Mitsubishi Electronics A173UHCPU manuel d'utilisation

MOTION CONTROLLER User’s Manua l type A173UHCPU,A172SHCPUN, A171SHCPUN MITSUBISHI ELECTRIC MOTION CO NTROLLER Us er’s Manual, ty pe A173 UHCPU,A1 72SH CPUN,A171 SHCPUN[...]

− I − INTORODUCTION Thank you for purchasing the Mitsubishi Motion Controller/A173UHCPU/ A172SHCPU N/A171SHCPU N. This instruction manual describes the handing and precautions of this unit. Incorrect handing will lead to unforeseen events, so we ask tha t you please read this manual thoroughl y and use the unit correc tly. Please make sure that[...]

− II − For Sate Operations 1. Prevention of electric shocks W ARNING Never ope n t he fro nt case or ter minal c overs whil e the power is O N or the un it is runnin g, as this may lead t o e lectric sho cks. Never run the un it with the front ca se or ter min al c over removed. T he hi gh voltag e t erminal and charged s ect i ons w ill be exp[...]

− III − 3. For inju ry pre ventio n CAUTION Do not apply a voltage ot her t ha n that spec i fied in the inst ruct ion ma nua l on any t erminal. Doing s o may lead to dest ruct io n or damage. Do not mista ke the term ina l connect ion s, as t his may lea d t o dest ruction or dama ge. Do not mista ke the polarity (+/-), as this may le ad t o [...]

− IV − CAUTION Use wires an d cab les within the length of the ra nge d escribed in t he i nst ruct i on man ual. The ratings and ch aracterist ics o f the syste m parts (other t han c ontrol unit , serv o amplifier, servomotor) must be co mpatible w ith the control u nit, servo ampl i fier and servomotor. Install a cov er on the shaft so that [...]

− V − (3) Transportation and installation CAUTION Transport the produ ct with the correct method accordin g to the weig ht. Use the serv omotor suspens ion b olts only for the transport at io n of the s ervomotor. Do not transport the serv omotor wit h machine in stalled o n it . Do not stac k prod ucts past the l i mit. When transport i ng t h[...]

− VI − CAUTION When coup li ng w ith t he sy nchroniz ation en cod er or servomotor sha ft end, do not ap ply impact such as by hit t in g with a hammer. Do ing so may l ead t o det e ctor damage. Do not apply a load larger t han t he t o lerable loa d onto the serv o motor shaft. D oin g so may lead to sha ft brea kage. When not usi ng t he un[...]

− VII − (6) Us age methods CAUTION Immediate ly turn OFF t he pow er i f smoke, ab nor mal sounds or od ors are emit t ed fro m the control unit, serv o amplifier or servomotor. Always exe cute a test oper ation be fore start in g actual operat io ns after the progra m or parameters hav e been changed or a fter maintena nce a nd inspectio n. Th[...]

− VIII − (8) Maintenance, inspection and part replacement CAUTION Perfor m the da ily and p erio dic ins pect i ons accordin g to the instruct ion ma nua l. Perform maint en ance a nd inspect io n after b ac king up the progr am and para meters for the control unit an d servo ampl i fier. Do not plac e f ing ers or han ds in the cle arance when[...]

Revisions *The m anual num ber is given on the bottom lef t of the back cover. Print Date *Manual Number Revision Apr.1998 IB(NA)-67395- B First edition Sep.2000 IB(NA)-67395- C Addition Addition of inform ation on the A173UHCPU Correction For Sate Operations (4. Various pr ecautions (3), ( 6), ( 8)), CO NTENT S, 1.1, 1.2.1, 1.2.2, 1.3, 1.4, 1.5.1,[...]

− I − CONTENTS 1. SPECIFIC ATIONS O F MOT ION SYST EM COM PONENTS ..................................................... 1- 1 to 1-57 1.1 Overvie w of the Mot ion S ystem .............................................................................................. ........... 1- 1 1.2 Overall C onfigura tion of Mo tion System ..................[...]

− II − 4.3 Operating System Installat ion Proce dure .................................................................................... ...... 4- 7 4.4 Trial R un and Adjustm ent Check list ......................................................................................... .......... 4- 8 5. INSPECT ION AND MAINTEN ANCE ................[...]

1. SPECIFICATIONS OF MOT ION SYSTEM COMPONENTS 1 − 1 1. SPECIFICA TIONS OF MO TION SYS TEM COMPONEN TS This chapter pro vides th e system conf iguration of the m otion s ystem and the specif ications , functions , set ting m ethods, ext erna l equipm ent con nection methods , part nam es and other inf orm ation of the r elated m odul es for those[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 2 • The s equence pr ogram written into the SCPU, th e servo program or motion program written into the PCPU, an d the pos itioni ng param eters are create d after s tarting up c orrespo nding positio ning sof tware pack age b y the peripher al dev ice. • The per ipheral device started up b y[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 3 1.2 Overall C onfigur ation of Moti on S ystem 1.2.1 A172SHC PUN/A171 SHCPUN S ystem Overall Conf iguration Motion slo t Sequen ce module slot Manual pulse gen erator / synchro nous enc oder interfa ce modul e Limit switch outp ut mo dule Battery Emergenc y stop input A1S inp ut module or speci[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 4 CAUTION Configure saf ety circui ts externa l to th e contro ller or s ervo am plif ier if th eir a bnorm al operati on could ca use axis m otion in a d irection other than the s afe oper ating d irection f or th e system . Ensure t hat the ch aracteris tics of other c omponents used i n a s ys[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 5 1.2.2 A173UHCPU System Overall Conf iguration Motion slo t Sequen ce module slot Manual pulse generato r/ synchro nous enc oder interfa ce modul e Battery Emergenc y stop input Power supply module Main base unit (A178B -S3/ A178B-S2/ A178B-S1/ A17 B) IBM PC (DOS) Manual pulse gen erator 3 (MR-H[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 6 CAUTION Configure saf ety circui ts externa l to th e contro ller or s ervo am plif ier if th eir a bnorm al operati on could ca use axis m otion in a d irection other than the s afe oper ating d irection f or th e system . Ensure t hat the ch aracteris tics of other c omponents used i n a s ys[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 7 1.3 Equipm ent in S ystem (1) Table of m otion m odules Part Name Model Name Descripti on Current Consumpti on 5 VDC (A) Remarks A173UHCPU(-S1) Max. 32 ax es cont rol 1.90 A172SHCPUN Max. 8 axes control 1.63 CPU m odule A171SHCPUN Max. 4 axes control 1.63 A172B One motion module slot and one se[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 8 (2) Table of servo am plifier m odules Part Name Model Name Descripti on MR-H BN 50 W to 22 kW Servo a mplifier MR-H KBN 30 kW to 55 kW Battery MR-BAT Backup for absol ute position det ection Termination connect or MR- TM Fitted to the last a mplifier of S SCNET MR-PB E xternal regenerative res[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 9 (3) T able of s oftware pack age (a) Motion f uncti on Peripheral S oftware Packag e Main OS S oftware Packag e Model Nam e Applicable version Use Per ipher al Devices Model N ame For A173UH For A172SH/ A171SH For A173UH For A172SH For A171SH Teachi ng function Japanese SW 2SRX-GSV1 3P From 0A [...]

