connection allows you to fabricate an up to 30m length of cable including the encoder cable supplied to t
18. 3 normal OFF on SU SCR ERN occurrence of alarm 2 l e 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 Servo alarm M9074 Error detection M9036 ee eeng 3 3 Itis 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 Circuit example when using MR H BN eege 3 R MR H BN U vi T W Ra3 4 Ground Electro S E imagneticS i X COM brake dc EM Eu s D Circuit example when using MR J2S B MR J2 B EE 4 L1 MR J2S B U T n L2 MR J2 B y Ja t L3 w Ra4 i 3 L11 Ground Electro imagnetic 1 Ge di brake Le DE EM 5 i sa 24 VDC 2 DESIGN 2 Example of system circuit configuration compatible with A31TU E type teaching unit 3 phase 200 220VAC CO Oy A173UHCPU A172SENC Js SE A172SHCPUN A171SHCP
19. 98 36 ft Note that the cable should be run in the shortest possible distance to avoid induced noise N 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 N Use extreme care when wiring the cables Wrong wiring can damage the internal circuitry Details of encoder cable connections MR 4 C MR 4 C MRR 3 D MRR 3 D P5 7 S P5 7 S SG 1 R SG 1 R P5 8 P5 8 SG 2 SG 2 P5 16 SG 17 BAT 14 F BAT 14 F SG 15 G SG 15 G SD 20 N SD 20 N PCR S20FS MS3106B20 29S PCR S20FS MS3106B20 29S connector connector connector connector SY ENC end synchronous SY ENC end synchronous encoder end encoder end 4 4 MR HSCBL2M MR HSCBL5M MR HSCBL10M to MR HSCBL30M 2m 6 56ft 10m 32 79ft 10m to 30m 98 36ft Model name for encoder connector set MR JSCNS 2 1 Encoder cables are the same as HA UH KHC 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 K HC SF RF UF 2000r min series motor 1 45 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS e Interface between SY ENC connector and external equipment Pin PinNo Bin i Signal Name SY ENC Wiring Example Internal Circuit Specification Description P Con
20. 98 4 ft Differential driver receiver conforming to RS422A Transmission distance 30 m 98 4 ft max APP 26 A MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 TELEX J 24532 CABLE MELCO TOKYO NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASHI KU NAGOYA J APAN IB NA 67395 C 0009 MEE Printed in J apan Specifications subject to change without notice
21. 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 Emergency stop ene oTo 3 3 24VDC EMG COM e 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 UO 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 UO 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 e
22. Backup for absolute position detection connector For connection of CPU module and MR J2S B MR J2 B for connection of MR H MR J2HBUS MA BN and MR J2S B MR J2 B SSCNET cable 0 5 m 1 64 ft 1 m 3 28ft 5 m 16 4 ft CH 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 Equipment MR JHSCBL Standard For connection of HC SFS RFS UFS 2000r min series motor and common to M cable MR J2S B and for connection of HC SF RF UF 2000r min series L MR J2S B MR JHSCBL Mu tond flexi motor and MR J2 B and ong 9 2m 6 56 ft 5 m 16 4 ft 10 m 32 8 ft 20 m 65 6 ft MR ENCBL__ M H_ life cable L H MR J2 B Encoder cable 30 m 98 4 ft series Standard For connection of HC MFS KFS UFS 3000r min series motor and cable MR J2S B and for connection of HC MF UF 3000r min HA FF Cena floxin series motor and MR J2 B ij 9 i 9 2 m 6 56 ft 5 m 16 4 ft 10 m 32 8 ft 20 m 65 6 ft POH 30m 98 4 ft MR J2CNS For HC SF RF UF 2000r min HC SFS RFS UFS 2000r min series motors Encoder MR ENCNS Amplifier side connector and encoder side connector set connector set MR J2CNM For HC MF UF 3000r min HA FF HC MFS KFS UFS 3000r min series motors Amplifier side connector and encoder side connector set MR JCCBL M MR JCCBL M 1 5kW and 7kW are scheduled for release 2 Long distance cable or cable without connector
23. CBL 17 LI TE CBL 17 45V 12 ij ij ij 45V 12 45V 13 5V 13 SG 7 SG 7 5V 24 TEES ERI 45V 24 45V 25 45V 25 SG 8 r SG 8 SG 20 e SG 20 AB 21 TET El AB 21 FG 1 ij j j FG 1 GE HS EMG 22 O Red Red O EMG1 22 EMGL 9 O White White O EMG2 9 Red O DED1 6 Case White O DED2 14 CPU module side A31TU E side Connector Connector 17JE 23250 02 D8A DB 25SF N Manufactured by DDK APP 12 Manufactured by JAE APPENDICES 2 A31SHORTCON short circuit connector a A31SHORTCON appearance q e A31SHORTCON e qd b A31SHORTCON internal wiring Signal name Pin No BA 3 BAL 16 CA 5 CAL 18 BB 2 BBL 15 CB 4 CBL 17 45V 12 45V 13 SG 7 5V 24 5V 25 SG 8 SG 20 AB 21 FG 1 EMG1 22 EMG2 9 DED1 6 DED2 14 Connector 17JE 23250 02 D8A Manufactured by JAE APP 13 APPENDICES Appendix 2 Outside Dimensions Appendix 2 1 CPU Modules 1 A173UHCPU Module
24. DATA roe Woo TEST vila tle ll ISO INSTRUCTION ITEM CLEAR ES g 9 WRITE DELETE INDIRECT OVERRIDE D E F 4 5 6 1 A eu a No Name Application 4 line X 16 character LCD display 1 Display With back lighted auto light off len With contrast adjusting knob Operation key switches of the teaching box It is also possible to set the buzzer so that it does not sound for key input Turns on the switch to enable servo operation turns off the switch to shut off the servo 7 Deadman switch power 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 A30TU E A31TU E Dead man switch Without With With signal on semiconductor Emergency stop level With signal on relay level Directly unconnectable Via A31TUCBLOSM Connection with CPU Directly connectable External circuit required In direct connection CPU module
25. Doing so can cause burst damage or the like N 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 possible 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 5b 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 N The storage conditions are listed in the table below Ambient temperature 0 Cto 55 C Ambient humidity 10 to 90 RH Atmosphere No condensation resulting from sudden temperature changes No corrosive or inflammable gas 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 moun
26. Duty ratio 50 Rise fall time pulse generator phase A Manual LOW level pulse 1 VDC max 5 mA generator phase B B Phase difference bascule s Phaseg LUI L 2 5us min Input 1 Positioning address increases if SG VAN Phase A leads Phase B Positioning address decreases if Phase B leads Phase A Connection examples Connection of voltage output manual pulse generator Connection of differential output manual pulse generator A172SENC A172SENC Manual pulse Manual pulse Signal name generator side Signal name generator side HA1 A HA2P A HA2 B HAN A SG OV HB2P B SG we Sey HB2N B 2 1 e SG ee SG OV bess Pad P5 P5 ra 5V 2 1 d SG ae HPSEL N 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 A 2 Total connector cable length not to exceed 30 m 98 4 ft 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 M
27. Encoder side Servo amplifier side Encoder side 10120 3000VE MS3106B20 298 10120 3000VE MS3106B20 29S 10120 3000VE MS3106B20 29S connector plug connector plug connector plug 10320 52F0 008 MS3057 12A 10320 52F0 008 MS3057 12A 10320 52F0 008 MS3057 12A shell kit cable clump shell kit cable clump shell kit cable clump N SE EE DH et N H P5 19 i sS P5 19 P5 19 ns LG mi L d LG LG t g P5 20 L E P5 20 P5 20 g LG 12 HH LR LG 12 LG 12 MR 7 Je Llc P5 18 P5 18 MRR 17 H HD LG Ia LG Is P5 58 Ji p ia 2 i 3 ES HR BAT 9 31 F MR 7 MR 7 C LG 1 r i mee 6 MRR 17 MRR 17 D E Cd i See Seid i SD Plate ZE N BAT 9 BAT 9 HF La 1 LG 1 1G AWG24 used i for less than 10m i 1 AWG28 can be used for 5m or less SD Plate SD Plate CN AWG22 used AWG22 used for 10m to 30m for 10m to 30m APP 9 APPENDICES 5 MR ENCBL Type MR ENCBL M H Long flexing life product a Explanation of type Long flexing life Cable Length m 2 2 5 5 10 10 20 20 30 30 b Connection diagram When fabricating a cable use the recommended wire and encoder cable fabricating connector set given on Appendix 1 2 1 and make the cable as shown in the following connection diagram This connection allows you to fabricate an up to 30m length of cable including the encoder cable supplied to the servo motor Servo ampl
28. Mode Check motion program and sequence programs Set the CPU module RUN STOP key is set to RUN and check that all positioning control by motion programs is correct Monitor Mode Automatic operation check Run sequence programs using external inputs and check that all movements are correct Monitor Mode e Axis Monitor Peak torque check Check that the torque during acceleration and deceleration does not exceed the maximum torque Monitor Mode e Axis Monitor Effective torque check Check that the continuous operation load torque is equal to the rated torque Cm 4 TRIAL RUN AND ADJUSTMENT 4 3 Operating System Installation Procedure In the CPU module the operating system hereafter abbreviated to the OS can be changed using the peripheral device and software package This OS change is called installation Start installation Open the cover at the front of the CPU and turn ON the install switch Refer to Section 1 5 1 4 for the information on the install switch The RUN STOP key switch is ignored eee eo o Refer to Section 2 4 2 and 2 4 3 for the module mounting procedure Turn ON the CPU power supply e Refer to the operating manual for the Install according to software package e eee software package used at the peripheral instructions device Turn OFF the CPU power supply Turn OFF the in
29. P5 shel P5 LG P5 LG P5 LG MR MRR MD MDR BAT LG SD 6 MR JCCBL a Explanation of type Type MR JCCBLUIM M L MR JCCBL_ M H Symbol Specifications Symbol Cable Length m L Standard flexing life 2 2 H Long flexing life 5 5 10 10 20 20 30 30 b Connection diagram When fabricating a cable use the recommended wire and encoder cable fabricating connector set given on Appendix 1 2 1 and make the cable as shown in the following connection diagram This connection allows you to fabricate an up to 30m length of cable including the encoder cable supplied to the servo motor Servo amplifier Encoder cable F 74 Optional or fabricated MR HCNS2 Encoder connector CN2 50m max Encoder cable supplied to servo motor Servo motor Encoder connector 172161 9 AMP make MR JCCBL2M L MR JCCBL5M L MR JCCBL2M H MR JCCBL2M H Servo amplifier side 10120 3000VE connector 10320 52F0 008 kit 19 11 20 12 18 2 Encoder side 1 172161 9 plug 170359 1 connector pin 7 Plate oor YOY MR JCCBL10M L to MR JCCBL30M L MR JCCBL10M H to MR JCCBL30M H Servo amplifier side Encoder side Servo amplifier side Encoder side 10120 3000VE 1 172161 9
30. SFC 26 Sequence instructions 22 J 26 EE Special instructions 204 106 Processing speed us Direct method 0 25 to 1 9 us step sequence instructions Refresh method 0 15 us step 0 25 us step No of I O points 8192 points X YO to 1FF 2048 points X YO to X Y7FF No of real I O points 2048 points X YO to 7FF 1024 See Yoto 512 points X YO to X Y1FF Watchdog timer WDT 200 ms fixed 10 to 2000 ms 192k bytes Standard Equivalent to A3NMCA 24 SAMC 192k bytes 64k bytes 768k bytes Equivalent to A3AMCA 96 Main sequence program Max 30 k steps Max 14k steps Program capacity Sub sequence program Max 30k steps Micro computer program Max 58k bytes Max 26k bytes 7144 points MO to M999 M2048 to M8191 1000 points MO to M999 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 BO to B1FFF 1024 points BO to B3FF Points 256 points Memory capacity internal RAM No of internal relays M 3 Lk Timeseting Device Timers T SS Beete Set with parameters 256 points x4 ee el Setting range Counters C Device 1 to 32767 CO to C255 Specifications Interrupt program counter 1 to 32767 0224 to coe No initial value No of data registers D 8192 points DO to D8191 1024 points DO to D1024 No of link registers W 8192 points WO to W1FFF 1024 po
31. and adjust the setting to avoid a servo side error N For details of the electromagnetic brake circuit and amplifier periphery refer to the manual of the servo amplifier used N 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 N 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
32. 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 computer Line noise filter Motion controller an Ferrite cores SSCNET Servo amplifier 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 controlle
33. base unit 4X mounting screws M5 xX 25 Em It 110 4 33 130 5 12 ks EE CORPORATION MADE IN JAPAN ESO Win W 1 002 Was DA s5 EEN 400 15 75 16 4 420 16 54 0 65 sl E sl Fe Unit mm inch APP 20 APPENDICES Appendix 2 5 Teaching Unit 1 ASOTU E teaching unit JC N R eu E Invalid Valid ger MITSUBISHI A30TU E 8 DATA PROGRAM MONITOR TEST 2 z A NM e STOP L S oo DD INSTRUCTION ITEM CLEAR CN 7 S 8 9 SP N SS GE AAT DELETE INDIRECT OVERRIDE 4 5 ll 6 STORE STEE 2539 STEP FUNCTION MDI US V RETURN SHIFT ERROR RESET CAN AXIS GO NO JOG JOG Kg A A DN S T S Se al N N d EE 95 3 74 5000 197 Unit mm inch APP 21 APPENDICES 2 A31TU E Teaching Unit
34. correct instruction does not exist or is the program insert jump duplicated destination eliminate duplicate RET instruction exists in program jump destinations etc but no CALL instruction The jump destination of a CJ SCJ CALL CALLP JMP instruction is after the END instruction CAN T The number of FOR instructions EXECUTE P does not match the number of NEXT instructions A JMP instruction between a FOR and NEXT instruction jumps out of the FOR NEXT loop A JMP instruction before the RET instruction jumps out of the sub routine A JMP instruction destination is a step between a FOR and NEXT instruction or into a sub routine 5 INSPECTION AND MAINTENANCE Table 5 9 Table of Error Codes cont Contents BIN CPU of Special es Error Description and Cause Corrective Action Register D9008 1 A CHK instruction ladder block 1 Check the CHK instruction contains an instruction including ladder block for items 1 to 7 NOP other than LDX LDIX in the column to the left Correct ANDX ANIX problems with the peripheral Multiple CHK instruction exist device and start operation again More than 150 contacts exist ina 2 This error message is valid for CHK instruction ladder block direct I O control only The X device number in a CHK instruction ladder block exceeds X7FE No ladder block exists before the CHK instruction ladder block HHen H The CHK D1 D2 instruction D1 device number does not ma
35. from Ok to 64k bytes ON Memory protect ON OFF Memory protect OFF SWA402 2 is invalid for A171SHCPUN Memory allocation varies depending on the PC memory capacity setting SW402 For A173UHCPU ON OFF SCPU built in RAM memory protect range setting A st lt More than 144k bytes Less than a range from 64k to 144k bytes zl A Less than a range from 32k to 64k bytes C M Less than a range from Ok to 32k bytes ON Memory protect ON OFF Memory protect OFF Memory allocation varies depending on the PC memory capacity setting 1 19 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS N 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 Turn off the power supply before setting the install switch After using this switch check the switch status before turning on the power supply The switch settings shipped from the factory are as shown above The switch settings are indicated by a mark Bil Whenever the switch settings are changed be sure to reset the key of the CPU once or turn on the power again Turn off the power before setting the I O control changeover switch After using this switch check the switch status before turning on the power supply A BIN value corresponding to the selected I O control method is input in special function register D9014 and can b
36. home position return operation using one of the following methods otherwise position displacement could occur 1 After writing the servo data to the PC using peripheral device software switch on the power again then perform a home position return operation 2 Using the backup function of the peripheral device software load the data backed up before replacement N After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct Do not short circuit charge overheat incinerate or disassemble the batteries N The electrolytic capacitor will generate gas during a fault so do not place your face near the control unit or servo amplifier N The electrolytic capacitor and fan will deteriorate Periodically change these to prevent secondary damage from faults Replacements can be made by our sales representative 9 Disposal N Dispose of this unit as general industrial waste N Do not disassemble the control unit servo amplifier or servomotor parts N Dispose of the battery according to local laws and regulations 10 General cautions N All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual VIII Rev
37. mode from peripheral Monitored signal OFF device Check load power supply wiring Reset power supply Check load wiring and load Reset Supply voltage value is provided v Change relay numbers Keep current within max current for simultaneous loads on Measure voltage between module input and COM terminals Check external wiring and external equipment Contact your nearest Mitsubishi representative with details If the input signal or load does not turn off refer to Section 5 4 1 9 Possible Problems with I O Modules 5 15 5 INSPECTION AND MAINTENANCE 8 Flowchart when program cannot be written The following flowchart assumes that a program or other data cannot be written to the CPU when an attempt was made to write it C Program cannot be written Set RUN STOP switch to STOP RUN STOP switch set to Can program be written Reset the CPU Can program be written Is M PRO switch set to OFF Set M PRO switch to OFF Can program be written Contact your nearest Mitsubishi representative with details C End 5 16 5 INSPECTION AND MAINTENANCE 9 Possible Problems with I O Modules This section describes possible problems with input and output circuits and what to do about them
38. o OC E E og oO oc a oO 8 2 E o o moie S e om 2 D D oC 0 TETOS SG Z eo LL GC H Le o LL o 8 oi o LL a 2 a o LL OC 9 6 o LL a H o o A LL lt lt o LL o 2 O o LL eo 2 eo e npoui Kjddns je og A1S68B extension base unit 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 Motion control signals 32 points 8 points each for upper stroke limit lower stroke limit STOP input near No of inputs zero point DOG speed position changeover signal Tracking enable signal 1 point Total 33 points Rated input voltage 12 24VDC Motion control Rated input current 12VDC 2mA 24VDC 4mA tracking input range ON OFF 3 ms max Tracking input OFF ON 0 5 ms max response time ON OFF 0 5 ms max No of outputs Rated load voltage 24 VDC Operating load 21 6 to 30 VDC peak voltage 30 VDC voltage range Brake output Maximum load 0 1 A max rush current 0 4A 10 ms max current Response time PNE d p ON gt OFF 2 ms max No of modules H voltage 3 0 to 5 25 V Manual pulse L voltage Oto 1 0 V generator input or Maximum input incremental 100 kpps max frequency syn
