Mitsubishi Electric MR-MQ100 User Manual Download Page 171

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9 - 4

9 SERVO PROGRAMS FOR POSITIONING CONTROL

(2) Servo instruction list

The servo program servo instructions and available positioning data used are

shown in Table 9.2. Refer to Section 9.3 for details of the servo instruction

positioning data.

Table 9.2 Servo instruction list

Positioning data

Common Arc/Helical

Instruction

symbol

Processing

Param

ter block No.

Axis

Address/travel value

Command spee

Dwell tim

M -code

Torqu

limit value

Auxiliary point

Radius

Central point

Pitch

Virtual enable

—

Number

steps

1 1 1 1 1 1 1 1 1 1 1

Positioning control

Number

indirect

words 1 —

2 2 1 1 1 2 2 2 1

ABS-1

Absolute 1-axis positioning

1 axis

INC-1

Incremental 1-axis positioning

ABS-2

Absolute 2-axes linear interpolation

2 axes

INC-2

Incremental 2-sxes linear interpolation

ABS-3

Absolute 3-axes linear interpolation

3 axes

INC-3

Incremental 3-axes linear interpolation

ABS-4

Absolute 4-axes linear interpolation

Linear inter

polatio

n control

4 axes

INC-4

Incremental 4-axes linear interpolation

ABS

Absolute auxiliary point-specified circular
interpolation

Auxiliary

point-

ecified

INC

Incremental auxiliary point-specified circular
interpolation

ABS

Absolute radius-specified circular
interpolation less than CW 180°

ABS

Absolute radius-specified circular
interpolation CW 180° or more

ABS

Absolute radius-specified circular
interpolation less than CCW 180°

ABS

Absolute radius-specified circular
interpolation CCW 180° or more

INC

Incremental radius-specified circular
interpolation less than CW 180°

INC

Incremental radius-specified circular
interpolation CW 180° or more

INC

Incremental radius-specified circular
interpolation less than CCW 180°

Circular interpol

atio

n control

Radius-specified

INC

Incremental radius-specified circular
interpolation CCW 180° or more

Summary of Contents for MR-MQ100

Page 1: ......

Page 2: ...ons are ranked as DANGER and CAUTION DANGER Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight personal injury or physical damage Depending on circumstances procedures indicated by CAUTION may also be linked to serious results In any case it is im...

Page 3: ...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 Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks...

Page 4: ...ied in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire o...

Page 5: ...mpatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power supply module The protective functions may not function if th...

Page 6: ...onnected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the Motion controller or servo amplifier never hold the front case as it may fall off When transporting installing or removing the Motion controller or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood...

Page 7: ...ct sunlight No corrosive gases flammable gases oil mist or dust must exist Altitude 1000m 3280 84ft or less above sea level Vibration According to each instruction manual When coupling with the synchronous 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 synchronous ...

Page 8: ...DICOM RA Control output signal DOCOM Servo amplifier 24VDC Control output signal DICOM DOCOM Servo amplifier RA 24VDC For the sink output interface For the source output interface Do not connect or disconnect the connection cables between each unit the encoder cable or PLC expansion cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fi...

Page 9: ...ns Input power According to each instruction manual Input frequency According to each instruction manual Tolerable momentary power failure According to each instruction manual 7 Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation If a danger...

Page 10: ...orrectly When the Motion controller or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writing the servo data to the Motion controller using programming software switch on the power again then perform a home position return operation 2 Using the backup function of the programmin...

Page 11: ...er electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions A...

Page 12: ...2010 IB NA 0300150 C Additional correction partial correction Connection with GOT Connection of the extension IO unit MR J3 D01 April 2011 IB NA 0300150 D Additional correction partial correction Postscript of MR Configurator2 Dec 2011 IB NA 0300150 E Partial correction Section 4 2 1 Partial change of sentence This manual confers no industrial property rights or any rights of any other kind nor do...

Page 13: ... of the MR MQ100 Motion controller 2 4 2 1 3 Restrictions on Motion controller 2 4 2 2 Checking Serial Number 2 5 2 3 System Configuration Equipment 2 6 2 4 General Specifications 2 8 2 5 Specifications of Equipment and Settings 2 9 2 5 1 Name of parts for MR MQ100 2 9 2 5 2 MR MQ100 hardware and wiring 2 15 2 5 3 Connecting of 24VDC power supply connector of MR MQ100 2 24 2 5 4 SSCNET cables and ...