1. SPECIFICATIONS OF MOT ION SYSTEM COMPONENTS 1 − 10 1.4 Genera l Specif ications Table 1.1 G eneration Specif ications Item Specificat ion Operating ambient temperature 0 t o 55 ° C Storage ambient temperature -20 t o 75 ° C Operating ambient humidity 10% to 90%RH, no condensation Storage ambient humidity 10% to 90%RH, no condensation Frequen[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 11 1.5 Specif ications an d Settings of Com ponents 1.5.1 A173UHCPU/ A172SHCPUN/ A171SHC PUN (1) Basic s pec ificatio ns of A17 3UHCPU, A172 SHCPUN a nd A1 71SHCPUN Item A173UHCPU(-S1) A172SHCPUN A 171SHCPUN No. of control axes 32-axes 8-axes 4-axes SV13 3.5 ms/1 to 20 axes 7.1 ms/21 to 32 axes M[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 12 (2) Func tions an d perf orm ance spec ific ations of P CPU The perf orm ance spec ifications and f unctions of the P CPU de pend on the motion f unction O S m odel ins talle d in the C PU m odule. Refer to the progr amm ing m anual of the m otion f unctions i nstalle d in th e CPU module.[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 13 (3) SCPU perfor manc e specif ications and func tions (a) SCPU perfor m ance specif ications As the SC PU per form ance s pecific ations dif fer accor ding to t he operat ing system used, r efer to the appropr iate OS Progr amm ing Manual f or d etails. Table 1.2 T able of SC PU Perf ormanc e [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 14 Table 4.1 T able of SC PU Perf ormanc e Specif ications (C ontinued) Item A173UH CPU ( -S1) A172S HCPU N A171SHCP UN Standar d Max. 1 0 block s (se t by memory capacity) No. of e xtensio n file re gister block -S1 Max. 4 6 block s (se t by memory capacity) Max. 1 0 block s *6 (se t by me mory [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 15 (b) SCPU functions Refer to the A2SH CPU user 's m anual for deta ils of the SC PU f unctions of A171SH CPUN/A 172SHC PUN and A3 UCPU us er’s m anua l for deta ils of the SCPU f unctio ns of A173 UHCPU. Table 1.3 T able of SC PU Functio ns Function Descri ption Constant s can ! Sets a c[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 16 (4) Nam es of A173UHCPU/A17 2SHCPUN/ A171 SHCPUN Parts 1) 2) 3) 4) 6) 7) 8) 9) 10) 14) 13) 16) 17) 15) 11) 19) 18) 18), 19) N 100 2 40VAC 105V A NC NC [A173UHCPU] FRONT SSCNET 4 1 3 2 1:SSCNET1 2:SSCNET2 3:SSCNET3 4:SSCNET4 N 12) 100 2 40VAC 105V A A173UHCPU/A172SHCPUN 1) 2) 3) 4) 6) 7) 8) 9) [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 17 No. Name Applicatio ns 3) RUN indica tor ! Lit: Sequence program operating with RUN/STOP key switch set to RUN. The indicator remain s lit if an operatio n error occur s in the seq uence program (Refer to sectio n 5.4.1 (10)). ! Not lit: The RUN indicator is not lit in t he following cases: ! [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 18 No. Name Applicatio ns 19) Personal computer link SSC connect or SSCNET2 (A172SHCPUN/ A171SHCPUN) SSCNET4 (A173UHCPU) ! A connect or for linkin g a persona l computer and persona l computer li nk SSC. When using t he A172SHCP UN/A171SHCPUN , connect t he servo a mplifier or personal co mputer [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 19 (5) Swi tch settings SCPU built-in RAM memo ry protect range setting Less than a range from 64k to 256k bytes Less than a range from 0k t o 64k byte s SW402 I/O control method setting ON : D i re ct m e th od f or i n pu t s and ou t p ut s OFF: Refresh method for inputs and outputs 2 1 ON : M[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 20 CAUTION Switch SW 1- 2 is f or use by the m anuf acturer onl y. Leave this s witch set O FF. Operation c annot be guar anteed if this s witch is set t o ON. POINT S (1) Turn off the power suppl y before s ettin g the ins tall s witch. (2) After us ing this switch, c heck the switc h status bef[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 21 (6) Func tions an d perf orm ance spec ific otions of A173UHCPU/ A172SHCPUN /A171 SHCPUN in ternal power s uppl y. Table 1.4 Int ernal Power Supp ly Sp ecific ations Item Specific ations Model name A173UHCPU/A172SHCPUN A171SHCPUN Input power supply 100 to 240 VAC +10% -15% (85 to 264 VAC) Inpu[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 22 (7) Inf ormation c ontrol proces sing m aking us e of pers onal com puter By connect ing a persona l com puter to the SSCNET , you can add to the m otion system the digita l osci llosc ope functi ons use d for m onitor ing the equ ipm ent status an d for c heck ing the opera tion, t uning and [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 23 (a) MELSECNET(II) Fiber-opti c or coaxi al cable Fiber-opti c or coaxi al cable 2nd class 3rd class (64 stations max.) Remote I/O station Remote I/O station Local station Local station Local station Mast er station Local station Master stat ion POINT S As the ins truct ion for ot her stat ion [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 24 (9) Conn ection of peripher al de vice This section ex plains how to c onnect the p eriphera l device used to ins tall the motion functions (motion O S) to the CPU m odule, cr eate motion pr ogram s, cr eate sequence progr am s, and perf orm JOG operation and teac hing. As the peripher al devi[...]

1. SPECIFICATIONS OF MOT ION SYSTEM COMPONENTS 1 − 25 1.5.2 Extension Bas e Power Suppl y Module (1) Po wer supp ly m odule spec ificat ions Table 1.5 P ower Su pply Modu le Specif ications Specificat ions Item A1S61PN A1S62PN Mounting position i n base Power supply module mounti ng slot Input power supply 200 to 240 VAC +10% -15% (85 to 264 VAC)[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 26 (2) Nam es of parts (a) A1S61 PN po wer supp ly modul e nam es of parts 1) 2) 3) 4) 5) 6) 7) N 100-240 VAC (FG) (LG) No. Name A pplication 1) PO W ER in dicator Displ ay indicat or for 5 VDC power supply . 2) FG termi nal A grounding ter minal connected w ith the shiel ding pattern on the pr i[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 27 (b) A1S62 PN po wer supp ly modul e nam es of parts 1) 3) 4) 5) 6) 7) 8) N 100-240 VAC (FG) (LG) 2 DC24V 0.6A 24V 24G 2) No. Name A pplication 1) PO W ER in dicator Displ ay indicat or for 5 VDC power supply . 2) 24VDC, 24GDC terminals Suppli es output module s which requir e 24 VDC internally[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 28 1.5.3 Base Units and Extension Cabl es (1) Perf orm ance spec ific ations (a) Bas e unit specif icat ions 1) Main b ase u nit spec ificati ons Table 1.6 Table of Mai n Base Un it Spec if ications Model Name Item A172B A 175B A178B A178B -S1 A178B -S2 A178B -S3 N o . o f m o t i o n s l o t s 1[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 29 (2) Nam es and setti ngs of par ts (a) Main b ase un it (A17 2B, A175 B, A17 8B) 1) 3) *1 4) 5) 6) 7) 2) Sequencer slot Motion slot No. Name A pplication 1) Extensio n cable connect or Connects to th e signal c ommunica tions con nector on the ex tension base u nit with t he extension cabl e. [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 30 (b) Main b ase un it (A17 8B-S1/ S2/S3) OUT A178B-S2 6) Motio n slot 3) *1 Sequencer slot 1) 2) 4) 5) 7) No. Name A pplication 1) Extensio n cable connect or Connects to th e signal c ommunica tions con nector on the ex tension base u nit with t he extension cabl e. 2) Base cov er A cover for [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 31 (c) Ex tension bas e un it (A1S 65B, A1S6 8B) A1S68B 5) 2) 4) 6) 1) 3) *1 No. Name A pplication 1) Extensio n cable connect or Connects to th e signal c ommunica tions con nector on the main b ase unit w ith the extension cable. Re move the c onnector cov er befor e connecti ng the ex tension [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 32 (d) Extens ion bas e unit (A168 B) A168B IN OUT OUT 5) 2) 4) 6) 1) 3) *1 1) 2) No. Name A pplication 1) Extensio n cable connect or Connects t o the signa l communica tions connector o n the main b ase unit or bu s coupling ty pe GOT with the ex tension ca ble. Take off t he supplie d connecto[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 33 (3) Selec tion of base un its an d extens ion cab les (a) Selec tion of main bas e un it Choose the m ain base unit acc ording to the n um ber of puls e generator/s ynchronous enc oder interf ace m odules ( A172SENC) an d lim it output modules (A1SY42) fitted to the m ain base ( number of moti[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 34 (4) Motion s lots W hen using the A172SENC and l imit outp ut m odule (A1 SY42), load th em into P I/O (m otion slots) of the m ain bas e. OUT Motion slot (5) Main b ase un it em ergenc y stop circu it (a) By ope ning the m ain b ase u nit em ergenc y stop (EMG) circui t, it is p ossibl e to e[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 35 (6) Connec tion an d I/O as signm ent of base u nits This section exp lains th e wa y to connec t the b ase units and the c once pt of sequence I/O assig nment. Use the ex tension ca bles for connec tion of the m ain base unit and ex tens ion base unit and conn ectio n of the extens ion base u[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 36 • Exam ple of us ing the A175B m ain bas e (when a 16- point m odule is loade d to each slot ) Sequencer slot No. CPU Power supply modul e A168B extension base unit Motion slot 0 00 0F to 10 80 8F to 8 90 9F to 9 A0 AF to 11 B0 BF to 12 C0 CF to 13 D0 DF to 14 E0 EF to 15 F0 FF to Main ba se[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 37 • Exam ple of us ing the A178B-S 3 m ain base ( when a 16-poi nt m odule is loaded to e ach slo t) CPU Power sup ply module A1S68B extension base unit Motion slot 10 80 8F to 8 90 9F to 9 A0 AF to 11 B0 BF to 12 C0 CF to 13 D0 DF to 14 E0 EF to 15 F0 FF to Main base unit (A178B-S3) Vacant, 1[...]