39. of a single power supply module is insufficient supply power from an external 24 VDC power supply CPU module yo module 24VDC CPU module gt 24VDC O External power supply O 24VDC Power supply module 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 max 4 Wiring the I O equipment a Wires between 0 75 mm and 1 5 mm can be connected to the terminal block but 0 75 mm wires are recommended b If wires pass through a conduit the conduit must be grounded Do not connect 24 VDC outputs from multiple power supply modules in parallel to supply a single UO module This can damage or destroy the power supply modules N Do not position the 100 VAC 200 VAC or 24 VDC cables close to or bundle them with power circuit 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 MOUNTING AND WIRING c Keep 24 VDC I O wires separatlf wires from 100 VAC and 200 VAC wires 5 Grounding Connect the ground wiring as described in steps a to c below a Use a separate ground if possible Ground resistance 100 or less class 3 grounding b If a separate ground is not possible connect to ground as shown in 2
40. 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 16 DIP switch 402 protection See Section 1 5 1 5 for details about the switch settings Battery connector A connector for connecting the battery unit Motion network connector SSCNET1 to 2 A172SHCPUN A171SHCPUN SSCNET1 to 4 A173UHCPU 14 Batey Connectors to HR H BN MR J2S B MR J2 B 1 17 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS ol Name Applcaios Personal computer link SSC connector SSCNET2 A172SHCPUN 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 MITSUBISHI sw 8 O NT il ON OFF A170SHCPUN Operation mode setting o sw1 SW402 i ON Installation OFF Ordinary operation Not used eave For A172SHCPUN A171SHCPUN ON OFF L WW Not used oll Ir vu VO control method setting LM ON Direct method for inputs and outputs T E OFF Refresh method for inputs and outputs LT a Less than a range from 64k to 256k bytes Less than a range
41. seen from the CTRL connector front of the A172SENC 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 SignalName PINNo Signal Name A1 BRKCOM External input e e e com External input signal name Vacant Vacant signal name Signal No Ze n e a cra Signal No DOG CHANGE E PXIF EN HN NNI DOG CHANGE STOP STOP i m a T RBS RLS FLS Bos CLE 09 POR 8 PXB DOG CHANGE 1 SCH STOP g RLS FLS Bod AE DOG CHANGE SE STOP RLS FLS TOUS DOG CHANGE e ied STOP 7 RLS RLS FLS FLS Applicable connector model name FCN 361J040 AU connector manufactured by i Standard FCN 360C040 B connector cover accessories DOG CHANGE STOP RLS FLS functions of each axis 1 to 8 Near zero point dog speed position change signal For signal details refer to the programming manual Stop signal Lower stroke limit Upper stroke limit 1 47 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS e Interface between CTRL connector and servo external signal Input or Pin EO M RT GN Signal Name Wiring Example Internal Circuit Specification Description Output CTRL Connector EE i e Supply voltage 12 to 24 VDC 10 2 to 26 4 VDC stabilized power PX0 PX4 PX8 PXC Upper stroke PX10 PX14 PX18 PX1C limit input PX1 PX5 PX9 PXD Lower stroke limit input suppl
42. 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 1 51 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS c Connection of ASOTU E and CPU module MITSUBISHI Em RUNO Los RUN ERRORO RESET RESET POWER O CO 3 Applicable teaching unit version Teaching unit version applicable to CPU module is as follows Model Name Applicable Version AG0TU E A31TU E 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 j D DATE OO MITSUBISHI ELECTRIC CORPORATION 5 A31TU E rated name plate MITSUBISHI TEACHING UNIT MODEL A31TU E DATE B O III wa MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN BC370D070H02 ES 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 3 1 2 x 30m 98 Se6ft 1 2 U IN OUT IN OUT Servo amplifier S
43. the cause of the error po Check the equipment where the error occurred Check from the error code y Check by monitoring from a peripheral device 1 Checking the equipment where the error occurred Visually determine the cause of the error from the indicators on the front of the module from the operating status of the equipment etc a Machine motion stop status operating status b Whether power is on or off Status of I O equipment d e Display states of various indicators e g POWER LED RUN LED ERROR LED I O LED f Setting states of various setting switches e g extension base power failure compensation Wiring status I O wires cables b c d e After checking a to f connect the peripheral device and check the CPU module s operating status and program data 2 Checking the error codes Determine the cause of the error by monitoring the error codes stored when the error occurred The error code storage devices are listed below Refer to the appropriate operating system programming manual for descriptions of the error codes a Error codes during sequence control Refer to Section 5 4 1 10 Table of Error Codes for descriptions of the error codes D9008 b Error codes during motion control For error storage devices in motion control refer to the programming manual of the corresponding OS 5 INSPECTION AND MAINTENANCE 8 Checking by monitoring fro
44. the diagram below On delay timer Internal program M9032 lt Yoo External load L vot LI 0 5s 0 5s CPU module Output module N 1 Use a non contact output module for YOO as it turns ON OFF at 0 5 s intervals A transistor is shown in the example above Using a contact module for YOO 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 0mm max UO equipment 0 75mm 0 75 to 1 5mm usable Ground wire 2 0mm or more b Twist the 100VAC 200VAC and 24VDC wires as closely as possible and run them to connect modules in the shortest distance c Instructions for using the 24VDC output of the A1S62PN power supply 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 CPU module 24VDC External power supply N A lt el 9 Power supply module Do not connect the 24VDC outputs of two or more power supply modules in parallel to supply power to one I O module
45. transistor overheating of the regenera tive resistor or even fire may result ER To prevent fires take flameproofing measu res inside the control box where the servo amplifier and regenerative resistor are located and use non flammable wiring 4 TRIAL RUN AND ADJUSTMENT Install Mode Install operating system Install the positioning OS into the CPU module from the peripheral device N CAUTION AN Do not connect a phase advancer capacitor surge absorber or radio noise filter FR BIF option to the servo amplifier output N Ensure output teminals U V W are correctly connected Abnomal servomotor operation may result if the teminals are incorrctly connected See Section 4 3 N CAUTION Data Setting Mode Set parameter values to match the controllers servo amplifiers servomotors Set positioning parameters 1 Set the following positioning parameters from the peripheral device a Fixed parameters b Servo parameters c Home position return data d Limit switches e Control data A SS SS Monitor Mode and regenerative resistor models used Protective functions may not operate correctly if the parameters are set incorrectly lt WARNING Even if the power is tumed off do not open the front casing or terminal covers except to connect wiring or conduct scheduled inspections Charged components in the controller or se
46. trap cables This can cause electric shocks Do not touch controller servo amplifier or servomotor terminal blocks while power is turned on This can cause electric shocks Do not touch the controller or servo amplifier internal power supply internal ground or signal wires This can cause electric shocks The machine may make unpredicted movements after a servo amplifier or servomotor is turned on Top prevent accidents check the operation of each individual motor Start up servos according to the servo start up procedure described below The servo amplifier cooling fins regenerative resistor and servomotors become hot during operation and can remain hot for some time after 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 4 TRIAL RUN AND ADJUSTMENT 4 2 Trial Run and Adjustment Procedure ws 1 Make note of motor model names before the motor is installed on a machine The motor name plate may not be visible after the motor is installed The machine may make unpredictable movements after a servo amplifier or servomotor is first turned on To prevent accidents check the operation of each individual motor 2 servo start up procedure Trun CPU module Power Off Make sure that
47. 00 shell kit N LG LG RD RD TD TD LG LG EMG EMG BAT SD APP 4 APPENDICES Appendix 1 2 Encoder Cables Generally use the encoder cables of our options If the length you need is not found in our options fabricate the cable on the customer side 1 Selection The following table indicates the encoder cables used with the servo motors Make selection according to your operating conditions Connector sets are also available for your fabrication Encoder Cable Connector Set Servo Motor Type Protective Protective MR J2 Super Type Type MR H compatible MR J2 compatible p structure structure compatible MR HSCBL IP20 MR JSCNS IP20 HA LH HC SF MR EN1CBL M IP65 MR EN1CNS IP65 HERE Ema 2000r min MR JHSCBL IP20 MR J2CNS P HC SF HC SFS HC RF HC RFS MR ENCBL M IP65 IP67 MR ENCNS IP65 IP67 HC UF 2000r min HC UFS 2000r min HC MF MR HCNM HA FF MR JCCBL M L H IP20 IP20 HC UF 3000r min HC MF HC MFS MR J2CNM HA FF HA KFS HC UF 3000r min HC UFS 3000r min 1 For use of any of the above cables with the MR H the MR HCN2 conversion connector is required Use the following or equivalent twisted pair cables as the encoder cables Length m Cable Type 25 A14823394P MR HSCBL 101030 A14B2343 6P 2 5 A14823394P MR EN1CBL M 101030 A14B2343 6P UL20276 AWG 28 7 pair B MR JCCBL 20 30 UL20276 AWG
48. 096 RH environment humidity temperature and Measure corrosive gases ao AR humidity inside the Atmosphere No corrosive gases enclosure TED voltage across 100 85 VAC to 264 VAC Change power zeen voltage VAC 200 VAC terminals supply Move units and check Firmly installed Tighten screws Installation Dirt foreign g Visual No dirt or foreign matter Clean matter Loose terminal Tighten loose screws screws Connections Spacing between solderless terminals Ee Tighten connector Visual Connectors fully tightened NI Screws Replace battery if i life is exceeded In monitor mode check from even if no voltage Battery peripheral device that M9006 Preventative maintenance dro aeos and M9007 are OFF P A Refer to Section 5 3 1 Visual Correct spacing is maintained Adjust spacing 5 INSPECTION AND MAINTENANCE 5 3 1 Replacing the Battery 1 Replacing the CPU module battery M9006 or M9007 turns ON if the voltage drops from the A6GBAT battery which backs up programs and provides memory back up functions Program and memory contents are not lost immediately when these special relays turn ON but memory contents may be lost if this special realy status is overlooked After M9006 or M9007 turns ON replace the battery within the total power interruption time shown in Table 5 4 below This section gives replacement guidelines and describes the replacement method a Battery life An alarm occurs and the
49. 0m to 30m APPENDICES 4 MR JHSCBL M L MR JHSCBL MH a Explanation of type Type MR JHSCBLLIM Symbol Specifications Symbol Cable Length m L Standard flexing life 2 2 H Long flexing life 5 5 10 10 20 20 30 30 b Connection diagram When fabricating a cable use the recommended wire and encoder cable fabricating connector set given on Appendix 1 2 1 and make the cable as shown in the following connection diagram This connection allows you to fabricate an up to 30m length of cable including the encoder cable supplied to the servo motor Servo amplifier connector MAU No 11 1 Servo amplifier Pin Signal Pin Signal 12 2 LG Encoder connector A MD K is ias Servo motor Encoder cable B J MDR ME 14 4 MRR Encoder connector BAT as mats Optional or fabricated C MR M 16 tG 6 ia D MRR N SHD P5 17 7 CN2 E P E E Ke F BAT R LG REH Gl iG s P5 20 10 H T 30m max i e MR JHSCBL2M L MR JHSCBL5M L MR JHSCBL10M L to MR JHSCBL30M L MR JHSCBL10M H to MR JHSCBL30M H MR JHSCBL2M H MR JHSCBL2M H Servo amplifier side Encoder side Servo amplifier side
50. 10120 3000VE 1 172161 9 connector plug connector plug 10320 52F0 008 170359 1 10320 52F0 008 170359 1 shell kit connector pin shell kit connector pin pe 419 P5 7 LG 11 LG P5 20 P5 LG 12 LG P5 18 P5 LG 2 LG 8 MR 7 MR 1 MRR 17 MRR 2 MD 6 MD 4 MDR 16 MDR 5 BAT 9 BAT 3 LG 1 LG SD Plate SD 9 1 Always make connection for use in an absolute position detection system Wiring is not needed for use in an incremental system APP 11 APPENDICES Appendix 1 3 A31TU E Teaching Unit Cable 1 AS1TTUCBLOSM cable a A31TUCBLOS3M cable appearance On EMGi On EMG2 EMG CO on DEDI EMGL CO On DED2 CPU module side b A831 TUCBLO3M cable connection details Solderless terminal 0 5 3 O o A31TU E side Signal name Pin No RR A Be ee a le GH Signal name Pin No BA 3 f BA 3 BAL 16 SE TEN BAL 16 CA 5 a 1 CA 5 CAL 18 d CAL 18 BB 2 E e BB 2 BBL 15 BBL 15 CB 4 f CB 4
51. 172SHCPUN 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 e PCPU Carries out the positioning control home position return servo amplifier control status monitoring using a servo program or motion program e 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 BM PC AT compatible running DOS V5 0 or higher hereinafter abbreviated as IBM PC 2 Positioning software package For IBM PC SW ISRX GSV PE GW JRN 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 Sequence program r Sequence control i IBM PC SRX GSV RN GSV SRX SV RN SV D Servo program or motion program execution t JOG operation Fae ES For communication Servo program or between SCPU and PCPU
52. 70BDCBU_M A30BD PCF SSC I F card 3 m 9 84 ft 5 m 16 4 ft 10 m 32 8 ft for cable A270CDCBL_M A30CD PCF 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 2 Table of servo amplifier modules Model Name MR H DN 50 W to 22 kW Servo amplifier MH KEN 30 kW to 55 kW Battery MR BAT Backup for absolute position detection MR TM Fitted to the last amplifier of SSCNET connector MR PB External regenerative resistor 10 W to 500 W F MR H KB Regenerative power 600 W Regenerative Standard accessor MR H BN resistor MR PB LA External regenerative resistor 1300 3900 W series FR BU Brake unit 15 30 55K FR RC Power return converter 15 30 55K For connection of CPU module and MR H BN for connection of MR H BN and SSCNET cable MR HBUS M MR H BN 0 5 m 1 64 ft 1 m 3 28ft 5 m 16 4 ft MR HSCBL M For connection of HA LH bk HC SF RF UF 2000r min series motor and MR H BN MR EN1CBL_IM H 9 m 16 4 tt 5 m 16 4 ft 10 m 32 8 ft 20 m 65 6 ft 30 m 98 4 ft Encoder cable Encoder MR JSCNS For HA LH Jk HC SF RF UF 2000r min series motors connector set MR EN1CNS Amplifier side connector and encoder side connector set MR J2S B Servo amplifier MR J2S4 Pl 50 W to 7 kW three phase 200 to 230 VAC or single phase 230 VAC series S MR J2S __B1 50 W to 400 W single phase 100 to 120 VAC MR J2 B Servo amplifier MR J2 50 W to 3 5 kW series Battery MR BAT
53. APP 26 Appendix e APP 1 Appendix 1 1 SS CNET Gables toe eter eb Dee dence tere C Cede send APP 1 Appendix 1 2 Encoder Cables eene en nennen nnt en terrens APP 5 Appendix 1 3 A31TU E Teaching Unit Cable sss APP 12 Appendix 2 Outside Dimensions esseesseesseesse esst tssn rest nsttnstrnstrnsrtsstnssrnsstnastnnstnsstnnstnnttnnnnnntn nanen nnt APP 14 Appendix 2 1 CPU Modules srini a i a Na tres entes enisi nnns innen enn sns APP 14 Appendix 2 2 Pulse Generator Synchronous Encoder Interface Module A172SENC APP 16 Appendix 2 3 Main ECHT EE APP 17 Appendix 2 4 Extension Base Units ssssssssssseseseeeeeeenen eene APP 19 Appendix 2 5 Teaching UL APP 21 Appendix 2 6 Connector annie cepe ecce ege de eevee eel ente eg eee eene eode APP 23 Appendix 2 7 Manual Pulse Generator Specifications sse APP 25 Appendix 2 8 Serial Absolute Synchronous Encoder Specifications ssesseeeseeeeeeeeeeeereeen APP 26 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 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 A
54. H and reading a file changeover below is System setting Must be set anew carried out A171SCPU A172SH A171SHCPUN A171SENC A172SENC now the system is ready for operation 130 x 113 3 X 93 6 5 12 X 4 46 X 3 69 unit mm inch Weight kg Ib 0 85 1 87 1 The real UO 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 Compatibility 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 A173UHCPU S1 A172SHCPUN A171SHCPUN Control method Stored programs repeated operation UO control method Refresh method Refresh method direct method selectable Programing lanquaGe Sequence control dedicated language 9 9 anguag Relay symbol language logic symbol language MELSAP II
55. HCPU A172SHCPUN A1 771 GHCDUN eee nennen nennen 1 11 1 5 2 Extension Base Power Supply Module nnne 1 25 1 5 3 Base Units and Extension Cales 1 28 1 5 4 Manual Pulse Generator Synchronous Encoder Interface Module 1 38 1 5 5 Teaching Uniti ien ae en de out eei 1 49 1 5 6 SSCNET Cables and Termination Resistor and Their Connection Method 1 53 15 7 Battery umen E ne ean utn peii et iE qu 1 57 REI i et Hee ER ttt o tec ttem uns 2 1 to 2 22 2 1 System Designing Procedure ccccceesceceeeeeceneeeeeaeceeneeceaeeesaaecseaaeegaeeecaeeesaaeseeaeeseeeesaeeseaaeeseneeeaas 2 1 2 2 System DIETI EE 2 4 2 9 External Circuit Design i oh eate aee tale tette 2 5 2 3 1 Power Supply Circuit Design 2 10 2 9 2 Safety Circuit Desigli Jo ire erepto a eee ene gne ag eec ode eee ap eee 2 12 2 3 3 Instructions for External Circuit Wiring Design 2 16 2 4 Layout Design within Enclosure nennen nnne nnne en nnn nent r entere nnns 2 17 24 1 Location Environment Er rd fete et e PC Ee ERE PED AE te 2 17 2 4 2 Installing the Base Units cider te e RE ER RE ERROR a PIDEN RI ENN edu 2 18 24 3 Installation eth ctr td tet bee aet ete end ced td 2 19 2 4 4 Calculating Heat Generated by A173UHCPU A172SHCPUN A171SHCPUN 2 20 2 5 Design Checklist cx c 2 22 3 MOUNTING AND WIDING sees sn terrens inni interiit nnns inns intense nene 3 1 to 3 12 3 1 Mounting and Wiring Methods AAA 3 1 3 2 Moun
56. J2S B CPU module MR H BN MR J2 B MR H BN d r j Termination Al J Ji i d connector Battery Battery Battery MR BAT MR BAT MR BAT A6BAT A6BAT A6BAT MR J2S B MR J2S B CPU module MR J2 B MR H BN MR J2 B n 7 pi d Termination Am ren id bi s 3 connector Battery Battery Battery MR BAT MR BAT MR BAT A6BAT A6BAT A6BAT 1 55 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 8 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 O 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 SSCNET Servo Amplifier s SSCNET Servo Amplifier s Rotary Switch 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