Page 14: ...CTION AND MAINTENANCE 6 1 to 6 26 6 1 Maintenance Works 6 2 6 1 1 Instruction of Inspection works 6 2 6 2 Daily Inspection 6 4 6 3 Periodic Inspection 6 5 6 4 Life 6 6 6 5 Battery 6 7 6 5 1 Battery life 6 8 6 5 2 Battery replacement procedure 6 10 6 5 3 Resuming operation after storing the Motion controller 6 11 6 5 4 Symbol for the new EU Battery Directive 6 11 6 6 Troubleshooting 6 12 6 6 1 Trou...

Page 15: ...pecial registers 7 26 7 5 1 Special relays 7 26 7 5 2 Special registers 7 29 7 6 I O devices 7 34 7 6 1 Input device list 7 34 7 6 2 Output device list 7 34 7 6 3 Input device 7 35 7 6 4 Output device 7 35 8 Parameters for positioning control 8 1 to 8 8 8 1 Fixed Parameters 8 1 8 2 Parameter Block 8 2 8 3 JOG operation data 8 4 8 4 Home Position Return 8 5 8 5 Servo Parameter 8 8 9 SERVO PROGRAMS ...

Page 16: ...on IO unit MR J3 D01 13 16 13 5 2 I O devices 13 18 13 5 3 Related servo amplifier parameters 13 20 14 ERROR CODE 14 1 to 14 4 14 1 Self diagnosis errors 14 1 14 2 System setting errors 14 2 14 3 Servo program setting error 14 3 15 EMC DIRECTIVES 15 1 to 15 8 15 1 Requirements for Compliance with the EMC Directive 15 1 15 1 1 Standards relevant to the EMC Directive 15 2 15 1 2 Installation instruc...

Page 17: ...ists and others for Motion SFC Optional IB 0300135 1XB929 Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE This manual explains the servo parameters positioning instructions device lists error lists and others Optional IB 0300136 1XB930 Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE This manual explains the dedicated instructions to use the synch...

Page 18: ...le Linear Servo MR J3 B RJ004 Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for Linear Servo MR J3 B RJ004 Servo amplifier Optional SH 030054 1CW943 SSCNET Compatible Fully Closed Loop Control MR J3 B RJ006 Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for F...

Page 19: ...A 18 MEMO ...

Page 20: ...re General name for SW9DNC SV22QW SV22 Operating system software for automatic machinery SW9DNC SV22QW MELSOFT MT Works2 Abbreviation for Motion controller engineering environment MELSOFT MT Works2 for MR MQ100 SW1DNC MTW2MQ E Version 1 04E or later MT Developer2 Note 1 Abbreviation for Motion controller programming software MT Developer2 MR Configurator Abbreviation for Servo setup software packa...

Page 21: ...2DCPU Motion controller Programming Manual COMMON Design method for Motion SFC program Design method for Motion SFC parameter Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC SV22 Design method for positioning control program in the real mode Design method for positioning control parameter Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE SV22 Vi...

Page 22: ...rol Position follow up control Speed control with position stop Speed switching control High speed oscillation control Synchronous control SV22 Manual pulse generator Possible to connect 1 module Possible to connect 3 modules Synchronous encoder operation function Possible to connect 1 module Only incremental Possible to connect 12 modules Possible to connect 8 modules Number of SSCNET systems Not...

Page 23: ...ler Section of reference MC protocol communication 00B 1 06G Section 13 3 Incremental synchronous encoder current value in real mode 00B Section 13 4 Connection of the servo amplifier for direct drive motor 00B 1 06G Connection with GOT by RS 422 communication 00C G Section 12 Connection of the extension IO unit MR J3 D01 00C Section 13 5 2 Confirmation method of the operating system software s ve...

Page 24: ...ossible to select the best according to the system Large capacity battery holder Q170MBAT SET M I T S U B I S H I L I T H I U M B A T T E R Y Q7BAT TYPE PROGRAMMABLE CONTROLLERPUSH Note 1 Note 2 Note 1 Be sure to install the Battery Q6BAT to the Battery holder It is packed together with MR MQ100 Note 2 Large capacity battery use Q7BAT is included sold separately Note 3 The extension IO unit has th...

Page 25: ...ernet standard Model name 10BASE T Connection with HUB Straight cable 100BASE TX 10BASE T Ethernet cable Direct connection Crossover cable 100BASE TX Compliant with Ethernet standards category 5 or higher Shielded twisted pair cable STP cable a Selection criterion of cable Category 5 or higher Diameter of lead AWG26 or higher Shield Copper braid shield and drain wire Copper braid shield and alumin...