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 38 1.5.4 Manual P ulse Gen erator/Syn chrono us Encoder Interf ace Modul e A172SENC r ecei ve external signa ls requ ired for positi oning co ntrol ( motion c ontrol signals and track ing inputs ), m anual pu lse gener ator inputs , and s ynchrono us encoder in puts. (1) Spec ificat ions Table 1.9[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 39 (2) Descrip tio n of Parts (a) A172SE NC 1) 2) 3) 4) No. Name A pplication Display the i nput st atus from ex ternal equi pment and err ors dete cted by se lf-diagnos is. LED Descripti on PX0 to PX1F Indi cators to di splay the motion contr ol sig nal input s tatus of ea ch axis. TRA Input sta[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 40 (3) Selec tion of A 172SE NC m odule and c onnectio n with externa l equipm ent (a) Num ber of A172SENC modules Determ ine the num ber of A172SENC m odules acc ording to the num ber of control axes which us e such exter nal sig nals as up per and lower s troke lim it and near-zero p oint dog s[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 41 (b) Connec tion of m anual pulse generator s/s ynchrono us enco ders Manual puls e generator s are a vailable i n voltage o utput t ype and dif ferential output t ype, and s ynchronous encoder s are a vailable in v oltage output/dif ferential out put t ype and serial a bsolute outp ut type (Mo[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 42 • Interfac e betwee n PULS ER connec tor an d volt age-outp ut manual pu lse g enerator /increm ental s ynchrono us encod er Pin No. PULSER Connect or Input or Output Signal Nam e Voltage-Out put Ty pe W iring Example Internal Circuit Specific atio n Descriptio n A + 4 Manual pulse generator[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 43 • Interfac e betwee n PULS ER connec tor an d diff erential- outpu t manual pu lse g enerator /increm ental s ynchrono us encod er Pin No. PULSER Connect or Input or Output Signal Nam e Voltage-Out put Ty pe W iring Example Internal Circuit Specific atio n Descriptio n A + 7 Manual pulse gen[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 44 2) Connecti on of s erial abs olute s ynchronous e ncoder ( MR-HEN C) Use the SY.ENC connector at t he A172 SENC m odule f ront to connect the serial abso lute synchr onous encoder (MR-HENC). Use the MR-HSC BL M encoder c able bet ween the seri al abs olute synchronous enc oder (MR- HENC) and [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 45 CAUTION Connect the SY.ENC c onnector to extern al eq uipm ent using a shield ed cabl e. To r educe electrom agnetic inter ferenc e, do not pos iti on the ca ble clos e to, or bundl e it with, power or m ain circuit c ables. A clear ance of at leas t 200 mm ( 0.66 inch) to other c ables is r e[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 46 • Interfac e betwee n SY.ENC con nector and exter nal equ ipm ent Pin No. Input or Output Signal Nam e SY.ENC Connect or W iring Example Internal Circuit Specific atio n Descriptio n MR 4 MRR 3 P5 *3 7, 8, 16 SG *3 1, 2, 15, 17 BAT 14 Input SD 20 • Transmissio n method: s erial communicati[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 47 Use the CTRL c onnector at the A172SENC m odule f ront to connect th e servo external sign als. The pin la yout and con nection of the CT RL connector ar e described belo w. The follo wing pin la yout is the f ront view as seen f rom the CT RL connec tor front of the A172 SENC. POINT Signal No[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 48 • Interfac e betwee n CTRL conn ector an d serv o external s ignal Pin Num ber Input or Outpu t Signal Nam e CTRL Co nnector W iring E xample Intern al Circui t Specific ation Descri ption PX 0, PX4 , PX 8, PX C PX 10 , PX 14 , PX 18, PX 1C B20 A20 B16 A16 B12 A12 B8 A8 FLS PX 1, PX5 , PX 9,[...]

1. SPECIFICATIONS OF MOT ION SYSTEM COMPONENTS 1 − 49 1.5.5 Teac hing Unit (1) Nam es of parts (a) A30TU-E MITSUBISHI A30TU-E 1) 2 ) 3) 4 ) 6) Invalid Valid A30TU-E SV13 Ve *Data * Monitor *PROG *Test Press the mo de key. DATA TEST STOP STEP- STEP+ RETURN ERROR RESET Emer gen cy Stop GO SHIFT CAN AXIS NO. JOG - JOG + ITEM # 8 CLEAR SP 79 : E 5 F [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 50 (b) A31TU-E MITSUBISHI A31TU-E 1) 2) 4) 6) Invalid Valid A31TU-E SV 13 Ve *Data * Monitor *PROG *T est Press the mode key. 3) Schematic drawing of front panel Eme r ge nc y Stop Schematic drawing of rear panel 7) DATA TEST STOP STEP- STEP+ RETURN ERROR RESET GO SHIFT CAN AXIS NO. JOG - JOG + I[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 51 (2) Selec tion of te achin g unit and conn ection with CPU m odule (a) Selec tion of teachin g unit There ar e the A30TU- E and A31T U-E teaching u nits. Ref er to the fol lowing table for s electio n. Selectio n of T eaching Unit Compariso n A30TU-E A31TU- E Dead-man sw itch *1 Wi th o ut Wi [...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 52 (c) Connec tion of A 30TU- E and CPU m odule (3) A ppl icable teach ing unit versio n Teac hing unit vers ion applic abl e to CPU m odule is as follo ws: Model N ame Applicab le Version A30TU-E D or later A31TU-E B or later Teac hing unit v ersion is m arked on the rate d nam e plate at th e r[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 53 1.5.6 SSCN ET Cables and T erm ination Resis tor and T heir Connecti on Method SSCNET cable overall length 1)+2) 30m(98.36ft.) Motion controller CPU module IN OUT Servo amplifier MR -H-B N MR-J2 S-B MR-J2 -B IN OUT Servo amplifier MR -H-B N MR-J2 S-B MR-J2 -B 1) 2) 3) No. Product Model Descrip[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 54 (2) Conn ection of CPU m odule a nd ser vo am plifier s This section exp lains ho w to co nnect the CPU m odule. Use the S SCNET to co nnect t he CPU m odule a nd ser vo amplif iers. W hen using the A172 SHCPUN/ A171SHCPU N, o nly one line of S SCNET is avai lable for s ervo am plifier c onnec[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 55 (c) MR- J2S-B/MR-J2- B+MR-H- BN conf igurat ion MR-J2S-B /MR- J2- B MR-H- BN Bat tery MR-BAT, A6BAT Termin ation connector CPU module Bat tery MR-BAT, A6BAT Bat tery MR-BAT, A6BAT MR-J2S-B /MR- J2- B MR-J2S-B /MR -J2 -B MR -H-B N Bat tery MR-BAT, A6BAT Termin ation connector CPU module Bat ter[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 56 (3) Serv o am plifier ax is num ber s and axis No. (d no.) sett ing The ax is No.s are used t o set the ax is num bers of the S SCNET-c onnected servo am plifier s in th e progr am. Ax is No.s 1 to 32 c an be set f or the A173UHC PU, 1 to 8 f or the A1 72SHC PUN, and 1 to 4 f or the A1 71SHC P[...]