57. Mitsubishi representative with details RUN indicator does not light lights e Is sequence program defective Connect surge suppressor Y circuit CR etc to noise Check and correct program Source 5 11 5 INSPECTION AND MAINTENANCE 4 Flowchart when RUN indicator is flashing Follow the flowchart below if the RUN indicator flashes when the power is turned on or during operation RUN indicator flashing Hardware detect Check error from peripheral device See Section 5 4 1 10 Contact your nearest Mitsubishi representative with details Reset with the CPU module RUN STOP switch Se Correct cause of error See Section 5 4 1 10 v Set the RUN STOP key Switch to RUN Does RUN indicator light YES End 5 12 5 INSPECTION AND MAINTENANCE 5 Flowchart when ERROR indicator is lit Follow the flowchart below if the ERROR indicator lights during operation C ERROR indicator lit D y Connect a peripheral device Is M9008 ON Cause of error of PCPU ves Cause of error of SCPU Software error Reset with the CPU module RUN STOP key switch Set the RUN STOP switch to STOP Correct cause of error A 4 Set the RUN STOP switch to RUN Does ERROR indicator light 5 13 Hardw
58. NS 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 A178B A178B A178B INoofmoonsots 1 f 1 t 2 4 8 No ofsequencersiots 1 4 7 6 4 9 E x x x x 220 x130 x28 325 x 130 23 BEE 10 93 x 5 12 x 1 1 Weight kg Ib 0 51 12 0 75 i 66 0 97 2 14 Mounting screws M5 26 4 pcs External dimensions mm inch 8 er 12x 12 8 P 12X 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 2 Extension base unit specifications Table 1 7 Table of Extension Base Unit Specifications re SECHS A1S65B A1S68B A168B ent stage of extension base unit stage unconnectable connectable Mounting hole size 6 dia slot for M5 screw 12 4 X 5 12 X 1 1 16 55X 5 12 X1 1 16 55 5 12 X 1 1 Weight kg Ib 0 71 1 56 0 95 2 09 0 95 2 09 Mounting screws M5 25 4 pcs 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 M
59. OUTPUT 100 240VAC 5VDC 3A 105VA 24VDC 0 6A 50 60Hz N E E EMG o e EMG COM XP FRONT SSCNET B A WARNING B 1 H rd A votago POLL v O 16 7 113 3 4 46 e gt a 0 66 Unit mm inch APP 15 0 16 APPENDICES Appendix 2 2 Pulse Generator Synchronous Encoder Interface Module A172SENC CHITI L3 TER T 71 6 2 82 22 rat gt 0 87 6 5 a 93 6 3 69 ei 23 Gi 0 26 0 91 APP 16 A172SENC PXO 8 NOUROMH mnmuOouUmdo TRA A CTRL PULSER Do900000000000000o0o000 noaooanuongaoooooonooonoa e 130 5 12 e A172SENC SY ENC Y 34 5 1 36 Unit mm inch APPENDICES Appendix 2 3 Main Base Unit 1 A172B main base unit 4X mounting screws M5 25 f D Is e BEA A da A1718 B01 MADE IN JAPAN L A aw n E Vs o P Lobls al SIS Tv IMITSUBIGHI ELECTRIC CORPORATION je e FS Ly P A L 200 7 87 220 8 66 Unit mm inch 4X mounting screws M5X25 A A A171S B02 MADE IN JAPAN qs a JL E scPU P 1 ob ls 1 00Ws 1 o l s 1 ops 1 OR
60. P and the A phase inverse signal to Pin 17 HA2N the B phase signal to Pin 8 HB2P and the B phase inverse signal to Pin 18 HB2N 1 41 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS Input or Output e Interface between PULSER connector and voltage output manual pulse generator incremental synchronous encoder Signal Name Connector Type Manual pulse generator phase A Manual pulse generator phase B 15 11 15 Wiring Example anual pulse generator synchronous encoder 1 42 Internal Circuit Specification e Rated input voltage 5 5 VDC max HIGH level 3 VDC to 5 25 VDC 2 mA LOW level 1 VDC max 5 mA Description To connect manual pulse generator phases A B Pulse width 1045s min J L T 5us min 5us min Duty ratio 50 Rise fall time Phase B 2 5us min 1 Positioning address increases if Phase A leads Phase B Positioning address decreases if Phase B leads Phase A 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS e Interface between PULSER connector and differential output manual pulse generator incremental synchronous encoder PULSER Inputior Signal Name Wiring Example Internal Circuit Specification Description Output Voltage Output Type e Rated input To connect manual Manual voltage 5 5 VDC pulse generator max phases A B e Pulse width HIGH level 10 us min 3 VDC to 5 25 771 r VDC 2 mA max Sus min 5us min
61. R HENC Use the MR HSCBL M encoder cable between the serial absolute 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 HL Vacant 19 Vacant Applicable connector model names PCR S20FS connector PCR LS20LA1 connector cover Manufactured by HONDA TSUSHIN KOGYO 6 6 P5 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 CPU AT73UHCPU A172SHCPUN A171SHCPUN ENC A172SENC Manual pulse generator synchronous encoder interface module SY SNC connector lt Serial absolute synchronous encoder cable MR HSCBL_IM Ns Serial absolute synchronous encoder MR HENC 1 44 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS N 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 N Connect the shield wire of the shielded cable to the FG terminal of the external equipment N When increasing the cable length use the cable within 30m
62. S 2 Names of parts a A1S61PN power supply module names of parts MELSECA1S61PN POWERO MITSUBISHI INPUT 100 240 VAC Nof Name JL Apian Power supply input f 4 EE Connect the 100 VAC or 200 VAC power supply to the power supply input terminals M35 7 A cover to protect the terminal block 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 MELSECA1S62PN POWERO MITSUBISHI 7 NPUT OUTPUT ACB5 132V DC 5V 5A ACT70 264V DC24V 0 6A 50 60Hz Q 24V Q 24G e oe 5 Pe O INPUT O 100 240 VAC No Name Application POWER indicator Display indicator for 5 VDC power supply 24VDC 24GDC Supplies output modules which require 24 VDC internally supplied through external terminals wiring z 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 E t j PRY P Connect the 100 VAC or 200 VAC power supply to the power supply input terminals erminals 6 Terminal screws M35 7 A cover to protect the terminal block Module fixing screws Screws to fix the module to the base unit 1 27 1 SPECIFICATIO
63. SEC A series manual 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 specified axis Choose the main base extension bases extension power supplies and extension Refer to Section 1 5 3 3 cables and make I O assignment according to the necessary number of A172SENCs and A1SY42s and the number of I O modules Select the servo amplifier and servo motor according to the motor capacity and speed Refer to am applicable calculated from the machine mechanism to be controlled axis by axis servo amplifier manual d Refer to Appendix 2 Set servo amplifier connection by SSCNET and axis numbers and axis No s Refer to Section 1 5 6 2 Connection of peripheral equipment Refer to Section 1 5 5 4 Select the teaching unit when using the handy unit to perform JOG operation teaching erto pommel S HE or the like Choose A31TU when the deadman switch is needed or choose A30TU when not needed 2 DESIGN Design of system to which GOT and personal computer information control have been added Choose the GOT when using the graphic panel to perform equipment status monitoring and equipment operation Refer to Section 1 5 1 7 Select the personal computer and related software packages when you want to execute the digital oscillos
64. T 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 RE A172SHCPUN A171SHCPUN A173UHCPU Module Usable MELSECNET mode or MELSECNET Il MELSECNET II mixed mode Usable A1SJ71AP21 R21 only MELSECNET 10 Usable local station only 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 may 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 may be loaded to achieve separate network configurations Refer to the following manuals when using the MELSECNET II data link system and MELSECNET 10 network system e MELSECNET II MELSECNET B data link system reference manual e MELSECNET 10 data link system reference manual Inter PC network manual 1 22 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS a MELSECNET I Fiber optic or coaxial cable Local station A Fiber optic or coaxial cable Os station A 64 stations max Remote I O station Local station Master station Remote I O station Local station POINTS As the instruction f
65. T2 3 SSCNET3 4 SSCNET4 A171SHCPUN 2 3 1 13 ddp MITSUBISHI mm 15 MITSUBISHI E POWER o RUNO E POWER o RUNG 597 16 12 ERRORO BESET RESET ERRORO RESET RESET AI71SHCPUN AI71SHCP B o 4 INPUT om pis SOSA Hz OIOIO OIOO O JE Ou RUN STOP Starts or stops operation of a sequence program RESET Resets the hardware Applies a reset after an operation error occurs and initializes the operations LATCH CLEAR L CLR Clears the latch area data set with the parameters 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 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS Il 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 indicator Aremote STOP is applied Aremote PAUSE is applied Flashing The RUN indicator flashes in the following cases Self diagnosis function detected an error which stops sequence program operation A latch clear operation is conducted Lit Self diagnosis function detected an error However the indicator does no
66. UN opu 0 Ym R S T i O mu p O 200VAC 200VAC Q PX1F OTRA AiG o Q COM O Ym n EMG COM CH CPU EMG CPU EMGL BRAKE OUT BRAKE O FG COM e O LG r O COM A31TUCBL ERRAT REM Er i TU EMG1 resedit cue TU EMG2 Motion control DED1 input for 8 axes SSG PAF o DED2 enc TRA 1 9 COM UDER CORDE see eee SS J isis ai DC24V 24 VDC AH i power supply 24G 4 A31TU internal circuit SPUR E ues 71 Ready f TU EMG EMG ON TUEMGI TUNG OFF Ven Leg O e Oolo e oO O Rat E Ho Rat SS li Cable Cable SS 1 Ym O 0 SK PCPU Ready Completion servo normal output Deadman switch Servo normal ON Alarm OFF pei pene Rad O OCL a ee dn 1 Kleer To To li Cable Cable SK CPU EMG Ra2 CPU EMGL O O To cable To cable Rat Ra2 O O O O re SK 2 DESIGN Outside of control board 1 1 100 VAC power supply can also be used as the power supply to the CPU module 2 Sequence program Valid _ Invalid Schematic S drawing of front panel Emergency Stop Servo alarm WSL m M9036 M9074 Error detection PROG Tes Press the mode key H kirn DATA kend ans TEST aile dls soo t 3 It is also possible to use a full wave rectified e m ea power supply as the power supply for the e zap ez electromagnetic brake con
67. Version B A MITSUBISHI ELECTRIC Motion Controller User s Manual A173UHCPU A172SHCPUN A171SHCPUN MITSUBISHI ELECTRIC NDUSTRIAL AUTOMATION INTORODUCTION Thank you for purchasing the Mitsubishi Motion Controller A1 73UHCPU 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 documents before starting installation opera tion maintenance or inspections to ensure correct usage Thoroughly understand the machine safety information and precautions before starting operation The safety precautions are ranked as Warning and Caution in this instruction manual When a dangerous situation may occur if handling is mistaken D WARNING leading to fatal or major injuries When a dangerous situation may occur if handling is mistaken N CAUTION 9 y g leading to medium or minor injuries or physical damage Note that some items described as cautions may lead to major results depending on the situation In any case important information that must be observed is described For Sate Operations 1 Prevention of electric shocks 4 Never open the front ca
68. a Troubleshooting input circuits Table 5 7 describes problems and corrective actions for input circuits Table 5 7 Troubleshooting Input Circuits Symptom Corrective Action Current leakage through input switch Connect an appropriate resistor to lower the Driven using a contactless switch etc voltage between the input module terminals AC input below the OFF voltage AC input C Input signal does not AY f Leak current Input module TRESS C Pam turn OFF CJ R Input module Power supply M CS Power supply Example 1 CR constant 0 1 to 0 47 UF 47 to 1202 1 2 W recommended Driven using a limit switch with neon lamp See Problem 1 above AC input Alternatively provide a separate independent display circuit Input signal does not turn OFF Leak current Input module Example 2 Power supply e Leak current due to line capacity of wiring Line See Problem 1 above capacity C of twisted wire pair is approx 100 However this problem does not arise when the pF m power supply is on the input equipment side AC input AC input Input signal does not TORT Ta turn OFF d in lE Leak current Input module Input module pp il Power supply Power supply Example 3 Driven using a limit switch with LED indicator Connect an appropriate resistor to lower the DC input sink voltage between the input module terminal and co
69. ach 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 e Example of using the A172B main base when a 16 point module is loaded to each slot Main base unit 1 2 3 4 5 6 7 A172B Motion slot En Ape GEI MS 5 Pee y Sequencer slot No ele e eieiei 0 el ei el eieiei el ei Oo Sim O E 00 UIDI DIDINI gi ES ESES E HOX OA Sl Ov Qik Qi QI 1 Or Or ai Q Q Qi Qi CPU to I ITI TITIT TI EE E Eigg gi S S SS g S OF 19 9 9 9 9 B 9I 8 Gg D 5 WSA Ae CA AECH The I O numbers indicated are those set by automatic I O 8 9 18 11 12 13 14 15 assignment When empty slots 80 90 AO BO CO DO EO FO 1 to 7 are set to 0 points SO 2 o in the I O assignment the I O B toto to t
70. ad to oil leaks N Store and use the unit in the following environmental conditions Conditions Environment m Control unit servo amplifier Servomotor temperature With no freezing With no freezing manual With no dew condensation temperature manual Indoors where not subject to direct sunlight No corrosive gases flammable gases oil mist or dust must exist Altitude 1000m 3278 69ft or less above sea level According to each instruction manual Atmosphere N 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 tolerable load onto the servomotor shaft Doing so may lead to shaft breakage When not using the unit for a long time disconnect the power line from the control unit or servo amplifier Place the control unit and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please consult our sales representative N Correctly and securely wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servomotor After wiring install the protective covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo
71. 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 servomotor as this may lead to trouble Do not mistake the direction of the surge absorbing diode Servo amplifier installed on the DC relay for the control signal output of VIN brake signals etc Incorrect installation may lead to signals 24VDC not being output when trouble occurs or the protective functions not functioning Control output Do not connect or disconnect the connection cables signal between each unit the encoder cable or sequence ex pansion cable while the power is ON N Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation N Do not bundle the power line or cables 5 Trial operation and adjustment N Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine N Extreme adjustments and changes may lead to unstable operation so never make them N When using the absolute position system function on starting up and when the controller or absolute value motor has been replaced always perform a home position return MI 6 Usage methods N CAUTION N Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the control unit serv
72. amplifiers servo motors regenerative resistor types and system application The protective functions may not work if the parameters are set incorrectly 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 3 Equipment in System 1 Table of motion modules Current Part Name Model Name Description Consumption Remarks 5 VDC A A173UHCPU S1 Max 32 axes control 1 190 CPU module A172SHCPUN Max 8 axes control 1 163 A171SHCPUN Max 4 axes control A172B One motion module slot and one sequence module slot A175B One motion module slot and four sequence module slots A178B One motion module slot and seven sequence module Sequence extension z slots Main base unit A178B S1 Two motion module slots and six sequence module slots a SC A178B S2 Four motion module slots and four sequence module slots A178B S3 Ee motion module slots and zero sequence module A1S65B Extension power and five slots for system up to one Sequence extension stage Extension power and eight slots for system up to one Gen vss A168B Extension power and eight slots for system up to one Extension connector extension stage as accessory Men For extension to the A1SC01B Flat cable of 55 mm 2 17 in in length ES right side A1SCO3B Length 330 mm 13 in A1SC07B Length 700 mm 27 in Extension cable For A6 za Length 5000 mm 197 in AnN extension base cables Manual pulse 32 points I O signals generator FLS RLS STOP DOG CHANGEx8 synchro
73. apacity and type parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Use the program commands for the program with the conditions specified in the instruction manual Set the sequence function program capacity setting device capacity latch validity range I O assignment setting and validity of continuous operation during error detection to values that are compatible with the system application The protective functions may not function if the settings are incorrect Some devices used in the program have fixed applications so use these with the conditions specified in the instruction manual The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock program specified in the special function unit s instruction manual for the program corresponding to the special function unit IN 3 Transportation and installation N CAUTION N Transport the product with the correct method according to the weight N Use the servomotor suspension bolts only for the transportation of the servomotor Do not transport the servomotor with machine installed on it N Do not stack products past the limit N When transporting the control unit or servo amplifier neve
74. are error Refer to error code table for corrective action v Is corrective action available Take corrective action NO Contact your nearest Mitsubishi representative with details 5 INSPECTION AND MAINTENANCE 6 Flowchart when ERROR indicator is flashing Follow the flowchart below if the ERROR indicator flashes during operation ERROR indicator flashing Does special register D9124 contain 0 YES 0 Contact your nearest Mitsubishi representative with details NO not 0 Reset the coil of the annunciator which is ON using the RST F instruction C 5 14 5 INSPECTION AND MAINTENANCE 7 Flowchart when output module load does not turn on Follow the flowchart below if the output module loads do not turn on during operation Output load does not turn on Is the indicator LED of the output module ON Is voltage applied from load power supply NO What is voltage across the output module output COM terminals Defective output module Replace output module Check max rush current NG when loads simultaneously turned on OK End mode from peripheral device Check output mode in monitor Is the indicator LED of the input module ON Check if input signal is OFF in monitor