Page 26: ...ng system software SW9DNC SV22QW is preinstalled in the MR MQ100 There is no need for customer installation CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system The ratings and characteristics of the parts other than Motion controller s...

Page 27: ... servo amplifier s stroke limit and DOG signal inputs 6 The MR MQ100 has 4 digital inputs and 2 digital outputs The input signals can be used as Mark detection signals 7 RS 422 communication I F functionality has been added to the internal I F connector of the Motion controller This will enable connection with even the GOTs that do not have Ethernet I F connectivity 8 MR J3 D01 extension IO unit f...

Page 28: ... information a On the rating plate The rating plate is located on the left side of the Motion controller b On the face of the Motion Controller The serial number is printed on the bottom area of the face of the motion controller PULL Serial number display plate Serial number Rating plate MITSUBISHI ELECTRIC MITSUBISHI MOTION CONTROLLER SERIAL MODEL Q170MCPU B8Y054306 PASSED JAPAN US LISTED UL 80M1...

Page 29: ...onous encoder Mark detection signal interface connector The GOT side is pigtail cable Internal I F connector cable Q170MIOCBL1M B Incremental synchronous encoder Mark detection signal interface connector The GOT side is D SUB 9pin Q170MPWCBL2M Length 2m 6 56ft With solderless terminal R1 25 3 5 24VDC power supply cable Q170MPWCBL2M E Length 2m 6 56ft With solderless terminal R1 25 3 5 With EMI ter...

Page 30: ...automatic machinery SV22 SW9DNC SV22QW CD ROM 1 disk b Motion controller engineering environment Part name Model name Medium MELSOFT MT Works2 for MR MQ100 MT Developer2 Note 1 SW1DNC MTW2MQ E CD ROM 1 disk Note 1 This software is included in Motion controller engineering environment MELSOFT MT Works2 c Servo set up software package Part name Model name Details MR Configurator MRZJW3 SETUP221E Ver...

Page 31: ...d to be connected between the public electrical power distribution network and the machinery within premises Category applies to equipment for which electrical power is supplied from fixed facilities The surge voltage withstand level for up to the rated voltage of 300V is 2500V Note 2 This index indicates the degree to which conductive material is generated in terms of the environment in which the...

Page 32: ...Specifications of Equipment and Settings 2 5 1 Name of parts for MR MQ100 This section explains the names and settings of the module 1 MR MQ100 9 12 11 8 7 6 5 2 1 4 3 10 CAUTION Close the clear cover after using the rotary switches ...

Page 33: ...s flashing It communicates with the personal computer OFF It doesn t communicate with the personal computer The lower LED of the PERIPHERAL I F connector ON 100Mbps OFF 10Mbps 6 SSCNET connector Note 1 Connector to connect the servo amplifier 7 Internal I F connector Incremental synchronous encoder input Incremental synchronous encoder input has Differential output type Voltage output Open collect...

Page 34: ...ler STOP Steady STP display Stopped the Motion SFC program RUN Steady RUN display Executed the Motion SFC program Early stage warning 2 7V or less Steady BT1 display Displayed at battery voltage 2 7V or less Refer to Section 6 5 External Battery Battery error Final stage warning 2 5V or less Steady BT2 display Displayed at battery voltage 2 5V or less Refer to Section 6 5 External Battery Operatin...

Page 35: ... using MT Developer2 Note Should not be set to anything except the above settings b Rotary function select switch 2 SW2 Rotary switch Setting Note Mode Description 0 Mode operated by RAM Normal operation mode Operation by the setting data and parameters stored in the Motion controller s SRAM 6 Mode operated by ROM Mode to operate based on the setting data and the parameters written to the Motion c...

Page 36: ...f the Motion controller If the ROM writing is not executed even if the user programs and parameters are changed using the MT Developer2 during mode operated by ROM operation starts with the contents of the FLASH ROM at next power supply on or reset Also If the ROM writing is not executed even if the auto tuning data are reflected on the servo parameter of the Motion controller by operation in the ...

Page 37: ...ubnet mask pattern Example 255 255 255 0 Default router IP address Example 192 168 3 1 Link status Note When the Ethernet parameters are not written in the Motion controller the address are displayed as follows IP address 192 168 3 39 Subnet mask pattern 255 255 255 0 Default router IP address 192 168 3 1 POINT Be sure to turn OFF the Motion controller power supply before a rotary switch setting c...