1. SPECIFICAT IONS OF MOTION SYSTEM COMPONENTS 1 − 57 1.5.7 Battery This section d escr ibes the ba tter y specific ations a nd han dling precaut ions. (1) Batter y in C PU modul e (a) Spec ificat ions The s pecific ations of the batter y for mem ory back -up are sho wn in th e table below. Table 1.10 Batt er y Specif ic atio ns Model N ame Item [...]

2. DESIGN 2 − 1 2. DESIGN This chapter provides those who will desi gn and m anage the m otion system with the procedures and instruc tions neces sar y to design the m otion s ystem. For the s ystem and par ameter settings and progr amm ing method of the m otion system , refer to the operating an d programm ing m anuals. This chapter does not des[...]

2. DESIGN 2 − 2 Refer to Sectio n 1.5.1(7 ). Refer to Sectio n 1.5.1(8 ). Refer to Sectio n 2.3. Refer to Sectio n 2.3.1. Refer to Sectio n 2.3.2. Refer to Sectio n 2.4. Carry out layou t design fr om suc h asp ect s as install ation env iron me nt , e.g. tempera tures and vibrat ions i n conside ratio n of heat genera ted from modules , and hand[...]

2. DESIGN 2 − 3 CAUTION Provid e appropri ate circ uits exter nal to t he ser vo s ystem CPU to pr event c ases where dan ger may result fr om abnorm al operat ion of the ov erall s ystem in the e vent of a power s uppl y fault or servo s ystem CPU f ailure. Mount each contro ller, s ervo am plif ier, serv om otor, and regen erat ive resis tor on[...]

2. DESIGN 2 − 4 2.2 System Design To ex ercise m otion contr ol an d extern al I/O eq uipm ent control, the m otion s ystem consists of the C PU m odule, m ain base unit a nd vari ous m odules suc h as the power su pply m odule, puls e gen erator/s ynchron ous enc oder m odules and I/O modules . Each m odule m ust be s elected, s et, an d connec [...]

2. DESIGN 2 − 5 2.3 Externa l Circuit Des ign As to the ways to des ign the externa l circuits of the m otion s ystem, this sectio n explains th e m ethod and instruc tions f or designi ng the p ower s uppl y and saf ety circuits, etc. (1) Sam ple s ystem c ircuit desi gn for m otion c ontrol RS T NFB A173UHCPU / A172SHC PUN/ A172SENC PX0 PX1F TR[...]

2. DESIGN 2 − 6 POINT S (1) *1 : A 100 VAC po wer suppl y can als o be us ed as the power suppl y to the CPU m odule. (2) *2 : Seque nce pro gram M9036 M90 74 Yn Servo alarm/ Error dete ction (3) *3 : It is a lso pos sible t o use a f ull wa ve rect ified p ower su ppl y as the po wer supp ly for the electrom agnet ic brak e. (4) For details on c[...]

2. DESIGN 2 − 7 (2) Exam ple of system cir cuit conf iguration com patib le wit h A31T U-E t ype teaching unit RS T NFB A173UHCPU/ A172S HCPUN/ A171SHCPUN A172SEN C PX0 PX1F TRA COM 200VAC 200VAC FG LG EMG EMG. COM. BRAKE OUT BRAKE COM PX0 PX1F TRA COM Ra1 Ra2 EMG OFF ON Ra1 +DC24V 24G Ym Ym+1 Ym+n COM CPU EMG CPU EMGL Ra1 SK TU EMG TU E MG1 TU E[...]

2. DESIGN 2 − 8 POINT (1) *1 : 100 V AC power sup pl y can also be used as the power s uppl y to the C PU module. (2) *2 : Seque nce pro gram M90 36 M9 074 Servo alarm/ Error detection Ym (3) *3 : It is a lso p ossib le to use a full wave rec tif ied power su pply as the power s upply for the electrom agnet ic brak e. (4) For deta ils on c onnect[...]

2. DESIGN 2 − 9 (c) Sam ple s ystem circ uit designs Power supply Power supply Transform er Trans forme r Tra nsforme r Fuse Fuse F use CPU CPU Ym Yn M9084 M9006 M9039 XM RA1 MC Ym Yn M9084 TM M9006 M9039 XM TM TM RA1 MC1 NO M10 Progr am DC power suppl y (+) (-) Fuse RA2 MC M10 RA1 MC St ar t sw i t ch Stop switch Output modu le Output modu le Ou[...]

2. DESIGN 2 − 10 2.3.1 Power S upply Circ uit Design This section desc ribes the pr otective coor dination a nd nois e suppress ion techni ques of the power s upply circuit. (1) Separ ation and protect ive coord ination ( leak age current protect ion, over current protection) of power suppl y lines W hen wiring, separate the lines of CPU m odule [...]

2. DESIGN 2 − 11 (2) Po wer supp ly no ise and lighte ning su rge s uppressi on tec hniqu es If there is a possibilit y that a m alf unction ma y occur due to a sn eak noise fr om the main power s upply or servo am plifier or due to a l ightening s urge, use a line n oise filter and l ightening s urge abs orber in the po wer suppl y lines of the [...]

2. DESIGN 2 − 12 (4) Gr ounding The m otion syst em ma y m alfunction as it is aff ected b y various n oises such as electric p ath no ises f rom the po wer supp ly lines , radi ated and i nduced n oises from other equipm ent, s ervo am plif iers and t heir cab les, a nd electrom agnet ic noises f rom conductors . To avoi d such trou bles , conne[...]

2. DESIGN 2 − 13 (2) Main b ase em ergenc y stop circ uit (a) By ope ning the EMG cir cuit of the m ain base unit, a ll axes of the exter nal servo am plifier s (MR-H- BN/MR-J2 S-B/ MR-J2-B) can be br ought to an emer gency stop a t once. Af ter a n emer gency sto p, rem ove the em ergenc y stop fac tor and ca ncel the emer gency stop (switch o n[...]

2. DESIGN 2 − 14 • For A172SHCPUN/A 171SHCPUN M0 T200 Yn M1608+20n M1815+20n M1608+20n M 1815+20n M0 T200 K20 *1 M1608+20n M1815+20n M0 T200 Yn : : : : : Servo error detection Serv o OFF co mm and Servo error or servo ready OFF detection flag Servo side normal period (200ms) measuring timer Electromagnetic brake operation instruction Turns on M[...]

2. DESIGN 2 − 15 (4) Fails afe m easur es fo r Motion c ontroll er fail ure Failure of the CP U m odule or m em ory is detecte d b y the self- diagnos is function, but som e abnor malities in th e I/O co ntrol com ponents c annot b e detected b y the CPU. Some failures can resu lt in s ituat ions s uch as a ll po ints turn ing o n or off , where [...]

2. DESIGN 2 − 16 2.3.3 Instruct ions f or Exter nal Circuit W iring Des ign (1) W iring (a) Use the wires of the f ollowing d iam eters f or wiring. Application Recomme nded Wire Diameter 100VAC, 200VAC, 24VD C wires Thicke st possibl e wires of 2.0mm 2 max. I/O equipme nt 0.75mm 2 (0.75 to 1.5mm 2 usable) Ground w ire 2.0mm 2 or more (b) T wist [...]

2. DESIGN 2 − 17 2.4 Layout Design within Enclosur e 2.4.1 Location Envir onment Avoid loc ating t he m otion co ntroller s ystem in en vironm ents s ubject to: (1) Am bient tem perature outside t he range 0 ° C to 55 ° C (2) Am bient hum idit y outside t he range 10% to 90% RH (3) Cond ensation r esult ing f rom s udden tem peratur e changes ([...]