75. ay from the machine since a restart may be made suddenly Design the machine so that personal safety may be ensured if a restart is made Before starting operation check and adjust the programs and parameters Not doing so can cause some machines to operate unexpectedly Never make extreme adjustment changes as doing so will make operation instable Apply only the voltage specified in the instruction manual to each terminal Not doing so can cause burst damage etc Ensure that the wires are connected to the corresponding terminals Not doing so can cause burst damage etc Always make sure that polarity is correct Not doing so can cause burst damage etc While power is on or soon after power off do not touch the servo amplifiers heat sinks regenerative brake resistors servo motors and the like as they may be hot Doing so can cause a burn Always switch power off before touching the servo motor shaft or the machine connected to it Not doing so can cause injury Stay away from the machine during trial run or teaching or similar operation Doing so can cause injury b gt PPP P PP gt E 5 INSPECTION AND MAINTENANCE 5 2 Daily Inspections The inspections listed in the table below should be conducted every day Table 5 2 Daily Inspections Evaluation Standard a All screws tight and covers in o Tighten loose 1 Base unit installation d Must be firmly installed position Screws f Modules correct
76. ble synchronous encoder A178B S2 A1SCL IB for GOT interface module A178B 81 A1S6 B A17L1B and A168B Battery A173UHCPU A172 A172 A172 A172 ATSLINB gt A6BAT gt ISENCSENC SENG SENG for A Ip amp e m i AIS input module or og Emergency stop input D H al H special function module z E C3 Lal la LA n A AMA P Sequence extension base e 2 Manual pulse generatorX3 e Up to one extension base unit for A1 SET PB IBM PC 5 MR HDPO1 Up to one extension base unit for A168B DOS A Serial absolute synchronous _ GOT compatible encoder cable Up to one extension base unit for A6 D MR HSCBL Mi E Serial absolute synchronous encoder x 4 5 RS422 MR HENC Teachirig unit External input signals A31TU E A30TU E put sig FLS upper stroke limit RLS lower stroke limit RS422 e STOP signal x8 x8 x8 x8 Communication cable e DOG CHANGE near zero point dog A270CDCBLO M speed position change A270BDCBL OM e TRA tracking x1 x1 x1 x1 IBM PC DOS Windows P qi Electromagnetic brake command output SSCNET4 i SSCNET cable SSCNET4 SSCNET3 SSC I F card board SSCNET2 A30CD PCF A30BD PCF di d8 d9 di6 di7 d24 d25 d32 LL y lt gt lt gt gt lt gt SSCNET1 1 No of motion slots A A A n A n P A17LIB 1 A178B S1 2 M M M M M M A178B S2 4 E E E 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 Whe
77. cable only is also available Avoid using a short cable as it will cause a position shift or the like 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 3 Table of software package a Motion function Peripheral Software Package Main OS Software Package Model Name Peripheral Applicable version Teaching Use For For For For Devices Model Name For function A172SH A173UH A172SH A171SH A173UH A171SH SW2SRX GSV13P FromOAC on ooT or leier sw2SRx swosRX SWoSRX For conveyor English SW2SRX GSV13PE From 00J on 00F orlater SV13B SV13D SV13G assembly IBM PC AT SV13 SWS3RNC GSV From OOF on OOE or later SW2SRX SW2SRX SWOSRX Without Without English SW3RNC GSVE P SS SV13B SV13D SV13G restriction restriction For motion SFC compatible IBM PC AT conveyor assembly SV13 NT 98 Without Yes Japanese SW3RNC GSV From OOF on WW restriction NT SW3RN SW3RN 98 Without Without SV13B SV13D English SW3RNC GSVE m EN restriction restriction SW2SRX GSV22P From OAC on 00T or later Japanese SWOSRX CAMP From 00B on 00B or later DOS SW2SRX GSV22PE From 00J on OOF or later For automatic English Without Without SW2SRX SWOSRX SWOSRX machinery IBM PC AT SWOIX CAMPE SV22 restriction restriction SV22A SV22C SV22F T SWS3RNC GSV From OOF on OOE or later 98 For motion SFC compatible NT IBM PC AT automatic 98 machinery SV22 f Without Without English SW3RNC GSVE i E restriction restriction
78. can be set by two method PAUSE 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 Status latch i f 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 Sampling trace 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 Off line switch program operations Error indicator MS Bez Sets order in which the indicators light and go out when an error occurs order or priority Executes the CPU module internal clock operations Clock 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 13 weet Oe MITSUBISHI MITSUBISHI STOF 1 5 STOP POWER O RUNO on RUN POWER O RUNO Lc RUN 1 6 12 ERRORO BESET RESET ERRORO RESET RESET L AIT2SHCPUN AIT2SHCPI EU e o 4 ez oureur BL SEL Owe 10 DCH 1 SSCNET1 2 SSCNE
79. capacity 3 to 5 times the actual power consumption is connected across the terminals where the problem exists 5 18 5 INSPECTION AND MAINTENANCE b Troubleshooting output circuits Table 5 8 describes problems and corrective actions for output circuits Table 5 8 Troubleshooting Output Circuits JL Symptom Cause Corrective Action If load is internally half wave rectified some solenoids are like this Connect a resistor between several tens k and several hundreds k across the load A1SY22 This method causes no problems with output 8 terminals but can lead to deterioration or burn out of load internal diodes Overvoltage applied to Resistor load when output turns OFF zi With polarity 1 C is charged With polarity 2 Load the C charge voltage plus the power supply voltage is applied across D1 Max voltage is approx 2 2V Example 1 Leak current due to internal surge suppresor Connect a resistor across the load A1SY22 If long wiring exists between the output card Output module pen and the load leak currents also arise due to oa wiring capacity Load does not turn iV o FF A Leak current Resistor Triac output Load N o o E G x i Drive a relay and use the relay contacts to drive the CR timer h E le 1 A1SY22 See note attached to Example 1 as some timers are half wave rectified internally Time period fluctuates Bes mogte CR timer
80. ch 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 Sub Item Mounting Wiring Outline Mounting of base unit to enclosure Base unit mounting e Mounting without DIN rail Section 3 2 e Mounting with DIN rail Mount the CPU power supply I O Unit module Mounting of modules f special function motion and other Section 3 3 to base unit modules to the base unit Mounting of serial synchronous Synchronous encoder to machine side rotary Section 3 4 shaft Running of power supply and I O encoder mounting Running of power wires of power supply and I O Section 3 5 supply and UO wires modules 3 2 Mounting the Base Unit 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 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 s
81. ching unit L dE Number of motion modules modues O Maln nase unit Number of I O modules loaded to main base modues O selection Selected main base unit porcis Number of I O modules loaded to extension modules base EE ER Distance between main base and extension GE b PM o om Dl extension cable ase selection Selected extension base unit Selected extension cable E E Total of currents consumed by modules loaded Extension base power t0 extension base supply module Current consumption of 24VDC supplied by selection extension power supply Selected extension power supply module Avoidance of malfunction at power on External circuit EE l Avoidance of hazard at motion controller failure Fail safe circuit design a z design 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 design Module layout design Layout in consideration of clearances between enclosure s inside walls other structures and modules and heats generated by modules inside enclosure 3 MOUNTING AND WIRING 3 MOUNTING AND WIRING This chapter provides the mounting and wiring procedures and hardware handling information for those who will mount ea
82. chronous Voltage output type 5 VDC Recommended product MR HDP01 Applicable type Differential output type 26LS31 or equivalent Selectable by connector wiring No of modules encoder Serial absolute Applicable types MR HENC h s S Sync ronous Position detection Absolute encoder input method Resolution 16384 PLS rev Power consumption 5 VDC Product weight kg Ib 0 22 0 49 1 38 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 2 Description of Parts a A172SENC A 172SENC PXO i CTRL PULSER A1728ENC SY ENC PXO to Indicators to display the motion control signal input status of each PX1F axis Input start signal from synchronous encoder CTRL connector Connector for motion control signal input and tracking signal input of each axis PULSER connector Manual pulse generator incremental synchronous encoder input connector SY ENC connector Serial absolute synchronous encoder input connector 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
83. cope functions designed for tuning and timing 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 x Design of system connected to MELSECNET Refer to Section 1 5 1 8 Select MELSECNET modules and carry out MELSECNET system design 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 Refer to Section 2 3 Power supply circuit design Design the power supply circuit which supplies power to such system components as Refer to Section 2 3 1 the motion controller UO equipment and servo amplifiers taking into consideration the protective coordination and noise suppression techniques circuit design Design the operation ready circuit which stops the system at occurrence of any alarm _ Refer to Section 2 3 2 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 Carry out layout design from such aspects as installation environment e g Refer to Section 2 4 temperatures and vibrations in consideration of heat generated from m
84. crews 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 A A A A N A A A A 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 Tightening Torque Range N e cm B t M5 273 to 361 ase EE Vin Screw Control box when screws are made of iron 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 5Al TH35 15Fe 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 DIN rail mounting screw 35mm 1 38 inch P 200mm 7 87 inch max 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 descr
85. ction diagram The overall distance of the SSCNET cables on the same bus is 30m MR HBUS M PCR S20FS connector PCR S20FS connector PCR LS20LA1 case PCR LS20LA1 case la ju Li LG e Int RD 2 RD Is Lo i TD H ET T H LG 5 m SC LG 15 _ ewe fs H EMG 16 mE et fe H t H 1 i SD 20 Lov ic re LI IS CC APP 2 APPENDICES 3 MR J2HBUS M A a Explanation of type Type MR J2HBUSCM A Cable Length m b Connection diagram When fabricating a cable use the recommended wire given on Appendix 1 1 1 and make the cable as shown in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m PCR S20FS connector PCR LS20LA1 LG LG RD cas MR J2HBUSI MA e 10120 6000EL connector O shell kit RD TD TD LG LG EMG EMG SD APP 3 Plate APPENDICES 4 MR J2HBUS M a Explanation of type Type MR J2HBUSLIM Cable Length m b Connection diagram When fabricating a cable use the recommended wire given on Appendix 1 1 1 and make the cable as shown in the following connection diagram The overall distance of the SSCNET cables on the same bus is 30m MR J2HBUS M 10120 6000EL connector 10120 6000EL connector 10320 3210 000 shell kit 10320 3210 0
86. d application Write the created sequence programs to CPU module with the peripheral device 2 4 TRIAL RUN AND ADJUSTMENT 2 Servo PC Mode N CAUTION Write positioning data Write the created sequence programs and motion programs to CPU module with the peripheral device Turn servo power on Ensure emergency stop is ON and turn on power to servo amplifiers and servomotors Test Mode Servo Start Up Initial Check Check servo amplifiers Check that mounted servo amplifiers operate correctly Test Mode Servo Start Up Model Name Check Servo Amplifier Communications Check the servo amplifier during initial communications with it Test Mode Servo Start Up Motor Rotation Direction Check Reads and displays the servomotor and servo amplifier model names from the servo amplifier after they have been transferred to Check Motor Rotation Directions Check motor rotation directions are correct for increased addresses and forward JOG operation Test Mode Servo Start Up Upper Lower Limit Switch Check Check upper lower stroke limits Check that upper and lower stroke limits operate correctly Test Mode Servo Start Up Motor Speed Check Check Motor Speeds Check motor does not exceed rated speed at maximum commanded speed N If used in systems for which safety
87. d make the cable as shown in the following connection diagram This connection allows you to fabricate an up to 30m length of cable including the encoder cable supplied to the servo motor Servo amplifier connector 1 LG 3 MRR 5 P5 Servo amplifier side PCR S20FS connector PCR LS20LA1 case P5 LG P5 LG MR MRR BAT LG SD oF m DO NI 14 15 20 Servo amplifier F7 Encoder connector Encoder cable Optional or fabricated CN2 30m max MR EN1CBL2M H MR EN1CBL5M H Servo motor Encoder side Servo amplifier side CE3057 12A 3 D265 cable clump PCR LS20LA1 CE02 20BS S back shell P5 LG P5 LG P5 LG MR MRR BAT AWG24 used for less than 10m SD 1 Always make connection for use in the absolute position detection system Wiring is not needed for use in the incremental system APP 8 MS3106A20 29S D190 plug PCR S20FS connector case Pin Signal Pin Signal A MD K B MDR L Encoder connector C MR M D MRR N SHD E P F BAT R LG G LG S P5 H T MR EN1CBL10M H to MR EN1CBL30M H Encoder side MS3106A20 29S D190 plug CE 3057 12A 3 D265 cable clump CE02 20BS S back shell S AWG24 used for 1
88. 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 Coupling MR HENC Rotating machine shaft HA Fig 3 2 Connecting the Encoder to a Machine Shaft Never hit the end of the MR HENC coupling shaft with a hammer when connecting the coupling to it The large loads applied to MR HENC will damage it The MR HENC uses optical parts Install itin 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 N Use the MR HENC within the specified temperature range 0 C to 55 C 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
89. 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 A31TUCBLO3M 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 A31TUCBLO3M 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 IF S arr A31SHORTCON o Fitted when A31TU E is not used A31TUCBLOSM CP E ci b A31TU E e e UIS cd b J BR A31TUCBLOS3M connector External circuit 2 The CPU module does not operate if the A31TU E and CPU module are connected directly When using the A31TU E be sure to use the A31TUCBLOSM When the A31TU E is not connected be sure to connect
90. dule 3 Are terminal screws correctly tightened 4 Are cable sizes correct 5 Is the external power supply correctly connected 24 VDC 5 VDC Prope HM 1 Is the point setting switch correctly set module 1 Is the extension base unit model correct A1S65B or A1S68B or A168B 2 Are the mounted module models correct 1 5 3 3 Extension base unit 3 Check that the total UO module and special function module UO points does 154 not exceed the number of CPU module I O points SCH 4 Are the modules correctly mounted 1 Is the extension cable connector correctly inserted in base unit connector Extension cable 2 Is the extension cable connector position correct 3 Does the total length of the extension cables exceed 3 m 118 11 inch we 4 TRIAL RUN AND ADJUSTMENT N Check and adjust the programs and parameters before starting trial operation Errors in the programs or parameters may cause the machine to make unpredicted movements N Never make very large adjustments as this can make operation unstable Do not open the front casing or terminal cover during operation or when power is connected This can cause electric shocks Do not operate with the front case or terminal cover open This can cause electric shocks from exposed high Voltage terminals or charged parts Do not operate switches when your hands are wet This can cause electric shocks Do not scratch apply undue strain to place heavy weights on or
91. e Limit output module Stop signal e Base extension cable refer to Section 1 5 3 3 meseca pow id i UO module d P 9 i i command EE RS422 SSCNET Refer to Section 1 5 4 3 CPU front AMEN LECCE REI EE a 2 A E MU ECL So i Peripheral par LC QE ee sve ccc atone T da l Teaching ta Program development device JOG operation Personal computer Refer to Section i l 1 5 1 9 i 2 DESIGN 2 3 External Circuit Design 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 3 phase 200 220VAC Oy Oh O A173UHCPU A172SENC NFB KO S A172SHCPUN s A171SHCPUN D S T 6 D O 200VAC 1 D O 200VAC 9Q PX1F Q TRA Q COM O FG t o t6 BRAKE CD our Oo BRAKE Ema COM CO ENG COM PXO Q 0 Motion control Es inputfor8 axes O O4ga O 0 7 COM 24VDC 24V OF power supply 24G Ore e e Operation Ready N EMG Rat Ewe OFF eg O lo olo Ce MO MC O e SK e EMG alo CPU module nu CN CE 7 Yn Servo normal output i 9 Rat1 ON when servo is s
92. e as a check sheet Sub Item Mounting Wiring Confirmation Check for loose or distorted mounting Base unit mounting Check that the mounting screw tightening torque is as specified Check the unit for damage Check that the mounted module models are correct Check that the A172SENC and A1SY42 are mounted to the Mounting of modules to motion slots base unit Check for loose or distorted mounting Check that the mounting screw tightening torque is as specified Check the modules for damage Check that the amplitude eccentricity and axial displacement relative to the machine side rotary shaft are within the permissible values Synchronous encoder Check that a flexible coupling is used for coupling with the mounting machine side rotary shaft Check the module for damage Check that excessive impact was not given during mounting Check that the 100VAC 200VAC and 24VDC wires are twisted as closely as possible and run in the shortest distance Check that the 100VAC 200VAC and 24VDC wires are not bundled with and run close to the power and l O wires Running of power Check that each wiring is of the specified wire size soppy ango ires Check for loose terminal block screws Check that the terminal block screw tightening torque is as specified Check that LG and FG are class 3 grounded 3 12 4 TRIAL RUN AND ADJUSTMENT