Page 38: ... ripple or spike voltage measured at the input connector of the MR MQ100 Note 3 Inrush current Take care that the inrush current of several amperes may flow when the sharp square voltage is applied or the power supply is turned ON with the mechanical switch Turn on the primary AC side of power supply When selecting a fuse and breaker in the external circuit take account of the blow out detection c...

Page 39: ...ect No connect No connect No connect No connect No connect TXDL TXDH No connect No connect AB No connect No connect No connect No connect No connect 1 25 26 50 Pin layout on the side of printed circuit board Applicable connector model name HDR type connector HONDA TSUSHIN KOGYO CO LTD HDR E50MSG1 connector Attachment HDR E50LPH connector case Note 1 Input type from manual pulse generator Increment...

Page 40: ...age current 17 5VDC or more 3 5mA or more OFF voltage current 5VDC or less 0 9mA or less Input resistance Approx 5 6k OFF to ON Response time ON to OFF 1ms or less Common terminal arrangement 4 points common Common contact COM1 Indicates to display None b Interface of input signal mark detection input signal DI Signal name Pin No Wiring example Internal circuit Description 24VDC COM1 Input or outp...

Page 41: ...um voltage drop at ON Vdorp 2 75VDC or less OFF voltage current 11VDC or less 1 7mA or less Input resistance Approx 5 6k OFF to ON 1ms or less Response time ON to OFF 1ms or less Rated load resistance load Common terminal arrangement 2 points common Common contact COM2 Indicates to display None b Interface of output signal D0 24VDC COM2 Output Note 1 6 DO1 31 7 32 DO2 Note 2 Signal output Load Sig...

Page 42: ...S31 or equivalent Cable length 30m 98 43ft Differential output type 26LS31 or equivalent Example of waveform Phase A Phase B 0 5μ s 0 5μ s 0 25μ s 0 25μ s 0 25μ s Duty ratio 50 1μs Maximum input pulse frequency 200kpps After magnification by 4 up to 800kpps Pulse width 5µs or more Leading edge trailing edge time 1 2µs or less Phase difference 1 2µs or more High voltage 3 0 to 5 25 VDC Low voltage ...

Page 43: ...s or more Leading edge Trailing edge time 0 25 s or less Phase difference 2 Address decreases if Phase B leads Phase A Select type signal SEL Note 1 22 23 24 Manual pulse generator INC synchronous encoder 5V SG A A B B Power supply 5VDC Note 2 A HAH A HAL B HBH B HBL Pulse width 0 5 s or more 0 5 s or more 26LS31 or equivalent 25 49 46 45 47 48 50 Note 1 The 5VDC power supply from the MR MQ100 mus...

Page 44: ...ess 5mA or more For connection manual pulse generator Phases A B Pulse width 1 Address increases if Phase A leads Phase B Phase difference B Power supply 5VDC Manual pulse generator phase B HA HB LOW level 2 Address decreases if Phase B leads Phase A Select type signal SEL Note Phase A 2 5 s or Phase B more Duty ratio 50 25 5 s or more 2 5 s or more 2 5 s or more Leading edge Trailing edge time 1 ...

Page 45: ...cremental synchronous encoder If a separate power supply is used be sure it is 5V stabilized Anything else may cause a failure Note 2 Input type from manual pulse generator incremental synchronous encoder switched by SEL Not connected Voltage output open collector type SEL SG connection Difference output type CAUTION If a separate power supply is used as the manual pulse generator incremental sync...

Page 46: ...tion I F Item Specifications Communication mode Full duplex Synchronous method Asynchronous communication method Data transmission speed 9600 19200 38400bps Start bit 1 Data bit 8 Parity bit Odd Data type Stop bit 1 Cable length m ft Up to 30 98 43 ...

Page 47: ...t view of the 24VDC connector is shown below 24V 24G b DC24V power supply cable Connect 24V to the 24VDC power supply connector as shown in the table below Applicable connector model name 24VDC power supply connector set Q170MPWCON Attachment 1 1827864 2 connector Tyco Electronics AMP K K make 1827587 2 terminal Conductor size for power supply wiring 0 34 to 0 37 mm2 AWG22 Pin No Signal Name 1B 24...

Page 48: ...imp tool for details 2mm 0 3mm Sheath Core 1827587 2 terminal 0 1 to 0 65mm CAUTION 24V pin is upper side and 24G pin is lower side of 24VDC connector of MR MQ100 If the polarity is wrong the unit may be damaged Recommend the use of twisted pair cabling for 24VDC input Power off the unit before wiring 24VDC input Use proper size wire for 24VDC Do not connect to pins 1A or 2A of the 24VDC power inp...