2. DESIGN 2 − 18 2.4.2 Installing t he Base Units This section d escribes the prec autio ns rel ated to m ounting a m otion contr oller in an enclosur e. (1) T o improve venti lation and perm it easy m ounting of the unit, lea ve a spac e of at least 3 0 mm (1.18 inch) bet ween th e top of the unit an d an y other o bject. (2) Prov ide a wiring d[...]

2. DESIGN 2 − 19 2.4.3 Installat ion The m ounting pos itions of the m ain bas e unit an d exte nsion b ase un it are s hown below. Co nne ctor for SS CNET 40mm (1.57inch) *1 Main base unit Extension base uni t 30mm (1.18inch) min. 70mm (2.76inch) min. Top of enclosure, wiring duct, o r other components Enclosure, etc. Door Contactor, relay, etc.[...]

2. DESIGN 2 − 20 2.4.4 Calculating Heat Generated b y A173UHCPU/A1 72SHCPUN/A17 1SHCPUN If a motion controller is insta l led in an enc l osur e, the tem peratur e ins ide the enclosure m ust be rest ricted to th e operati on am bient tem perature of 55 C . The avera ge po wer cons um ption (heat g enerati on) of the equipm ent a nd instrum ents [...]

2. DESIGN 2 − 21 (4) Aver age power consum ption f rom voltage dr op in ou tput cir cuits of the outp ut modules (power c onsum ption of sim ultaneous ly ON p oints) W OUT = I OUT Vdro p No. output poi nts Sim ultaneous ly ON rat io (W ) I OUT : I OUT is t he output c urrent(ac tual op eration c urre nt) (A) Vdrop : Vdrop is t he vo ltage dr op o[...]

2. DESIGN 2 − 22 2.5 Design Chec klis t At the work site, c opy the f ollo wing tab le for use as a chec k s heet. Item Sub Item Design Conf irmation Check Number of axes axes Number of I/O p oints points CPU module se lection Selected CPU module Manual pul se genera tor pcs. Synchronous enc oder pcs. Number of upper limit poin ts points Number o[...]

3. MOUNTING AND WI RING 3 − 1 3. MOUNTING AND W IRING This chapter provides the m ounting and wiring proced ures and h ard ware handling inform ation for those who will m ount eac h equipm ent to a contro l box or th e lik e, design wiring and install the hard ware. This chapter does not gi ve the ways to ins tall and wire the am plif iers, mo to[...]

3. MOUNTING AND WI RING 3 − 2 3.2.1 Mounting without DIN R ail Drill m ounting screw holes in acco rdanc e with t he out line dim ens ional dra wings in Append ix 1.3 Ma in Bas e Unit a nd App endix 1.4 Ext ensio n Base U nit. Screw Tightenin g Torque R ange N cm Base mou nting scre w (M 5 screw ) 273 to 361 (Control box , when screw s are made o[...]

3. MOUNTING AND WI RING 3 − 3 (3) Mounti ng units t o, and r em oving them from , the DIN ra il (a) Mounti ng to DIN ra il The proc edure t o mount a b ase u nit on the DIN ra il is des crib ed bel ow. 1) Engag e the to p of the bas e un it DIN rai l groove with the t op of th e DIN rail. 2) Push the base unit towar d the DIN r ail to f asten it.[...]

3. MOUNTING AND WI RING 3 − 4 3.3 Mounting an d Rem oving Mod ules This section d escribes how to m ount C PU modul es, I/O m odules, and sp ecial- function m odules in a bas e un it, and ho w to rem ove t hem. (1) Mounti ng m odules Follo w the proce dure be low to m ount a m odule in the bas e un it. Base u nit Module Module lug s Module fixing[...]

3. MOUNTING AND WI RING 3 − 5 (2) Rem oving m odules Follo w the proce dure be low to r em ove a m odule fr om the base unit. End Base unit Mod ule connector Module fixi ng holes Mod ule Remove the fixi ng screws and p ivot the module around the bot tom lugs toward you. Lifting the module up, detach the lugs from the module fixing hole s. (3) Fix[...]

3. MOUNTING AND WI RING 3 − 6 CAUTION W hen removin g a modul e, rem ove the m odule f ixing s cre ws before a ttem pting to rem ove t he lugs fr om module fix ing holes. Forc ing ou t a modul e m ay damage the lugs . Turn off the power suppl y before m ountin g or rem oving a m odule. The term inal bl ock and pin conn ectors of this b ase u nit [...]

3. MOUNTING AND WI RING 3 − 7 3.4 Mounting th e Serial Absolute S ynchron ous Encod er Precaut ions when using a MR-H ENC serial absolute s ynchr onous enc oder. (1) If the serial abs olute s ynchr onous enc oder is link ed to a ch ain, t iming be lt, or gears, th e mac hine rot ating shaf t should be s upported b y a sep arate be aring and conne[...]

3. MOUNTING AND WI RING 3 − 8 CAUTION The MR-H ENC conta ins a gl ass dis k and pr ecis ion mec hanism . T ake care whe n handli ng it. T he encoder perform ance m a y deteri orate if it is dropped or subj ected to s hock s or vibration exceedi ng the pr escr ibed lim its. Do not conn ect the enc oder d irectl y to the rota ting m achine sh aft. [...]

3. MOUNTING AND WI RING 3 − 9 3.5 W iring 3.5.1 How to Run the Power Sup ply and I/O Wires (1) Prec autions when usi ng the A1S62 PN power s upply m odul e 24 VDC o utput Do not conn ect 24 VD C outputs from m ultiple po wer supp ly modu les in par allel to suppl y a sing le I/O m odule. T he po wer suppl y modules will b e dam aged if the output[...]

3. MOUNTING AND WI RING 3 − 10 (c) Keep 2 4 VDC I/O wires s eparatlf wires from 100 VAC and 200 V AC wires. (5) Gr ounding Connect the ground wiring as desc ribed i n steps (a) to (c ) belo w. (a) Use a s eparate ground, if poss ible. Grou nd resist ance 100 or less. (cl ass 3 ground ing) (b) If a separate gr ound is not pos sible, connec t to gr[...]

3. MOUNTING AND WI RING 3 − 11 3.5.2 Exam ple of Routing the Po wer Suppl y and I/O W ires This section s hows ex am ples of wir ing the m ain bas e unit an d exte nsion b ase un it power-supp l y and groun d wires. +24V -24G FG LG INPUT (Only A171SHCPUN) (A17 B, A178B(-S1/S2/S3)) main base unit (A1S65B, A1S68B, A168B) extension base uni t A1S61P[...]

3. MOUNTING AND WI RING 3 − 12 3.6 Mounting/W iring Checklist At the work site, c opy the f ollo wing tab le for use as a chec k s heet. Item Sub Item Mounting/ W ir ing Confir mation C heck Check for loose or di storted moun ting. Check that the mounti ng screw tightening t orque is a s specifie d. Base unit mo unting Check the unit for dam age.[...]

4. TRIAL RUN AND ADJUSTMENT 4 − 1 4. T RIAL RUN A ND ADJUST MENT This chapter desc ribes the c heck ing item s and proc edures necess ary for trial ru n and adjus tm ent for thos e who will perf orm trial run an d adjus tm ent of the m otion sy stem. 4.1 Check list befor e Trial Oper ation Table 4.1 Check lis t before T rial O peratio n Model Nam[...]

4. TRIAL RUN AND ADJUSTMENT 4 − 2 CAUTION Check and adjust t he progr ams and param eters bef ore star ting tri al oper ation. Er rors in the program s or par am eters ma y cause the m achine to m ake unpr edicted m ovem ents. Never m ake ver y large adj ustm ents as this can m ake operation u nstab le. W ARNING Do not open t he fr ont casi ng or[...]