93. e connecting wiring Otherwise electric shocks or injury can result Do not operate switches when your hands are wet This can cause electric shocks Do not scratch apply undue strain to place heavy weights on or trap cables This can cause electric shocks Do not touch controller servo amplifier or servomotor terminal blocks while power is turned on This can cause electric shocks Do not touch the controller or servo amplifier internal power supply internal ground or signal wires This can cause electric shocks 5 INSPECTION AND MAINTENANCE N Perform daily and periodic inspections in accordance with the directions in this manual and the instruction manual for the product used Make backups of controller and servo amplifier programs and parameters before carrying out maintenance and inspection Be careful not to trap your fingers in the gaps when opening and closing parts that can be opened and closed Replace batteries and other consumable parts at the intervals indicated in this manual and the instruction manuals for the products used Do not touch the IC leads or the contacts of connectors Do not place a controller or servo amplifier on a metallic surface where current leakage is possible or on surfaces that can become charged with static electricity such as wood plastics and vinyl Do not perform a megger test insulation resistance measurement during inspections When replacing a controller or servo amplifier set the se
94. e inside the enclosure The following equation approximately calculates the temperature rise in the enclosure W o D UA S W Wis the overall power consumption of the motion controller calculated above A internal surface area of the enclosure m U ifa fanis used to make enclosure temperature uniform 6 if air is not circulated inside the enclosure 4 N 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 DESIGN 2 5 Design Checklist At the worksite copy the following table for use as a check sheet Number of axes SemedcUmdue O 1 Manual pulse generator w 1 Synchronous encoder w 1 Number or upper mtpos Leg generator synchronous Number of STOP input points points module selection r Speed position change input points O Tracking enable signal pons O Brake unit output mso O O o 1 Limit output module Number of limit output points me n EXE Module unit selection A1SY42 selection Use of teaching unit Yes No Teaching unit selection Use of deadman switch Selected tea
95. e monitored from a peripheral device A1 72SHCPUN A171SHCPUN Direct method for inputs and outputs Refresh method for inputs and outputs 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 100 to 240 VAC 5127 85 to 264 VAC Input power supply De Rated output current PAVDO Hio A PC 24VDC C MS 0 66 A min x2 DND 5 5 to 6 5 V Overvoltage protection Efficiency 65 min LED indicator Lit at SVDC output M3 5 X 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 ti 20ms max ime 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 s
96. e 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 motion system Select the CPU module according to the number of control axes and the number of control I O points Refer to Section 2 2 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 Choose the number of A172SENCs and design connections according to the axis by Refer to Section 1 5 4 3 axis 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 required Select A172SENC and design connections depending on whether manual pulse Refer to Section 1 5 4 3 generators and synchronous encoders are required or not Refer to a MEL
97. e 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 Model Name Depiction in Connection Example MR HBUS M SSCNET cable MR J2HBUS_ M MR J2HBUS M Termination connector a MR H BN configuration CPU module MR H BN MR H BN MR H BN a Termination AF pi connector Battery Battery MR BAT MR BAT A6BAT A6BAT b MR J2S B MR J2 B configuration MR J2S B MR J2S B MR J2S B CPU module MR J2 B MR J2 B MR J2 B p m Termination IE a Shi IC sed connector Battery Battery Battery MR BAT MR BAT MR BAT A6BAT A6BAT A6BAT 1 54 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS c MR J2S B MR J2 B MR H BN configuration MR J2S B MR J2S B CPU module MR J2 B MR J2 B MR H BN gl pi Termination n bil IC SES pi y connector Battery Battery Battery MR BAT MR BAT MR BAT A6BAT A6BAT A6BAT MR
98. eme 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 ASOTU E Invalid Valid T S27 A30TU E A30TU E SV13 Ve Data Monitor PROG Test Press the mode key DATA frosin Wo TEST HS TA E Ls J STOP INSTRUCTION CLEAR Pa 3g 9 WRITE DELETE INDIRECT OVERRIDE E F 5 6 STEP UNCTIO RETURN e No Name Application 4 line X 16 character LCD display 1 Display With back lighted auto light off With contrast adjusting knob Emergency stop key Shuts off servo power to stop all operations Valid Invalid switch Changes over the operations of the teaching box between valid and invalid Operation keys Operation key switches of the teaching box Buzzer sounds when key input or any alarm occurs 5 Internal buzzer e It is also possible to set the buzzer so that it does not sound for key input Contrast adjusting knob For contrast adjustment of display 1 49 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS b A31TU E i CN Valid Invalid Oo O Schematic Sy drawing of Schematic drawing front panel of rear panel Emergency Stop MITSUBISHI A31TU E A31TU E SV13 Ve Data Monitor PROG Test Press the mode key
99. error message BATTERY ERROR is displayed when the battery life has almost expired Replace the battery when this alarm occurs The battery life is approximately 1 year under normal operating conditions at an ambient temperature of 25 C The battery life is shown in Table 5 4 Table 5 4 Battery Life Battery Life Battery Life Total Power Interruption Time Hr Synchronous Guaranteed Time Actual Time After M9006 Encoder Used Not Used minimum typical M9007 Turns ON TEENS 2600 The actual time is the average value The guaranteed time is the minimum value Preventative Maintenance Guidelines 1 Replace battery every year even if total power interruption time is less than the value in the table 2 Replace the battery if the total power interruption time exceeds the guaranteed time shown in the table and M9006 is ON 5 INSPECTION AND MAINTENANCE b Replacing a battery Follow the procedure below to replace a battery when its life expires After the battery is disconnected a capacitor maintains memory back up for a short time Complete the battery change operation within the time specified in Table 5 5 or the memory contents may be lost D Table 5 5 Capacitor Back Up Time Capacitor Back Up Time Min C Replacing battery Guaranteed Time Actual Time Minimum Typical Turn off the CPU module power supply sie v Open the CPU module front cover Pull battery out of h
100. ervo amplifier MR H BN MR H BN MR J2S B MR J2S B MR J2 B MR J2 B MR HBUS M For connection of CPU and servo Cable length within amplifier MR H BN 0 5m 1 64ft 1m 3 25ft For connection of servo amplifier MR H 5m 16 39ft BN and servo amplifier MR H BN MR J2HBUS MA For connection of CPU and servo SL amplifier MR J2 B Cable length within 0 5m 1 64ft 1m 3 28ft For connection of servo amplifier MR H 5m 16 39ft BN and servo amplifier MR J2S B MR J2 B MR J2HBUS M Cable length within p 5m 1 64ft 1m 3 28ft 16 39ft For connection of servo amplifier MR J2S B MR J2 B and servo amplifier MR J2S B MR J2 B Fitted to the SSCNET s last servo Termination amplifier MR H BN resistor Fitted to the SSCNET s last servo MB amplifier MR J2S B MR J2 B 1 ages a a MR HBUS Ilem MR HBUSOSM MR HBUS1M MR HBUSSM Model b MR J2HBUS Item MR E MR pi MR E m pepe 1 050649 1628 28 50639 Cable Cable length m ft 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 A1 72SHCPUN A171SHCPUN only one line of SSCNET is available for servo amplifier connection use SSCNET1 The A173UHCPU can us
101. etween motion controller and servo amplifier SSCNET 1 SSCNET Servo System Controller NETwork 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 2 Overall Configuration of Motion System 1 2 1 A172SHCPUN A171SHCPUN System Overall Configuration A Motion slot Sequence module slot e Le gt gt o Manual pulse generator 5 3 f synchronous encoder E E Extension cable GOT interface module as A1SCI_IB for E amp A1S6 B No Io and A168B Battery Motion CPU A172 A1S A1SL NB 2 A6BAT gt ENC Y42 P AIS input module or for A6 B 2 3 Emergency stop input d 4 special function module E OS ah 100 200VAC Main base unit A178B S1 A17 B Sequence extension base Mahual bulse denarator sal Up to one extension base unit for A1S6L IB IBM PC Pp MR HDPOt 9 Ge Up to one extension base unit for A168B DOS GOT compatible n e Up to one extension base unit for Ap P Serial absolute synchronous encoder cable P 5 n E MR HSCBL Mi Serial absolute synchronous encoder x 1 RS422 MR HENC 5 External input signals A171SHCPUN A172SHCPUN Teaching unit A31TU E A30TU E FLS upper stroke limit e RLS lower stroke limit e STOP signal x4 x8 DOG CHANGE near
102. fic to system and equipment Check each operation in automatic operation mode of system with CPU module in sequence program running RUN status Check a sequence of automatic operation motions Check that machine operation is stopped immediately by emergency stop Automatic operation Check that module or equipment alarm causes an immediate stop or cycle stop Check that restoring operation can be performed after an alarm stop Make other checks in compliance with control specifications specific to system and equipment Check the acceleration deceleration torque is not more than Torque check maximum torque Check that continuous load torque is rated torque Check that each positioning control of motion program is exercised normally program running emergency stop f Check operation of each actuator and operation confirmation given properly Make other checks in compliance with control specifications 5 INSPECTION AND MAINTENANCE 5 INSPECTION AND MAINTENANCE This chapter describes the methods of troubleshooting and daily maintenance and inspection for those who will carry out such works 5 1 Maintenance Works e e e e 4 4 e This section ex
103. g manual for details 5 23 Corrective Action 1 A hardware error exists in one of the modules Replace the module and check the defective module for defects Contact your nearest Mitsubishi representative with details Reduce computer link modules to two or less for A171SHCPUN A172SHCPUN or to six or less for A173UHCPU Reduce A1SJ71AP21 R21 or A1SJ71T21B to one or less for A171SHCPUN A172SHCPUN or to two or less for A173UHCPU Mount 1 interrupt module Change the I O allocation set in the peripheral device parameters to match the special function modules mounted Read the error step with the peripheral device and check and modify the FROM and TO instructions at this step Write the parameters again and check If the same error is displayed again a problem exists in the hardware Contact your nearest Mitsubishi representative with details Read the error step with the peripheral device and check and modify the program at this step Check the device setting range BCD conversion range etc Replace the battery Connect the battery lead connector to use the internal RAM or memory back up function APPENDICES APPENDICES Appendix 1 Cables Appendix 1 1 SSCNET Cables Generally use the SSCNET cables of our options If the length you need is not found in our options fabricate the cable on the customer side 1 Selection The following table indicates the SSCNET cables used with the servo ampl
104. he operation ambient temperature of 55 C 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 lov 5VDC line CPU power supply module AC power supply Special function module Output module Input module Input current Relay transistor Power supply e Sift line L EES 1 utput curren Exaternal i lour x Vdrop Input 24VDC 4 i power KPO r SUPPIY Output supply power liN supply AC E AC lou i RVE DC LOAD DC DC i Lili Lllp a L_ 4 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 levx 5 lov x 24 W I5v I5v is the current consumption of the 5 VDC logic circuits of each module l24v l24V is the 24 VDC average current consumption of the power supply for output module internal consumption
105. he servo motor OoOo 11 1 Servo amplifier Pin Signal Pin Signal 12 2 LG PH Encoder connector A MD K fies Servo motor Encoder cable S MORO nE 14 4 MRR Encoder connector BAT is MRICS Optional or fabricated C MR M 16 Le 6 D MRR N SHD P5 17 7 CN2 E P Je Pak Esi PS F BAT R LG LONE G G s ps 20 10 H T xs 30m max je MR HSCBL2M MR HSCBL10M to MR HSCBL30M MR HSCBL5M Servo amplifier side Encoder side Servo amplifier side Encoder side PCR S20FS connector MS3106B20 29S plug PCR S20FS connector MS3106B20 29S plug PCR LS20LA1 case MS 3057 12A cable clump PCR LS20LA1 case MS 3057 12A cable clump MR 4 C MR C MRR 3 D MRR D P5 7 S P5 S LG 1 R LG R P5 8 PS LG 2 LG P5 LG BAT 14 po init BAT eee ge a LG ip G LG G SD 20 N SD N for 10m or less 1 Always make connection for use in the absolute position detection system Wiring is not needed for use in the incremental system APP 7 for 10m to 30m APPENDICES 3 MR EN1CBL MH Long flexing life product a Explanation of type Type MR EN1CBLLIM H Cable Length m 2 2 5 5 10 10 20 20 30 30 b Connection diagram When fabricating a cable use the recommended wire and encoder cable fabricating connector set given on Appendix 1 2 1 an
106. he total number of devices points is 8192 for the A1 73UHCPU or 2048 for the A172SHCPUN A171SHCPUN 2 Extension comments are not stored into the internal memory of the CPU 8 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 SWOGHP UTLP FN1 is necessary for using AGGPP and A6PHP 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 ASUCPU user s manual for details of the SCPU functions of A173UHCPU Table 1 3 Table of SCPU Functions Sets a constant time for one scan of a sequence program which is independent of the sequence Constant scan 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 Latch hold on over 20 ms occurs if the power is turned off power interruption Devices L B T C D W can be set as latch devices Remote Conducts remote RUN STOP sequence control from external inputs or peripheral devices when RUN STOP the RUN STOP switch is set to RUN Stops the operation and holds the output Y ON OFF status The PAUSE status
107. hort circuit The system initial start commences when the current returns to the normal level 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 Overcurrent protection 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 coliscor SSCNET cable Communication cable A270CDCBLLIM A270BDCBLL M SSC I F card board A380CD PCF A30BD PCF Connect to SSCNET2 for the A171SHCPUN A172SHCPUN or to SSCNET4 for the A 73UHCPU 8 MELSECNET II 10 system The motion system can use the MELSECNE
108. ibed 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 Modules DIN rail groove iv Se 2 di NC NN DIN rail Y y Nes Base Unit J 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 Modules ge Base unit X Direction to l Screwdriver remove the unit Hook 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 Base unit Module 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 Cm Module lugs Module fixing screw Base unit N The lugs must be inserted in the module fixing holes when the module fixing screws are inserted Forcibly fixing a module in
109. 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 stroke end 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 machine gt gt pem SS p A AN AN AN p pe Pe PPP Pep m 2 DESIGN 2 2 System Design To exercise motion control and external I O equipment contr
110. ifier as this may lead to electric shocks e gt cox Of OS 2 For fire prevention Install the control unit servo amplifier servomotor and regenerative resistor on inflammable material Direct installation on flammable material or near flammable material may lead to fires If a fault occurs in the control unit or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fires may occur When using a regenerative resistor shut the power OFF with an error signal The regenera tive resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fires Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fires 3 For injury prevention N CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage The servo amplifier s heat radiating fins 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 to burns Always tur
111. ifier connector i LG 3 MRR 15 5 LG 6 17 P5 8 P5 Servo amplifier side 10120 3000VE 10320 52F0 00 P5 LG P5 LG MR MRR P5 LG BAT LG SD Servo amplifier CN2 Encoder connector Encoder cable Optional or fabricated 30m max MR ENCBL2M H MR ENCBL5M H Encoder side MS3106A20 29S D190 plug CE3057 12A 3 D265 cable clump 10320 52F0 008 shell kit Servo motor Encoder connector Pin Signal Pin Signal A MD K B MDR L C MR M D MRR N SHD E P F BAT R LG G LG S P5 H T I MR ENCBL10M H to MR ENCBL30M H Servo amplifier side P5 LG P5 LG P5 LG MR MRR BAT LG for less than 10m 1 AWG28 can be used for 5m or less connector 8 shell kit CE02 20BS S back shell up MM MK D Ini a qs Kee GE 12 a rR E c ees 18 NE Po NE gt o H F 1 eg G Plate Ny toy AWG24 used SD APP 10 10120 3000VE connector Encoder side CE02 20BS S back shell Plate AWG22 used for 10m to 30m S Oo MS3106A20 29S D190 plug CE 3057 12A 3 D265 cable clump APPENDICES Servo amplifier connector 1 LG 3 MRR 5
112. ifiers Make selection according to your operating conditions pT me Desrpio e For connection of CPU module and MR J2S B MR J2 B MEA e For connection of MR H BN and MR J2S B MR J2 B MR HBUS M e For connection of CPU module and MR H BN e For connection of MR H BN and MR H BN SSCNET cable MR J2HBUS MR J2HBUS M For connection of MR J2S B MR J2 B and MR J2S B MR J2 B Use the following or equivalent twisted pair cables as the SSCNET cables Length m Wire Model MR HBUS M A14B2343 6P MR J2HBUS MA 0 5 to 5 UL20276 AWG 28 10 pairs cream MR J2HBUS M Core Size Wire Model mm Numbe Characteristics of One Core Structure Conductor Insulating Finish OD Number of resistance sheath OD mm wires mm 9 km d mm r of Cores UL20276 AWG 28 10 pairs cream 20 10 pairs 7 0 127 A14B2343 6P 12 6 pairs 40 0 08 1 dis as shown below d er Insulation sheath Conductor 2 Supplier Toa Electric Industry 8 Standard OD Max OD is about 10 greater N When fabricating the bus cable make correct connection Wrong connection will cause runaway explosion APP 1 APPENDICES 2 MR HBUS M a Explanation of type Type MR HBUSLIM Symbol Cable Length m b Connection diagram When fabricating a cable use the recommended wire given on Appendix 1 1 1 and make the cable as shown in the following conne