4. TRIAL RUN AND ADJUSTMENT 4 − 3 4.2 Trial Run a nd Adj ustment Pr ocedure POINT S (1) Make note of m otor m odel nam es bef ore the m otor is ins talled on a machine. T he m otor nam e plat e ma y not be vis ible af ter the m otor is insta lled. (2) The m achine m ay m ake unpredic tab le m ovem ents after a servo amplif ier or servom otor is f[...]

4. TRIAL RUN AND ADJUSTMENT 4 − 4 Install operati ng system Install the posi tioning OS into the CPU module from the peripheral device. WARNING Even if the po wer is tumed off, do not open the front casing or te rminal covers , except to connect wiri ng or conduct scheduled inspections. Charged c omponents in the controller or se rvo amplifier ca[...]

4. TRIAL RUN AND ADJUSTMENT 4 − 5 Write positio ning d a ta Write the created sequence program s and motion programs to CPU modul e with the peripheral device. CAUTION If u sed in sys tems f or whi ch safety standards apply (such as robot systems), all controllers, s ervo amplifiers, and servomotors must m eet the prescri bed safety st andads. Co[...]

4. TRIAL RUN AND ADJUSTMENT 4 − 6 Check machine movements (1) Check the f ollowing machine movements using JOG operation from a peripheral device o r manual pulse generator operation. (a) Machine moves normally (no vibrations, hunting, etc.) (b) Stroke limits operate correctly ( c) Emergency stop stops ma chine movements. Set the CPU module RUN/S[...]

4. TRIAL RUN AND ADJUSTMENT 4 − 7 4.3 Operating S ystem Installati on Procedur e In the CPU m odule, the oper ating s ystem (hereaf ter abbrevia ted to t he OS) c an be changed us ing the peripher al dev ice and s oft ware pack age. This OS chang e is ca lled i nsta llatio n. Start installa tion Open the cover at t he front of the CPU and turn ON[...]

4. TRIAL RUN AND ADJUSTMENT 4 − 8 4.4 Trial Run a nd Adj ustment Chec k list At the work site, c opy the f ollo wing tab le for use as a chec k s heet. Work Step Item Trial Run an d Adjustme nt Confirm ation Check Check that each mod ule is mou nted properly . Check that each conn ector is fi tted properly . Check ea ch terminal screw for loosene[...]

5. INSPECTION AND MAINTENANCE 5 − 1 5. INSPEC TION AND M AINTENANC E This chapter desc ribes the m ethods of troubles hooting a nd da ily m aintenanc e and inspect ion for th ose wh o will c arry out s uch wor ks . 5.1 Maintenanc e W orks This section ex plains th e per iodic an d dail y inspec tions per form ed to oper ate t he motion s ystem sa[...]

5. INSPECTION AND MAINTENANCE 5 − 2 CAUTION Perform dail y and peri odic ins pec tions in accor dance wit h the d irectio ns in this m anual a nd the instruct ion m anual for the pro duct use d. Make bac kups of contr oller and s ervo am plifier pr ogram s and param eters before c arr ying out maintenanc e and insp ec tion . Be caref ul not to tr[...]

5. INSPECTION AND MAINTENANCE 5 − 3 5.2 Daily Inspec tions The ins pections l isted in the tab le be low shou ld be c onducte d ever y da y. Table 5.2 Dail y Inspecti ons No. Item Description Evaluation S tandard Rem edy 1 B ase unit install ation All screws tight and covers in position . Must be firml y instal l ed. Tighten loose screw s. 2 I /O[...]

5. INSPECTION AND MAINTENANCE 5 − 4 5.3 Schedul ed Inspecti ons The ins pections l isted in the tab le be low shou ld be c onducte d once or twic e ever y 6 to 12 m onths. T hey should als o be cond ucted af ter equ ipment is m oved or upgraded, and if the wiring is c hanged . Table 5.3 Sc heduled Ins pections No. Item Description Evaluation S ta[...]

5. INSPECTION AND MAINTENANCE 5 − 5 5.3.1 Replaci ng the Bat tery (1) Replac ing th e CPU m odule batt ery M9006 or M90 07 turns O N if the voltage drops f rom the A6BAT batter y which bac ks up program s and provid es m emor y back-up f unctions. Progr am and memor y contents are not lost im m ediately when thes e specia l rela ys turn ON, but m[...]

5. INSPECTION AND MAINTENANCE 5 − 6 (b) Replac ing a batter y Follow the pr ocedur e belo w to replace a batter y when its l ife expires . After the battery is dis connected , a capacit or m aintains m em ory back-up f or a short tim e. Complete the batt er y change operati on within the tim e spec ified in T able 5.5 or the mem ory contents m a [...]

5. INSPECTION AND MAINTENANCE 5 − 7 5.4 Troubles hooting This section d escr ibes the er rors which c ould occ ur when using th e s ystem and what to do ab out them . Refer to the appropr iate sof tware pack age operat ing m anual f or infor mation on the error m ess ages displa yed duri ng per iphera l device o perat ion. W hen an error occ urs,[...]

5. INSPECTION AND MAINTENANCE 5 − 8 (3) Check ing b y monitori ng from the perip hera l device Use the per iphera l devic e monitor functi ons to det erm ine the co ntrol s tatus. The f ollowing s tatuses can be d eterm ined. Refer to the appropr iate per ipher al soft ware pack age op erating m anua l for details a bout th e operat ing pr ocedur[...]

5. INSPECTION AND MAINTENANCE 5 − 9 5.4.1 Troubles hooting f or CPU Modu le and I/O Modules This section exp lains ho w to det erm ine the ca use of pr oblem s occ urring in t he SCPU of CPU modul e or I/O m odules, and g ives des crip tions an d rem edies th e errors indicated b y each error c ode. T his m anual does not g ive troubl eshoot ing [...]

5. INSPECTION AND MAINTENANCE 5 − 10 (2) Flo wchart when POW ER indicator is not lit Follow the f lowchar t below if the POW ER indicator does not li ght when th e power is turned on or goes out duri ng operatio n. POWER indicator not lit Is power supplied? S upply power. Does POWER indicator light? Is supply voltage in range 85 to 264 VAC? Suppl[...]

5. INSPECTION AND MAINTENANCE 5 − 11 (3) Flowchart when RUN indicat or is not lit Follow the f lowchart belo w if the RUN i ndicator goes out during operat ion. RUN indicator goes out Is an error displayed when a peripheral device is connected? Refe r to error table. YES NO Reset with the CP U module RUN/STOP key switch. RUN indicator does not li[...]

5. INSPECTION AND MAINTENANCE 5 − 12 (4) Flowchart when RUN indicator is flashing Follow the flowchart be low if the RUN indicator f lashes when the power is turned o n or during oper ation. RUN indicator flashing Check error from peripheral device (See Section 5.4.1(10).) Reset with the CP U module RUN/STOP switch. Contact your nearest Mitsubish[...]

5. INSPECTION AND MAINTENANCE 5 − 13 (5) Flowchart when ERROR ind icator is lit Follow the f lowchar t below if the ERROR indicator lights dur ing op eration. ERROR indicator lit Connect a peripheral device Is M9008 ON? Cause of error of SCP U? Reset with the CPU module RUN/STOP key switch. Take correcti ve action. Refer to e rror co de table f o[...]

5. INSPECTION AND MAINTENANCE 5 − 14 (6) F l ow chart when ERR OR indi cato r is fl ashi ng Follow the f lowchart be low if the ERROR indicator f lashes dur ing operati on. ERROR indicat or flashing Does special regist er D9124 contain 0? Reset the c oil of the annu ncia tor wh ich i s ON using the RST F in struction. End Contact your nearest Mit[...]

5. INSPECTION AND MAINTENANCE 5 − 15 (7) Flo wchart whe n output m odule load d oes not tur n on Follow the f lowchart be low if the output m odule lo ads do no t turn on duri ng operation. Output load does not turn on Is the indicator LED of the output module ON? Check output mode in monitor mode from peripheral device . Is the indicator LED of [...]

5. INSPECTION AND MAINTENANCE 5 − 16 (8) Flowchar t when pr ogram cannot be writt en The follo wing flowchar t assum es that a pr ogram or other data cannot b e writte n to the CPU when an att em pt was m ade to write it. Program cannot be wri tten Is the RUN/STOP swit ch set to STOP ? Set RUN/STO P swi tch to STOP . Can program be written? Reset[...]

5. INSPECTION AND MAINTENANCE 5 − 17 (9) Poss ible Pr oblem s with I/O Modules This section desc ribes pos sible problem s with input and output circuits , and what to do about them . (a) T roubleshoot ing i nput circ uits Table 5.7 des cribes pr oblem s and c orrective ac tions f or input circuits . Table 5.7 Tr oubleshoot ing Inp ut Circ uits S[...]

5. INSPECTION AND MAINTENANCE 5 − 18 Table 5.7 Tr oubleshoot ing Inp ut Circ uits (cont .) Symptom Cause Corrective Action Example 5 Input si gnal does not turn O FF • Sneak path due to use of two pow er suppli es. Input module EE E >E 12 12 • Us e a singl e power supply. • Connec t a diode to prevent sneak paths, as shown in the diagram[...]

5. INSPECTION AND MAINTENANCE 5 − 19 (b) T roubleshoot ing o utput c ircuits Table 5.8 des cribes pr oblem s and c orrective ac tions f or output circuits . Table 5.8 Tr oubleshoot ing Outp ut Cir cuits Symptom Cause Corrective Action Example 1 Overvoltage applied t o load when output turns OFF • I f load is internal l y half -wave rectified (s[...]

5. INSPECTION AND MAINTENANCE 5 − 20 (10) T able of Err or C odes of SC PU If an error occ urs when RUN is executed or during CPU m odule operation, t he self- diagnosis function dis pla ys an error or stores an error c ode (inclu ding step num ber ) in the spec ial regis ters. T able 5.9 sho ws the m ethods f or reading the err or codes when an [...]

5. INSPECTION AND MAINTENANCE 5 − 21 Table 5.9 Table of Err or Codes (cont.) Error Contents (B IN) of Special Register D9008 CPU Statu s Error Desc ription and Cause Correct ive Action "CHK FO RMAT ERR. " 14 STOP (1) A CHK instruct ion ladder block contains an instruct ion (including NOP) other than LDX, LDIX, ANDX, ANIX. (2) Multiple C[...]

5. INSPECTION AND MAINTENANCE 5 − 22 Table 5.9 Table of Err or Codes (cont.) Error Contents (B IN) of Special Register D9008 CPU Statu s Error Desc ription and Cause Correct ive Action "END NOT EXEC UTE" 24 STOP (1) During execution, t he END code was read as a different instruct i on code due to noise, or some other cause. (2) The END [...]

5. INSPECTION AND MAINTENANCE 5 − 23 Table 5.9 Table of Err or Codes (cont.) Error Contents (B IN) of Special Register D9008 CPU Statu s Error Desc ription and Cause Correct ive Action "I/O IN T. ER ROR" 43 STOP An interrupt was generated but no interrupt m odule is m ounted. (1) A hardware error exists in one of the modules. Replace th[...]

APPENDICES APP − 1 APPENDICES Appendix 1 C ables Appendix 1. 1 SSCNET Cables Generall y use the SSCNET cables of our o ptions. If the le ngth you n eed is n ot found in our opt ions, fabr icate t he ca ble on the c ustom er side. (1) Sele ction The f ollowing t able ind icates t he SS CNET c ables used wi th the servo amplif iers . Make s electio[...]

APPENDICES APP − 2 (2) MR-HBUS M (a) Expla natio n of t ype Type: MR-HBUS M Symbol Cabl e Length [m] 05 0.5 1 5 1 5 (b) Connec tion d iagram W hen fabricating a cab le, use t he recom m ended wir e given on Appe ndix 1.1 (1), and mak e the cabl e as sho wn in th e follo wing connec tio n diagram . The overa ll dis tance of the S SCNET cables on t[...]

APPENDICES APP − 3 (3) MR-J2H BUS M-A (a) Expla natio n of t ype Type: MR- J2HBUS M-A Symbol Cable Length [m] 05 0.5 1 5 1 5 (b) Connec tion d iagram W hen fabricating a cab le, use t he recom m ended wir e given on Appe ndix 1.1 (1), and mak e the cabl e as sho wn in th e follo wing connec tio n diagram . The overa ll dis tance of the S SCNET ca[...]

APPENDICES APP − 4 (4) MR-J2H BUS M (a) Expla natio n of t ype Type: MR-J2HBUS M Symbol Cable Length [m] 05 0.5 1 5 1 5 (b) Connec tion d iagram W hen fabricating a cab le, use t he recom m ended wir e given on Appe ndix 1.1 (1), and mak e the cabl e as sho wn in th e follo wing connec tio n diagram . The overa ll dis tance of the S SCNET cables [...]

APPENDICES APP − 5 Appendix 1. 2 Encod er Cables Generall y use the encoder cables of our o ptions. If the le ngth you need is not found in our opt ions, fabr icate t he ca ble on the c ustom er side. (1) Sele ction The f ollowing t able ind icates t he encod er cabl es used wi th th e servo m otors . Make s election ac cording to your operati ng[...]

APPENDICES APP − 6 Characterist ics of One Core Wire Model Core Size [mm 2 ] Number of Cores Struc ture [Number of wir es/mm] Conductor resistanc e [ /km] Insula ting sheath OD d[mm] *1 Finish OD [mm] *3 UL20276 AWG#28 7 pairs (BLAC) 0.08 14 (7 pairs ) 7/0.127 222 max. 0.38 5.6 UL20276 AWG#28 4 pairs (BLAC) 0.08 8 (4 pairs) 7/0.127 222 max. 0.38 [...]

APPENDICES APP − 7 (2) MR-HSCBL M (Lo ng flexi ng lif e produc t) (a) Expla natio n of t ype Type: MR-HSCBL M Symb ol Cabl e Le ngt h [ m ] 2 5 10 20 30 2 5 10 20 30 (b) Connec tion d iagram W hen fabricating a cab le, use t he recom m ended wire an d enc oder c able fabric ating conn ector s et given on Ap pendix 1 .2 (1), and m ak e the cable a[...]

APPENDICES APP − 8 (3) MR-EN1CBL M-H ( Long flex ing lif e product) (a) Expla natio n of t ype Type : MR-E N1CBL M-H Symb ol Cabl e Le ngt h [ m ] 2 5 10 20 30 2 5 10 20 30 (b) Connec tion d iagram W hen fabricating a cab le, use t he recom m ended wire an d enc oder c able fabric ating conn ector s et given on Ap pendix 1 .2 (1), and m ak e the [...]

APPENDICES APP − 9 (4) MR-JHSCBL M-L/MR-J HSCB L M-H (a) Expla natio n of t ype Type: MR-JHSCBL M- Symbol Cable Length [m] 2 5 10 20 30 2 5 10 20 30 Spec ificat ions Symbol L H Standard flexing life Long flexing life (b) Connec tion d iagram W hen fabricating a cab le, use t he recom m ended wire an d enc oder c able fabric ating conn ector s et [...]

APPENDICES APP − 10 (5) MR-ENCBL M-H ( Long flex ing lif e pro duct) (a) Expla natio n of t ype Type: MR-ENCBL M-H Symbol Cable Length [m] 2 5 10 20 30 2 5 10 20 30 Long flexing life (b) Connec tion d iagram W hen fabricating a cab le, use t he recom m ended wire an d enc oder c able fabric ating conn ector s et given on Ap pendix 1 .2 (1), and m[...]

APPENDICES APP − 11 (6) MR-JCCBL M-L/MR-J CCBL M-H (a) Expla natio n of t ype Typ e : MR -J CCB L M- Symbol Cable Length [m] 2 5 10 20 30 2 5 10 20 30 Specifications Symbol L H Standard flexing life Long flexing life (b) Connec tion d iagram W hen fabricating a cab le, use t he recom m ended wire an d enc oder c able fabric ating conn ector s et [...]