113. ints WO to W3FF No of annunciators F 2048 points FO to F2047 256 points FO to F255 No of file registers R Max 8192 points RO to R8191 set with parameters accumulators A 2 points A0 A1 14 points index registers V Z 2 points V Z V Vi to Ve Z Z1 to Ze pointers P 256 points PO to P255 interrupt pointers I 32 points IO to 131 No of special function relays M 256 points M9000 to M9255 No of special function registers D 256 points D9000 to D9255 1 13 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS Table 4 1 Table of SCPU Performance Specifications Continued Max 10 blocks Standard set by memory No of extension file register block capacity Max 19 DOCKS Max 3 blocks Max 46 blocks set by memory capacity set by memory capacity set by memory capacity Max 4032 points 64k bytes 1 point 16 bytes set in 64 point unit Max 3968 points 63k bytes 1 point 16 bytes set in 64 point unit Watchdog error monitoring memory CPU input output battery etc error detection Select stop continue Output mode selection when switching from STOP to RUN Select re output operation status Roc E default or output after operation 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 t
114. ion circuit can be Shut off with the operated by emergency stop signals set Shut off with servo ON signal OFF emergency stop externally alarm magnetic brake signal signal EMG If an error occurs remove the cause secure Servo motor the safety and then resume operation The unit may suddenly resume operation Magnetic after a power failure is restored so do not go brakes near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly VII 8 Maintenance inspection and part replacement N CAUTION N Perform the daily and periodic inspections according to the instruction manual N Perform maintenance and inspection after backing up the program and parameters for the control unit and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according 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 N Do not perform a megger test insulation resistance measurement during inspection N When replacing the control unit or servo amplifier always set the new unit settings correctly When the controller or absolute value motor has been replaced carry out a
115. isions The manual number is given on the bottom left of the back cover IB NA 67395 B 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 ae This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2000 Mitsubishi Electric Corporation CONTENTS 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS sese 1 1 to 1 57 1 1 Overview of the Motion System sssssssssssssssssssseeee enne enne rennes en nennen sen ennt en rene 1 1 1 2 Overall Configuration of Motion System sssssssssssessssssseeee eene nennen ennt enne 1 3 1 2 1 A172SHCPUN A171SHCPUN System Overall Configuration eeeeese 1 3 1 2 2 A173UHCPU System Overall Configuration essent 1 5 1 9 Equipmentih RE 1 7 1 4 General Specifications nariui siaii aa aaae aaka aaia da teens essa iaaii 1 10 1 5 Specifications and Settings of Componerts enne 1 11 1 5 1 A173U
116. it to the base EE GH size M4 X12 5 Base mounting hole Slots for mounting the base unit onto the control board Slots for mounting the base unit onto the control board panel for M5 screws for M5 screws Hooks to attach to the DIN rail DIN rail hooks 2 E 5 i ae stop Terminal block to apply servomotor emergency stop ermina 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 LT ill HU LT PCPU es Gei r EK EIS ebe Oe ES LO A178B S2 achhe Motion slot s A cover for protecting the extension cable connector When connecting to an extension 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 Module connector MIU Motion slot For A172SENC A1SY42 or MELSEC A1S series I O module A1SI61 Sequencer slot For MELSEC A1S series module 4 Unit fix Screws to fix the unit to the base Unit fixing screw Screw size M4 X 12 Base mounting hole Slots for mounting the base
117. ition the usable numbers of manual pulse generators and synchronous encoders differ between the CPU modules CPU Module Manual Pulse Generator Synchronous Encoder A173UHCPU A172SHCPUN A171SHOPUN 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 Applicable connector LI SG So J model names 2 vaa 12 vam 10120 3000VE 3 ui 1 vam connector 4 HM n JL HB 2 t022052F0 008 Standard 5 se 5 sG connector cover faccessories 6 Ps 10e Ps Manufactured by m HA2P HA2N g Sumitomo 3M 8 HB2P 18 HB2N Also available as MR CON1 9 HZ2P 19 HZ2N HPSEL 1 Inputs from manual pulse generator switched by HPSEL Unconnected selects voltage output type HPSEL SG selects differential output type 2 8 Connect the manual pulse generator connector cable wires according to the output type of the manual pulse generator as described below 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 HA2
118. les can also be installed Though the external input signals of A172SENC are reserved for eight axes for A171SHCPUN set those for the first half four axes PXO to PXOF 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS N 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 N Ensure that the characteristics of other components used in a system match those of the controllers servo amplifiers and servo motors N Setthe 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 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 2 2 A173UHCPU System Overall Configuration 1 Motion slot Sequence module slot ka Manual pulse Main base unit generator A178B S3 Extension ca
119. lind 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 No of Motion Slots Main Base Model No of A172SENCs and A1SY42s No of Sequence Slots ge ee LAUER 0 A Ap A178B S1 6 A178B 53 Ire e 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 ine Selection of sequence Extension Base Unit E S EECH MELSEC A Series IO Modules Model A1S65B For extension power supply 5 slots applicable to system with up to one extension base A1S68B For extension power supply 8 slots applicable to system with up to one extension base A168B For extension power supply 8 slots applicable to system where up to one extension base and GOT are bus connected Choose the extension cable according to the distance between the main base unit and sequence extension base unit and the type
120. ly mounted in Fully mounted and screws Tighten loose 2 l O and other module mounting base unit tightened screws z Spacing between solderless Extension cable Terminal screws tight terminals connectors ae ak a Connectors fully Connections No loose screws Correct spacing is maintained tightened z Tighten connector Tighten loose screws Adjust spacing screws POWER Indicator lights See pe oe Check that indicator lights i 9 indicator otherwise abnormal 5 4 1 Indicator lights See Si RUN indicator Lights in RUN status 8 otherwise abnormal 5 4 1 ERROR Indicator not lit See Sr Lights when an error occurs indicator otherwise error 5 4 1 Indicator lights when input is ON Check the indicator lighting 9 P See Section INPUT indicator and goes out when input is OFF status j 5 4 1 7 otherwise abnormal Indicators Indicator lights when output is ON Check the indicator lighting 9 P See Section and goes out when output is OFF status 5 4 1 7 otherwise abnormal 5 INSPECTION AND MAINTENANCE 5 3 Scheduled Inspections The inspections listed in the table below should be conducted once or twice every 6 to 12 months They should also be conducted after equipment is moved or upgraded and if the wiring is changed Table 5 3 Scheduled Inspections Ambient If system is in an 0 C to 55 C y temperature enclosure Ambient SE Measure temperature and measure mbien on humidity 1096 to 9
121. ly power YES Does POWER indicator light NO YES supply voltage in range 85 to 264 VAC NO Supply voltage in the rated range YES Does POWER indicator light NO YES Is the CPU power supply module correctly fixed NO Correctly fix the CPU power supply module YES Does POWER indicator light NO YES 1 Check current capacity YES and reduce overcurrent 2 Turn input power supply off then back on Overcurrent overvoltage protection tripped NO Does POWER indicator light NO YES Contact your nearest Mitsubishi representative with Y details 3 End 2 5 10 5 INSPECTION AND MAINTENANCE 3 Flowchart when RUN indicator is not lit Follow the flowchart below if the RUN indicator goes out during operation RUN indicator goes out Is an error displayed when a peripheral device is connected YES Refer to error table NO Y RUN indicator 1 Defective CPU module Reset with the CPU module lights R part or contact RUN STOP key switch 2 Excessive noise RUN indicator If 1 does not light If 2 y Set the CPU module RUN STOP switch to STOP Write END to address 0 from a peripheral device Ee Set the RUN STOP switch to RUN Operate in monitor mode from peripheral device RUN indicator Contact your nearest
122. m the peripheral device Use the peripheral device monitor functions to determine the control status The following statuses can be determined Refer to the appropriate peripheral software package operating manual for details about the operating procedures a Present value monitor Displays servomotor present value addresses and error codes It permits the present control status to be checked b Scroll monitor Monitor the servo program and motion program operating status operating axes and instruction execution in real time Permit the program operating status to be checked c Error list monitor Displays the error code history Allows error codes to be checked after multiple errors occur and permits past error codes to be checked d Trace graph Graphic display of position command value position droop speed command values servomotor speed and motor current The suitability of the servomotor for the machine factors such as overload status can be checked by monitoring the servomotor current value 5 INSPECTION AND MAINTENANCE 5 4 1 Troubleshooting for CPU Module and I O Modules This section explains how to determine the cause of problems occurring in the SCPU of CPU module or I O modules and gives descriptions and remedies the errors indicated by each error code This manual does not give troubleshooting flowcharts that apply to the use of MR H BN MR J2S B and MR J2 B servo amplifiers Refer to the instruction manual s
123. mmon terminal below the OFF voltage as shown below DC input sink Input module Input signal does not turn OFF Example 4 Resistor Input module The method of calculating the resistor to connect is shown on the next page 5 17 5 INSPECTION AND MAINTENANCE Table 5 7 Troubleshooting Input Circuits cont Symptom Corrective Action Sneak path due to use of two power supplies Use a single power supply Connect a diode to prevent sneak paths as shown in the diagram Input signal does not z Input module turn OFF 1 o o E G x ui Input module lt Resistor Resistance Calculation for Example 4 gt For the case with a limit switch with LED indicator connected to A1SX40 causing 4 mA leak current A1SX40 Input module 1 This circuit does not turn OFF because the A1SX40 OFF current of 1 mA is not reached Therefore the connection of a resistor is required as shown below AA A1SX40 Pm 2 Resistance calculation To achieve the A1SX40 OFF current of 1 mA a resistor should be connected such that a current of 3 mA min flows through the resistor IR Iz2Z Input impedance R R lt Input impedance EN 3 3 1 1 kQ A resistance value of R lt 1 1 ko If a 1k resistor is used the resistor H power capacity W is given by W Current value XR 0 003 A X1000 9 0 009 W 3 In practice a 1 kc 0 5 W resistor which has a power
124. motors 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
125. n the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries p gt p 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure N Always install a leakage breaker on the control unit and servo amplifier power source N If installation of a magnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the magnetic contactor N Install an external emergency stop circuit so that the operation can be stopped immediately and the power shut off Use the control unit servo amplifier servomotor and regenerative resistor with the combi nations listed in the instruction manual Other combinations may lead to fires or faults If safety standards ex robot safety rules etc apply to the system using the control unit servo amplifier and servomotor make sure that the safety standards are satisfied If the operation during a control unit or servo amplifier error and the safety direction operation of the control unit differ construct a countermeasure circuit externally of the control unit and servo amplifier gt b gt amp In systems where coasting of the servomoto
126. n 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 When using a teaching unit A31TU E with a dead man switch a dedicated connecting cable A31TUCBLO3M is required between the CPU unit and A31TU E connector If the AS1TU 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 In a motion module a sequence A1S I O modules can also be installed The A173UHCPU can use four channels of the SSCNET When using the SSCNET card board A380CD 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 TRA tracking enable can use any one point 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS N 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 N Ensure that the characteristics of other components used in a system match those of the controllers servo amplifiers and servo motors N Setthe parameters to values appropriate for the controllers servo
127. nector Transmission method serial Serial communications Position detection method absolute 3 Connect when using MR HSCBL10M to MR HSCBL30M c Connection of servo external signals 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 Signal pp One A172SENC Upper stroke limit input FLS For detection of upper and lower stroke Lower stroke limit limits input RLS Stop signal input For stopping under speed or positioning 8 points each STOP control 3 1 point 1 axis each 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 racking enable Synchronous encoder input start signal signal input 1 point each Fiectromagnetie For command output to electromagnetic P brake command brake output Near zero point dog speed position change input DOG CHANGE 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
128. nector UE when A31TU E is not EI elf ue rhe connected ar termination resistors refer to Section 1 5 6 2 RETURN SHIFT ERROR AXIS No JOG Joa Go There is a deadman switch on the rear side For details on connection of SSCNET cable and Servo motor U c 4 R MR H BN HU ve S V o SM E W WANA Ratt E 9 EP e Electro 3 E E i magnetic COM Drake 3 EO EM1 EM2 U Servo motor L4 MR J2S B u gee 4 Vio 1 J i MR J2 B y l sM Y L3 w W Rat2 E 1 m o e Electro MC e L11 FE Ground ima netic e a con Mog se brake 7 L 4 s MER D SG 2 DESIGN c Sample system circuit designs Using AC Power supply TSU Start switch Stop switch RA1 eo i MC RA1 Output module prie feni 4 Alarm output MC Output module mmm occurs Starting possible when the PC RUN output DAT is ON Using AC and DC Power supply i Ym ot VY lamp or buzzer i i Cy p uzzer i P RA1 switched ON by M9039 Yn A me wu Turns output equipment power off when STOP on emergency stop on Stop at upper limit Start switch L Stop switch R e o
129. nitoring 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 RS422 connector 2 SSCNET connector um RS422 RS232C bl viu RS422 RS232C converter J 1 Teaching unit A30TU E A31TU E Personal computer IBM PC DOS SSCNET cable Communication cable A270CDCBLLIM A270BDCBLUIM SSC I F card board A30CD PCF ASOBD 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 Ir Am Specifications A1S61PN A1S62PN Mounting position in base Power supply module mounting slot 200 to 240 VAC 5127 85 to 264 VAC Input frequency 50 60 Hz 5 Max apparent input power 105VA 20A 8ms max DEER rren PRONUS VDG 110 Lee E j une Overcurrent protection 24VDC E Aa E 0 66 A min 5 5 to 6 5 V Overvoltage protection 2 YD 2 24VDC Ss ADERAT Efficiency 65 min 2 830VAC rms 3 cycles across all inputs LG and all outputs FG altitude 2 000m Withstand v
130. nous Tracking input 1 point encoder AT2SENG Electromagnetic brake control output 1 point Qe interface Manual pulse generator interface 1 point module Synchronous encoder interface 1 point Limit output unit A1SY42 Transistor output 64 points 12 24 VDC 0 1A Manual pulse MR HDPO1 4 5 VDC to 13 2 VDC 25 PLS rev 100 PLS rev at generator magnification of 4 Serial absolute Resolution 16384 PLS rev synchro gus MR HENG Permitted rotational speed 4300r min encoder Synchronous encoder and A172SENC connector cables Serial absolute 2 m 6 56 ft 5 m 16 4 ft 10 m 32 8 ft 20 m 65 6 synchronous MR HSCBL M ft 30 m 98 4 ft encoder cable Same cables as encoder cables for HA LH __ K HC SF RF UF 2000r min series motors For CPU module memory back up Battery AGRAT Sequence program servo program A30TU E For SV13 cable length 5 m 16 4 ft A31TU E s SV13 with deadman switch cable length 5 m 16 4 For SV51 with deadman switch cable length 5 m 16 4 Teaching unit A31TU RE ft 0 22 Need A31TUCBLOSM and A31SHORTCON A31TUCBLO3M CPU module to A31TU E connector cable of 3 m 9 84 ft A31SHORTCON Short circuit connector for A831 TUCBL SSC I F board A30BD PCF ISA bus loading type 2 channels board B For control panel When A31TU E is not connected SSC I F card A30CD PCF PCMCIA TYPE Il 1 channel card SSC I F board 3 m 9 84 ft 5 m 16 4 ft 10 m 32 8 ft for cable A2
131. o to to to to numbers of slot 8 of the extension o 2 SE base are 10 to 1F o 8F 9F AF BF CF DF EF FF A1S68B extension base unit 1 Max number of actual I O points A173UHCPU 2048 points AT 72SHCPUN 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 e Example of using the A175B main base when a 16 point module is loaded to each slot Main base unit 45 6 4 A175B Motion slot EE p Sequencer slot No ise a Pt 0 123 e SS E 00 10 2030 219 2 g 1 E E E E LEE E e CPU to to to to 1 O10 OO Vee vee OF 1F 2F 3F SN SS Lil A lot No SEH SE The I O numbers indicated are 8 9 10 11 12 13 14 15 those set by automatic I O gt 80 90 A0 BO CO DO EO Fo assignment When empty slots Ex o 4 to 7 are set to 0 points SO in 1st extention stage ii 8 to to to to to to to to the I O assignment the VO o Qe numbers of slot 8 of the extension e base are 40 to 4F 8F 9F AF BE CF DF EF FF A168B extension base unit GOT 2nd extention stage 100 slot 0 special unit 11F
132. o amplifier or servomotor N Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection N The units must be disassembled and repaired by a qualified technician N Do not make any modifications to the unit N Keep the effect or magnetic obstacles to a minimum by installing a noise filter or by using wire shields etc Magnetic obstacles may affect the electronic devices used near the control unit or servo amplifier N When using the CE Mark compliant equipment refer to the EMC Installation Guidelines data number IB NA 67339 for the motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers inverters and other equipment N Use the units with the following conditions Item A1S61PN A1S62PN CPU module s built in power supply Input power 100 to 240VAC 05 dui 85 to 264VAC 1 Input frequency 50 60Hz 1 5 Tolerable momentary Within 20ms power failure 7 Remedies for errors N CAUTION A If an error occurs in the self diagnosis of the control unit or servo amplifier confirm the check details according to the instruction manual and restore the operation A If a dangerous state is predicted in case of a power failure or product failure use a servomotor with magnetic brakes or install a brake mechanism externally N Use a double circuit construction so that the magnetic brake operat
133. odel Name aiscoiB aiscosB A1SC12B A1SC30B Cable length m inch 0 055 2 17 0 33 12 99 2 47 24 3 0 118 11 Resistance of 5 VDC supply line 22 21 121 Laso 55 C 0 0 0 0 055 0 Application Connecting main base unit to extension base unit Weight kg Ib 0 025 0 06 0 10 0 22 0 20 0 44 0 4 0 48 1 28 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 2 Names and settings of parts a Main base unit A172B A175B A178B la EZ as I NK POWER As 1 I l Sequencer slot Motion slot 2 No Name Application Extension cable Connects to the signal communications connector on the extension base unit with the 1 connector 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 Module connector MIU Motion slot For A172SENC A1SY42 or MELSEC A1S series I O module A1SI61 Sequencer slot For MELSEC A1S series module Unit fi Screws to fix the un
134. odules and handling of the modules mounted 2 DESIGN N 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 non flammable 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 servo
135. of the sequence extension base unit Note that the overall distance should be within 3m 9 84ft Selection of Extension Cable Extension Cable Type of Sequence e Extension Base Unit A1SCO1B 55 mm 2 17 inch flat cable for horizontal Se A1SC07B 700 mm oe inch For A1S6__ B A168B A1SCO5NB 450 mm 17 73 inch A1SC07NB 700 mm 27 58 inch For A6 B A1SC30NB 3000 mm 118 2 inch A1SC50NB 5000 mm 196 9 inch 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 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 K OUT zm EZ RES SIE SUE SE SE MITSUBISHI ELECTRIC CORPORATION s OQ 1 l AEE iesu ZS 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 MR H BN MR J2S B MR J2
136. ol 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 Information control Such as digital oscilloscope monitoring and recipe functions Refer to Section 1 5 1 7 Control network Refer to Section MELSECNET system 1 5 1 8 Independent motion system IO bus control RS422 CPU front Ehe d MELSECNET II 10 Computer link SSCNET Refer to Section 1 5 4 3 i p M M M Manual pulse generator SSCNET Motion controller i b Synchronous encoder Refer to Section 1 5 6 2 e CPU module eieiei sae coed e Pulse generator synchronous encoder interface Servo external signal O control module refer to Section 1 5 4 3 e Stroke limit
137. older Remove leads from lead clip Disconnect the lead connector i CPU module Insert new battery into the holder in Rae LE the correct direction Connect the lead connector Clamp leads with the lead clip Red lead is positive blue lead is negative Close CPU module front cover A6BAT lithium battery Turn on CPU module power supply connector mmm oe Check M9006 ON Battery defective C End 3 IMPORTANT Some components mounted on the printed circuit board are sensitive to static electricity Take the following precautions before directly handling the printed circuit board 1 Ground your body or the work bench 2 Do not directly touch the conductive parts or electrical components in the product N CAUTION N Dispose of batteries according to local government regulations 5 INSPECTION AND MAINTENANCE 5 4 Troubleshooting This section describes the errors which could occur when using the system and what to do about them Refer to the appropriate software package operating manual for information on the error messages displayed during peripheral device operation When an error occurs the system status can be determined by checking the equipment where the error occurred from the error codes or by monitoring with a peripheral device To quickly recover from an error use the appropriate method to determine
138. oltage 6557 38 ft 5M 9 or more by 500VDC insulation resistance tester across all inputs LG and all Insulation resistance NETS By noise simulator of 1 500Vp p noise voltage 14s noise width and 25 to Noise immunity 60Hz noise frequency 2 Noise voltage IEC801 4 2kV Power indicator LED indicator M3 5 x7 Applicable power cable size 0 75 to 2mm Input power supply LEE Permissible instantaneous power interruption time 20ms max 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 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 COMPONENT
139. ontact your nearest Mitsubishi representative with details Check if a program contains an infinite loop and modify as required 1 The bit corresponding the module causing the verification error is set to 1 in special register D9116 Monitor the contents of this special register from the peripheral device Check the module where the error occurred and replace if necessary If the module position is correct reset with the RUN STOP key Switch Check the ERR indicator on each output module and replace the module with the indicator lit The module with a blown fuse can also be identified from a peripheral device The bit corresponding the module with the blown fuse is set to 1 in special register D9100 Monitor the contents of this special register to identify the module Ensure that the external power supply for the output load is turned on A hardware error exists in a special function module CPU module or the main base unit Replace the module or unit and check the defective module or unit for defects Contact your nearest Mitsubishi representative with details A hardware error exists in the accessed special function module Contact your nearest Mitsubishi representative with details 5 INSPECTION AND MAINTENANCE Contents BIN of Special Register D9008 I O INT ERROR SP UNIT LAY ERR SP UNIT ERROR LINK PARA ERROR OPERATION ERROR BATTERY ERROR Table 5 9 Sta
140. or 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 Fiber optic cable 64 stations max Normal station Network No Normal station Normal station 2 Coaxial bus network 32 stations max Normal station Normal station Coaxial cable CH Master station YY Network No Normal station 1 23 1 SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 9 Connection of peripheral device CPU module A 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 ASOTU 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 mo
141. place without inserting the lugs in the holes will bend the module connector pins and cause other damage N Turn off the power supply before mounting or removing a module 3 MOUNTING AND WIRING 2 Removing modules Follow the procedure below to remove a module from the base unit RK it LL Remove the fixing screws and pivot the module around the bottom lugs toward you Y Module Lifting the module up detach the lugs connector from the module fixing holes Pis Module v Cm 3 Fixing modules When fixing the modules to the base unit tighten the screws within the following range Tightening Torque Range N e cm Module mounting screw M4 screw 78 to 117 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 mod
142. plains the periodic and daily inspections performed to operate the motion system safely and normally and the actions to be taken for troubles that may take place during motion system operation Table 5 1 Maintenance Works Maintenance Work Description Refer To Daily inspection Inspection performed daily Section 5 2 BER Inspection performed once or twice every six Periodic inspection Section 5 3 months or every year Clearing up of system trouble cause and its Troubleshooting l Section 5 4 corrective action lt gt WARNING Do not open the front casing or terminal cover during operation or when power is connected This can cause electric shocks Do not operate with the front case or terminal cover open This can cause electric shocks from exposed high voltage terminals or charged parts Even if the power is turned off do not open the front casing or terminal covers except to connect wiring or conduct scheduled inspections Charged components in the controller or servo amplifier can cause electric shocks To avoid electric shocks turn off the power wait at least ten minutes then check the voltage with a tester before starting wiring or inspections Ground controllers servo amplifiers and servomotors to class 3 grounding resistance or less Do not share a common ground with other equipment All wiring and inspections to be conducted by a trained technician Install controllers servo amplifiers and servomotors befor
143. ple 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 instructions 2 JIS Japan Industrial Standards lt 4 gt WARNING lt 4 gt 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 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 A 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 AT73UHCPU A172SHCPUN A171SHCPUN 1 Basic specifications of A173UHCPU A172SHCPUN and A171SHCPUN Item A173UHCPU S1 A172SHCPUN A171SHCPUN No of control axes 3 5 ms 1 to 20 axes SV13 7 1 ms 21 to 32 axes 3 5 ms 1 to 12 axes 3 5 ms 1 to 8 axes 3 5 ms 1 to 4 axes 7 1 ms 13 to 24 axes 14 2 ms 25 to 32 axes Computing frequency Equivalent to reinforced I O Equivalent to memory of A2SHCPU A2SHCPU Direct us Sequence Refresh inst
144. pply voltage If the value is not 0 check the power supply and reduce the voltage fluctuations OPE CIRCUIT 5 INSPECTION AND MAINTENANCE Table 5 9 Table of Error Codes cont Contents BIN of Special Register D9008 CPU Status STOP RUN RUN END NOT EXECUTE WDT ERROR UNIT VERIFY ERR FUSE BREAK OFF CONTROL BUS 40 ERR STOP SP UNIT DOWN Error Description and Cause 1 During execution the END code was read as a different instruction code due to noise or some other cause The END instruction changed to another instruction code for some reason A sequence program run by a CJ instruction is stuck in a loop and the END instruction cannot be executed Problem with I O module at power on 1 During operation the UO module induding the special function module is loose or has come out of its slot or the wrong module is mounted A fuse is blown in an output module The external power supply for the output load is turned off or not connected FROM and TO instructions could not be executed 1 Control bus error with a special function module When a FROM or TO instruction was executed no reply was received that the special function module was accessed 1 The accessed special function module is defective Corrective Action 1 Reset the CPU and run again If the same error is displayed again a problem exists in the CPU hardware C
145. r are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming N Set the parameter values to those that are compatible with the control unit servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect N The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power unit The protective functions may not function if the settings are incorrect N Setthe mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect N Set the stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect N Set the servomotor encoder type increment absolute position type etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect N Set the servomotor capacity and type standard low inertia flat etc parameter to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the servo amplifier c
146. r equipment 3 10 3 MOUNTING AND WIRING 3 5 2 Example of Routing the Power Supply and I O Wires This section shows examples of wiring the main base unit and extension base unit power supply and ground wires 100 110VAC AC e OOO A17LIB A178B S1 S2 S3 main base unit CPU module LU Select transformer H Q Sc m A171SHCPUN d nly according to u RK eX p O 24G Section 3 5 1 c X O7 ce X Os X 1 24VDCX S gue x puer Q1 INPUT O 100 v200VAC Connect to 24VDC terminals of I O modules requiring 22VDC internally A1S65B A1S68B A168B extension base unit Extension cable A1S61PN yo Cd 5 O1 FG Qu On LG Qu Qn INPUT O 100 4200VAC 100 110VAC Ce SOON eee Geesse loolololol Ground wire Si S Ground wire POINTS 1 Use wires as thick as possible 2 mm max for the 100 VAC 200 VAC 24 VDC wires Twist the wires when connected to the terminals Use solderless terminals with insulating tubes to prevent shorting if the screw in the solderless terminal is loose 2 Grounding is required if the FG and LG terminals are connected or resistance to noise is reduced A shock may be felt when touching the LG terminal as it has a potential of 1 2 input voltage 3 11 3 MOUNTI NG AND WIRING 3 6 Mounting Wiring Checklist Unit module mounting At the worksite copy the following table for us
147. r 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 e Emergency stop EMG oTo ES T es 24VDC 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 circui
148. r hold the connected wires or cables N When transporting the servomotor never hold the cables shaft or detector N When transporting the control unit or servo amplifier never hold the front 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 clearance between the control unit or servo amplifier and control panel inner surface or the control unit and servo amplifier control unit or servo amplifier and other devices N Do not install or operate control units servo amplifiers or servomotors that are damaged or that have missing parts Do not block the intake outtake ports of the servomotor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the control unit servo amplifier or servomotor The control unit servo amplifier and servomotor are precision machines so do not drop or apply strong impacts on them Securely fix the control unit and servo amplifier to the machine according to the instruction manual If the fixing is insufficient these may come off during operation Always install the servomotor with reduction gears in the designated direction Failing to do so may le
149. r will be a problem during emergency stop servo OFF or when the power is shut OFF 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 during emergency stop servo OFF or when the power is shut OFF 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 used for normal braking The brakes magnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking Construct the system so that there is a mechanical allowance allowing stopping even if the stroke end limit switch is passed through at the max speed Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system pe poe ceo ee is N Use wires and cables within the length of the range described in the instruction manual N The ratings and characteristics of the system parts other than control unit servo amplifier servomotor must be compatible with the control unit servo amplifier and servomotor N Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation N There may be some cases where holding by the magnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomoto
150. ruction i 2 instruction 0 15 us step 0 25 us step No of I O points 8192 points 2048 points No of real I O points 2048 points 1024 points 512 points 192k Equival Standard S D E entlo 192k bytes 64k bytes Memory capacity built in RAM Equivalent to Equivalent to 768k bytes Equivalent to a A3NMCA 24 A3NMCA A3AMCA 96 SNMG MP Sequencer CPU Equivalent to ASUCPU Program capacity Max 30k steps Max 30k steps Max 14k steps Main sequence i No of file register R Max 8192 registers No of extension file register Standard Max 10 blocks Max 10 blocks Max 2 blocks Max 46 blocks Max tobias No of sequencer extension i Max one base units A172SENC X4 A172SENC X 1 Corresponding to external signal input Corresponding to external signal input 32 axes 8 axes 2CH SSCNET1 For connection of servo System wo of SSCNET I F amplifier configuration SSCNET2 For personal computer link dedicated Teaching unt OS Ing RA EA witi teacning A31TU E O With dead man switch function Sequence program parameter After starting A173UHCPU and reading After starting A172SH A171SH and Servo program Mechanism program SV22 a file those created by A273UHCPU reading a file those created by Ge a e EES 32 axes can be used as it is A171SCPU can be used as it is arameter Pulser synchronous encoder interface unit By making sure of system setting screen after being started up by A172SH A171S
151. rvo amplifier can cause Check external inputs to A172SENC electric shocks 1 Check the wiring for the following external inputs by monitoring at a peripheral device or by using the LED indicators Input signals PXO to PXF a FLS upper limit switch input b RLS lower limit switch input c STOP stop command d DOG CHANCE near zero point dog speed position switching commad To avoid electric shocks turn off the power wait at least ten minutes then check the voltage with a tester before starting wiring or inspections Install controllers servo amplifiers and servomotors before connecting wiring Otherwise electric shocks or injury can result Programming Mode Write motion programs Create motion programs from the peripheral device N CAUTION N Connect a leak breaker to the controller and servo amplifier power supply N Provide an extemal emergency stop circuit to instantaneously stop operation and cut Programming Mode Create sequence programs off power A Follow the conditions prescribed in this manual and the product instrction manuals Create sequence programs from the peripheral device to run the motion programs Sequence Mode Write sequence programs when programming using the program commands N When programming follow the conditions prescribed in this manual regarding devices which a fixe
152. se or terminal covers while the power is ON or the unit is running as this may lead to electric shocks 4 Never run the unit with the front case or terminal 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 periodic inspections even if the power is OFF The insides of the control unit and servo amplifier are charged and may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Always ground the control unit servo amplifier and servomotor with Class 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 amplifier and servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things 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 internal power supply internal grounding or signal wires of the control unit and servo ampl