APPENDICES APP − 12 Appendix 1. 3 A31T U-E T eaching Unit Ca ble (1) A31T UCBL03M cable (a) A31T UCBL03M c able app earance EMG EMGL EMG1 EMG2 DED1 DED2 CPU module side A31TU-E side (Solderless terminal 0. 5-3) (b) A31T UCBL03M c able co nnect ion detai ls Signal name Pin No. BA 3 BAL 16 CA 5 CAL 18 BB 2 BBL 15 CB 4 CBL 17 +5V 12 +5V 13 SG 7 +5V [...]

APPENDICES APP − 13 (2) A31SHORT CON shor t-circuit c onnector (a) A31SHORTCON app earance A31SHORTCON (b) A31SHORTCON internal wiring Signal name Pin No . BA 3 BAL 16 CA 5 CAL 18 BB 2 BBL 15 CB 4 CBL 17 +5V 12 +5V 13 SG 7 +5V 24 +5V 25 SG 8 SG 20 AB 21 FG 1 Connector 17JE-23250-02(D8A) Manufactured b y JAE EMG1 22 EMG2 9 DED1 6 DED2 14[...]

APPENDICES APP − 14 Appendix 2 O utside D im ensions Appendix 2. 1 CPU Mod ules (1) A173UHCPU Module (0.25) (3.69) (0.66) (4.46) (5.12) ( 0.1 6 ) Unit=mm ( inch ) ! WARNING Haz ardous volta ge OUT PUT 5VDC 5A 100 - 240 VAC 105V A 50 / 60Hz INPUT (2) A172SHCPUN Module (0.25) (3.69) (0.66) (4.46) Unit=mm ( inch ) ( 0.1 6 ) (5.12) ! WARNING Haz ardo[...]

APPENDICES APP − 15 (3) A171SHCPUN Module (0.25) (3.69) (0.66) (4.46) Unit=mm ( inch ) ( 0.1 6 ) (5.12) ! WARNING Hazardous voltage OUTPUT 5VDC 3A 24V DC 0. 6A 100 - 24 0VAC 105V A 50 / 60H z INPUT[...]

APPENDICES APP − 16 Appendix 2. 2 Puls e Generator/ Synchr onous Enc oder Inter face Module ( A172SEN C) 6.5 93.6 71.6 22 23 34.5 130 (0.26) (2.82) (3.69) (0.87) (0.91) (1.36) (5.12) Unit=mm (inch)[...]

APPENDICES APP − 17 Appendix 2. 3 Main Base Un it (1) A17 2B m ain base u nit 200(7.87) 220(8.66) 110(4.33) 130(5.12) 16. 4 (0.65) 28 (1. 1) 4 mounting sc rews (M5 25 ) Unit = mm(inch) (2) A17 5B m ain base u nit OUT 4 mounting screws (M5 25) 305(12.02) 325(12.81) 28 16.4 110(4.33) 130(5.12) (0.65) (1.1) Uni t = mm (i nc h)[...]

APPENDICES APP − 18 (3) A17 8B(-S1/S 2/S3) main bas e un it 410(16.15) 430(16.94) 110(4.33) 130(5.12) 16.4 (0.65) 28 (1.1) Unit = mm(inch) OUT A178B 4 mo unting screws (M5 25)[...]

APPENDICES APP − 19 Appendix 2. 4 Extensi on Base Uni ts (1) A1 S65B exte nsio n base un it 295(11.61) 315(12.4) 110(4.33) 130(5.12) 16.4 (0.65) 28 (1.1) 4 mounting screws (M5 25) Uni t = mm (i nc h) (2) A1 S68B exte nsio n base un it 4 mounting screws (M5 25) 400(15.75) 420(16.54) 28 16.4 110(4.33) 130(5.12) (0.65) (1.1) Uni t = mm (i nc h)[...]

APPENDICES APP − 20 (3) A168B extens i on base un it OUT OUT IN 1 2 3 1 2 3 400(15.75) 420(16.54) 28 16.4 110(4.33) 130(5.12) (0.65) (1.1) 4 mountin g scr ews (M5 25) Unit = mm(inch)[...]

APPENDICES APP − 21 Appendix 2. 5 Teac hing Unit (1) A30T U-E teac hing unit A30TU -E MI T SUBI SHI Invalid Valid Emergency Stop 227(8.67) 225(8.87) 10 (0.39) 5 (0.2 ) 5000(197) 1(0.04) 27 (1.06) 95( 3.7 4) Unit = mm(inch) CONTRACT DATA TEST STOP STEP- STEP+ RETURN ERROR RESET GO SHIFT CAN AXIS NO. JOG - JOG + ITEM # 8 CLEAR SP 7 9 : E 5 F 46 D B[...]

APPENDICES APP − 22 (2) A31T U-E T eaching Un it CONTRACT 36.5(1.44) 236(9.30) 95(3.74) 5000(197) Unit = mm ( inch ) DATA TEST STOP STEP- STEP+ RETURN ERROR RESET GO SHIFT CAN AXIS NO. JOG - JOG + ITEM # 8 CLEAR SP 7 9 : E 5 F 4 6 D B 2 C 13 A WRITE STORE - 0 . MDI[...]

APPENDICES APP − 23 Appendix 2. 6 Connec tor (1) Honda T sus hin Kog yo mak e Unit: mm (inch) 38.5 (1.52) HONDA 27.4 (1.08) 32.0 (1.26) 23.0 (0.91) (0.51) 12.2 (0.48) 14.2 (0.56) 13.0 PCR-LS20LA1 38.5 (1.52) HONDA 27.4 (1.08) 32.0 (1.26) PCR-LS20LA1 10.4 (0.41) 20.6 (0.81) 1.9 (0.07) 1 (0.04) 1 (0.04) 12.2 (0.48) 1 (0.04) 1 (0.04) Type Num b er o[...]

APPENDICES APP − 24 (b) T hreaded t ype T ype Connector : 10120-3 000 VE Shell k it : 103 20-52A0- 008 • Thes e are not opt ions and shou ld be pr epare d by the us er. 10.0 (0.39) 12.0 (0.47) 14.0 (0.55) 22.0 (0.86) 39.0 (1.52) 23.8 (0.93) 33.3 (1.3) 12.7 (0.5) Unit: mm (i nch) 5.7 (0.22) 27.4 (1.08) (c) Ins ulation dis placem ent t ype T ype [...]

APPENDICES APP − 25 Appendix 2. 7 Manua l Puls e Generat or Specif ications equi-spaced Packing, t=2.0 16 (0.63) 20 (0.79) 27.0 (1.06) 8.89 (0.35) 7.6 (0.3) ± 0 .5 M3 6 3 stud s (M4 10), PCD 72, e qu i- spa c ed 3.6(0.14) 60(2.36) ± 0.5 80(3.15) ± 1 50(1.97) 70(2.76) 72(2.83) ± 0.2 3 4.8(0 to 19)di a., 62(2.44) +2 0 NP +5 to 12V 0V A B Unit =[...]

APPENDICES APP − 26 Appendix 2. 8 Ser ial Absol ute Synchr onous Enc oder Sp ecif ications 19.5 (0.77 ) 102(4 .02 ) 135(5 .31 ) 28(1. 1) 33(1. 3) B B 68(2. 68) 56(2. 2) 56(2. 2) 68(2. 68) Shaf t c ross -se ct ion Cro s s-se ction B-B Keyway Dimensional Diagram 2(0.08) 5(0.2) 1.15 (0.05) 1.15 (0.05) 15(0. 59) 14.3(0. 56) 5(0.2) 3(0.12) 3(0.12) 91([...]

MITSUBISHI ELECTRIC CO RPORATION HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 TELEX: J24532 CABLE MELC O TOKYO NAGOYA W ORKS : 1-14 , YAD A-MINAMI 5 , HIGASHI-KU , NAGOYA , JAPAN IB (NA) 67395-C (00 09) MEE Printed in Japan Specifications subject to change without n otice.[...]