153. stall switch and open the cover at the front of the CPU End POINTS After completion of installation always turn OFF the installation switch 4 TRIAL RUN AND ADJUSTMENT 4 4 Trial Run and Adjustment Checklist At the worksite copy the following table for use as a check sheet Work Step Trial Run and Adjustment Confirmation Check that each module is mounted properly Check that each connector is fitted properly Check each terminal screw for looseness Before Unit module mounting amplifiers etc are normal poweron and basic wiring Check that regenerative brake option wiring is proper OS installation Check that the motion OS installed is compatible signals Check that near zero point dog and speed position change signal inputs are normal Program positioning Check that motion program sequence program and positioning data data are stored in CPU module normally Power on Check that communications with servo amplifiers can be made CPU module in Check that rotation direction for JOG operation is normal STOP status Check that upper and lower limit switches operate normally Check that rotation at maximum command speed is not more Basi i than motor rating heckeachaxs Check each axis Check that JOG operation moves machine normally Check that a stop is effected at stroke limit Check that an emergency stop is made Check that home position return is made normally speci
154. 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 Specifications Model Name A6BAT Item Nominal voltage 3 6 VDC Battery warranty period The range is as follows for details see Section 5 3 Total power interruption f Min 5400 hrs 1 IC RAM back up and memory back up functions Applications 2 Back up for the absolute data of a synchronous encoder External dimensions mm inch 16 0 63 X 30 1 18 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 e Using the power failure holding functions CPU module Battery connector Do not short a battery Do not disassemble a battery Do not overheat a battery Do not solder the battery terminals N N N Do not burn a battery N A 1 57 2 DESIGN 2 DESIGN This chapter provides those who will design and manage the motion system with the procedures and instructions necessary to design th
155. t current 20 mA max Supply voltage 4 5 to 13 2VDC Current consumption Life 1 000 000 revolutions min at 200 r min Radial load 19 6 N max Permitted axial loads Thrust load 9 8 N max Operation temperature 10 to 60 C Weight kg Ib 0 4 0 88 Max rotational speed Instantaneous 600 r min max normal 200 r min Pulse signal format 2 signals A phase B phase 90 phase difference APP 25 APPENDICES Appendix 2 8 Serial Absolute Synchronous Encoder Specifications 4 s i ea 85 68 2 68 g e E Ke b o 2 9 T 56 2 2 SG amp S E Ep amp e S Ee E E an e e A GE ei Ni 3 NN E E 5 Ki ire Y 1 15 0 05 0 14 v Tam 145005 5 20 0 79 4 5 4 0 21 19 5 2 0 08 H 28 1 1 Effective dimension 977 5 0 2 3 0 12 21 0 83 5 0 2 00 5 102 4 02 33 1 3 i ole gt age S e Shaft cross section Cross section B B Keyway Dimensional Diagram Unit mm inch Specification MR HENC 16384 PLS rev Serial communications connected to A172SENC Counterclockwise viewed from end of shaft 4300 r min Radial load 98 N Permitted axial loads Thrust load 49 N SC n 0 00079 inch max 15 mm 0 59 inch MR HSCBL M where _ is replaced by the cable Connecting cables length 2m 6 56 ft 5 m 16 4 ft 10 m 32 8 ft 20 m 65 6 ft 30 m
156. t light if it is set not to light for the error l ERROR indicator detected in the order of priority settings Not lit Normal or error detected by instruction e Flashing Sequence program annunciator F is on 24 VDC 24 GDC Internally supplies output modules which require 24 VDC supplied through external terminals wiring A171SHCPUN only P FG terminal eee terminal connected with the shielding pattern on the printed circuit 7 LG terminal Ground for power supply filter with 1 2 the electrical potential of the input voltage 8 Power supply input Connect the 100 VAC or 200 VAC power supply to the power supply input terminals terminals M3 5 X 7 A cover to protect the terminal block mn Connector to read write monitor or test main programs with a peripheral device 11 RS 422 connector 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 12 Covers Set DIP switches Connect the battery connectors Replace the battery e See 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 module operating system with a peripheral device PEST See Section 1 5 1 5 for details about the switch settings ON Turn ON to install an
157. t 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 ex s Turns on MO when servo error detection M1815 20n M1608 20n turns on or servo OFF W command M1815 20n turns off Kan M1608 20n M1815 20n M T200 Servo error Turns on T200 200ms II Servo ready after servo error turns off MO T200 and servo ready turns on H om Turns on Yn when MO turns off and T200 turns on M1608 20n Servo error detection M1815 20n Servo OFF command MO Servo error or servo ready OFF detection flag T200 Servo side normal period 200ms measuring timer Yn Electromagnetic brake operation instruction e For A173UHCPU M2408 20n Turns on MO when servo error detection M2408 20n turns on or servo OFF M3215 20n t command M3215 20n turns off Servo error Turns on T200 200ms Servo ready after servo error turns off and servo ready turns on Turns on Yn when MO turns off and T200 turns on M2408 20n Servo error detection M3215 20n Servo OFF command MO Servo error or servo ready OFF detection flag T200 Servo side normal period 200ms measuring timer Yn Electromagnetic brake operation instruction 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
158. tch the device number of the contacts before the CJ instruction No pointer P254 exists at the start of the CHK instruction ladder block raat HH 1 An interrupt module is used but 1 Check if an interrupt program the program contains no exists for the interrupt module equivalent interrupt pointer then create an interrupt program number or duplicate interrupt or eliminate duplicate numbers pointers as appropriate CAN T No IRET instruction exists in Check if IRET instruction exists EXECUTE I interrupt program in the interrupt program and An IRET instruction exists outside insert if required the interrupt program Check if an IRET instruction exists outside the interrupt program and remove if necessary A check determined normal A problem with the CPU hardware RAM ERROR reading and writing to the CPU Contact your nearest Mitsubishi data memory area is not possible representative with details The CPU operation circuits which handle sequence processing are inoperative The scan time exceeded the 1 Calculate and check the scan watchdog timer set time time in the user program reduce 1 Scan time too long because of the scan time with the CJ user program conditions instruction 2 Scan time too long because of Monitor the contents of special WDT ERROR instantaneous power interruption register D9005 from a peripheral during scan device A non zero value indicates an unstable power su
159. the CPU module power supply is off Check wiring and module installation 1 Make sure that all modules are correctly mounted in the correct position 2 Check that connectors are correctly inserted 3 Make sure all terminal screws are tight 4 Check servo amplifier and other ground wires 5 Check motor wiring U V W 6 Check the regenerative resistor option wiring 7 Check the emergency stop circuit Check system settings Set the operation axis number EW Turn on power Ensure that the CPU module RUN STOP key is set to STOP Turn on the CPU module power The mode indicated in the brackets at top left of each step is the mode for checking or setting by the peripheral device See Section 1 5 3 6 for information which modules can be mounted in the main base unit and the mounting positions See Section 3 3 for information on mounting modules 4 WARNING lt gt Ground controllers servo amplifiers and servomotors to 100W ground resistance or less class 3 grounding Do not share a common ground with other equipment See Section 1 5 6 3 Note An error may occur if the power is turned on before system settings are made If this happens make the system settings then reset the CPU N CAUTION ER If a regenerative resistor is used ensure that an alarm signal cuts off the power supply otherwise damage to the regenera tive
160. the program is not needed 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 UO equipment and servo amplifier as shown below Main power CPU module CPU module supply power supply 100 200VAC A NFB CP VO power supply o gt UO equipment CP Main power CPU module CPU module supply power supply 100 200VAC gt G NFB CP yo power supply o O equipment CP Servo amplifier power supply Gem 200VAC o o NFB 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 e Example of using the line noise filter o i m Motion AC Line b controller I O filter o 4 equipment E1 E2
161. ting of the unit leave a space of at least 30 mm 1 18 inch between the top of the unit and any other object 2 Provide a wiring duct if required 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 N Due to ventilation problems do not install the base units vertically or horizontally A 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 N 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 N 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 instr
162. ting the Base Un 3 1 3 2 1 Mounting without DIN Ha 3 2 3 2 2 Mountirig ia DIN Me CU 3 2 3 3 Mounting and Removing Modules sasssa a e RASE nnne nennen nnn nennen nennen 3 4 3 4 Mounting the Serial Absolute Synchronous Encoder eee 3 7 rue EEEE DE 3 9 3 5 1 How to Run the Power Supply and I O Wires sse 3 9 3 5 2 Example of Routing the Power Supply and I O Wires c ccccceceeeeeeeeeeceeeeesaeeeeeaeeeeeeeseaeeeeas 3 11 3 6 Mounting Wiring Checklist cccccceccceceseeeeeeeeeeeeeeeeaeeseaeeceeeeceaeeeeaaeseeeeeceaeeesaaeseaaeseeeeeseeeeseaeeeeeeeee 3 12 4 TRIAL RUN AND ADJUSTMENT nennen nnnren herren siens sn netten rennes nnne nennen 4 1to 4 8 4 1 Checklist before Trial Operation ssssssssessesseseeneeenen enne nennen nnns nnn en nennen 4 1 4 2 Trial Run and Adjustment Procedure eese essen entente 4 3 4 3 Operating System Installation Procedure sssssssssssseseeenneeeen nennen nenne 4 7 4 4 Trial Run and Adjustment Checker 4 8 5 INSPECTION AND MAINTENANCE nennen nennen nennen terrens nnne nnne ns 5 1 to 5 23 Del Maintenance Works i iae e pai Seege a at ad d e B a FERRE e 5 1 ERR Heer 5 3 5 3 Scheduled Inspections eesisssssisss sies esses sense nn nannten entes REENEN 5 4 5 3 1 Replacing the Battery EE 5 5 RR ele Le re EE 5 7 5 4 1 Troubleshooting for CPU Module and I O Modules sse 5 9 APPENDICES eet ree ecce editum mb ed E APP 1 to
163. ttings of the new unit correctly On completing maintenance and inspection check that position detection by the absolute position sensing function is correct Do not charge heat burn or disassemble batteries Since electrolytic capacitors can generate gases when faulty do not put your face close to the controller or servo amplifier The electrolytic capacitor and fan deteriorate over time Replace them regularly in order to avoid secondary accidents in the event of their becoming faulty These parts must be replaced at a Service center or service station If the self diagnostic error of the controller or servo amplifier has occurred confirm the check item and recover in accordance with the instruction manual If a hazardous condition is supposed to take place at a power failure or product failure use the servo motor equipped with an electromagnetic brake or provide an external brake mechanism for a holding purpose to prevent such a condition For the electromagnetic brake operation circuit make up a double circuit structure so that the brake is actuated by an emergency stop signal provided externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm magnetic brake signal signal EMG pe AN A A A A N A A EMG Servo motor RAI Magnetic brakes Restart operation after removing the cause of alarm occurrence and ensuring safety After restoration of power from an instantaneous power failure stay aw
164. tus Table of Error Codes cont Error Description and Cause An interrupt was generated but no interrupt module is mounted 1 Three or more computer link modules are loaded for one A171SHCPUN A172SHCPUN CPU module or seven or more computer link modules are loaded for one A173UHCPU CPU module Two or more A1SJ71AP21 R21s or A1SJ71T21Bs are loaded for A171SHCPUN A172SHCPUN or three or more A1SJ71AP21 R21s or A1SJ71T21Bs are loaded for A173UHCPU Two or more interrupt modules mounted The UO allocation set in the peripheral device parameters allocate a special function module where an UO module is mounted or vice versa An attempt was made to access by executing FROM and TO instructions a position where no special function module is mounted The contents written to the link parameter area after parameter setting at a peripheral device differ from the link parameter contents read by the CPU The total number of slave stations is set to zero BCD conversion result exceeds the prescribed limit 9999 or 99999999 Operation not possible because a Setting was outside the prescribed device range 3 A program used a file register for which the file register size is not set 1 Battery voltage is below the prescribed limit 2 Battery lead connector is not connected 11 Reading error codes The error code can be read from a peripheral device after an error occurs Refer to the peripheral device operatin
165. ule 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 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 Table 3 1 Permitted Shaft Loads EE Radial Direction Thrust Direction Bearing Permitted shaft 98N max 49N max load 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 0 2mm Eccentricity 0 008 inch max Angle of deviation Axial displacement 0 02 inch max 3 MOUNTING AND WIRING N A The MR HENC contains a glass
166. uments and the left and right sides of the base units 2 18 2 DESIGN 2 4 3 Installation The mounting positions of the main base unit and extension base unit are shown below Top of enclosure wiring duct or other components Pl PAP ARV AI AP ARV MI AP AU MB AP AU MU AR A MB AV A MB AI A MR Main base unit Extension base unit 30mm 1 18inch min a Connector for SSCNET 4 40mm 1 57inch 70mm 2 76inch Fig 2 1 Parallel Installation min 1 If a DIN rail is used consider the mounting position of the DIN rail Top of enclosure wiring duct or other components 1 18inch min 70mm 2 76inch min 2 Extension Cable Lengths 1 A1SCO3B cable e e e e e280mm 11 02inch max We EE A1SC12B cable e e e e e1100mm 43 3inch max Extension base unit A1SC30B cable e e e e e2900mm 114 17inch max o 30mm Duct height 50mm U 1 18 1 97inch max inch min 2 o S t VOU JA C Z onm 2 76inch min Fig 2 2 Series Installation Enclosure etc Door Contactor D o Be x A o o 3 94 inch min Fig 2 3 Clearance to Instruments Fig 2 4 Vertical Installation Fig 2 5 Horizontal Installation in Front of CPU module Not Permitted Not Permitted 2 19 2 DESIGN 2 4 4 Calculating Heat Generated by A173UHCPU A172SHCPUN A171SHCPUN If a motion controller is installed in an enclosure the temperature inside the enclosure must be restricted to t
167. unit onto the control board panel for M5 screws Hooks to attach to the DIN rail 6 DIN rail hooks A178B S1 S2 S3 7 Geer siop Terminal block to apply servomotor emergency stop terminal A 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 c Extension base unit A1S65B A1S68B EIER Wie 5 N96 No Name Application 1 Extension cable Connects to the signal communications connector on the main base unit with the connector extension cable Remove the connector cover before connecting the extension cable Base cover 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 Unit fi Screws to fix the unit to the base pittixing screw Screw size M4 X 12 5 Base mounting hole Slots for mounting the base unit onto the control board panel for M5 screws 6 DIN rail hook Hooks to attach to the SH rail ALIOS A1S65B A1S68B A
168. up to four modules for the A173UHCPU or only one module for the A172SHCPUN or A171SHCPUN A172SENC Specifications Signal Connected External Usable Number per A172SENC Equipment 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 8 points for 8 axes Servo external signal Manual pulse generator incremental synchronous encoder Voltage differential output type Serial absolute synchronous 1 unit encoder Load the A172SENC to P I O motion slot of the main base Motion slot a r UR E ETE Be Go So S SY SS MITSUBISHI ELECTRIC CORPORATION E CD L E Ot JE al pu Ep a 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 MR HENC 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 add
169. y PX11 PX15 PX19 PX1D GE HIGH level 7 0 VDC min 1 0mA min LOW level a6 PX3 PX7 PXB PXF ET 1 8 VDC max 0 2 PX13 PX17 PX1B PX1F Ee mA max g o PX2 PX6 PXA PXE Stop signal PX12 PX16 PX1A PX1E Tracking enable signal input Generates TRA signal interrupts to o o T A173UHCPU A172SHCPUN A171SHCPUN e Starts counter Common terminals 5VDC to for motion control 24VDC signals external signal and TRA Rated load voltage me 24 VDC 21 6 to 30 BRK COM VDC 0 1 mA max BRK Brake signal output N 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 N Connect the shield wire of the connection cable to the FG terminal of the external equipment N 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 N 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 N Use extr
170. zero point dog RS422 T changeover between speed and position Communication cable A270CDCBLOM e TRA tracking xi xt A270BDCBL OM IBM PC DOS Windows gt Electromagnetic brake command output NET cabl ssoneT2 SSCNET cable di d2 d3 dn SSC I F card board sesch PRESSE EE Termination A30CD PCF A30BD PCF SSCNET1 resistance 1 No of motion slots A A A A A170B AN Cu M M M A178B S1 2 E E E E 2 n No of control axes max A171SHCPUN 4 A172SHCPUN 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 When using a teaching unit A31TU E with a dead man switch a dedicated connecting cable A31TUCBLO3M 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 AS1TUCBL In a motion module a sequence A1S I O modu

A173UHCPU/A172SHCPUN/A171SHCPUN Users

Contents

Download Pdf Manuals

Related Search

Related Contents