Page 49: ...3BUS M A use 20m 65 62ft MR J3BUS M B use 50m 164 04ft Servo amplifier CN1A CN1B Cap PULL CN1 Note Communication will not be possible if CN1A and CN1B are mistaken for one another List of SSCNET cable model name Model name Note Cable length Description MR J3BUS M 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft 1m 3 28ft 3m 9 84ft Standard cord for inside panel MR J3BUS M A 5m 16 4ft 10m 32 81ft 20m 65 62ft S...

Page 50: ...on controller servo amplifier or from the end of SSCNET cable The light can damage the eye The light source of SSCNET cable complies with class1 defined in JISC6802 or IEC60825 1 5 When replacing the servo amplifier or the Motion controller be sure to put a cap on the SSCNET connector When sending a servo amplifier or Motion controller back for repairs also be sure to put a cap on the SSCNET conne...

Page 51: ...Set the axis select rotary switch of the servo amplifier to 0 because the axis number is fixed in the system structure display as d01 The default setting of the axis select rotary switch of servo amplifier is 0 System structure Allocation of axis No Axis select rotary switch Servo amplifier 1 C B A 9 8 7 6 5 4 3 2 0 F E D Set the servo amplifier s rotary switch to 0 The axis number d01 is fixed on...

Page 52: ...ttachment of a handling label submission of the Shipper s Declaration for Dangerous Goods and a 1 2m drop test 2 A battery handling label size 120 x 110mm is required Emergency telephone number must be filled out in the additional handling information of the Shipper s Declaration for Dangerous Goods 3 New label design containing battery illustration must be used in air transportation only IF DAMAG...

Page 53: ...n controller power on time to one day 24 hours Power on time ratio 70 100 24 17 When the total power on time is 17 hours and the total power off time is 7 hours the power on time ratio is 70 Note 3 The guaranteed value MIN equivalent to the total power failure time that is calculated based on the characteristics value of the memory SRAM supplied by the manufacturer and under the storage ambient te...

Page 54: ...a battery Do not charge a battery Do not disassemble a battery Do not burn a battery Do not overheat a battery Do not solder the battery terminal The data Refer to Section 6 5 of SRAM built in Motion controller are backed up without using the battery ...

Page 55: ...ection of the battery connector Connect the battery connector first then store the connector and lead wire into the battery holder PUSH b Install the battery holder to the motion controller Be sure that the battery s lead wire is contained completely inside the battery holder ...

Page 56: ... c Removal of the battery lead wire from battery case Remove the battery lead wire from battery case by pulling it out while holding the battery lead connector d Detaching of the battery connector Please remove the battery connector by pulling on the connector hook in the manner shown below Do not pull on the lead wire itself Hook 1 2 1 Pull forward 2 Pull up POINT 1 Forcible removal of the batter...

Page 57: ...ximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Stopper type 2 types Limit switch combined type Home position return re try function provided home position shift function provided JOG operation function Provided Manual pulse generator operation function Possible to connect 1 modules Note 2 Synchronous encoder operation function Possible to connect 1 modules increme...

Page 58: ...ical system program and CAM data All clear function Provided Remote Operation Remote RUN STOP Remote latch clear Digital Oscilloscope function Provided Mixed Function of Virtual Mode Real Mode None Note 1 Only SSCNET based MR J3 series servo amplifier can be used Note 2 Either a Manual pulse generator or Incremental synchronous encoder can be used Note 3 CHANGE signal of Speed position control com...

Page 59: ...ck Up to 64 operand constants word device bit devices nesting block Up to 32 levels Operation control program Calculation expression bit conditional expression Operation control program F FS Transition program G Descriptive expression Transition program Calculation expression bit conditional expression comparison conditional expression Number of multi execute programs Up to 256 Number of multi act...

Page 60: ...city 16k steps 14334 steps Note 1 Servo program Number of positioning points Total of 3200 points It changes with programs indirect specification is possible Number of modules which can be set per CPU Virtual module 3 axes Drive modules Synchronous encoder 1 axis Main shaft 1 Virtual axes Auxiliary input axis 1 Gear 2 Clutch 2 Speed change gear 2 Differential gear 1 Trans mission modules Different...

Page 61: ...n deceleration Time fixed acceleration deceleration Acceleration time 1 to 65535 ms Deceleration time 1 to 65535 ms Acceleration deceleration time 1 to 5000 ms Only constant speed control is possible Automatic trapezoidal acceleration deceleration Acceleration deceleration control S curve acceleration deceleration S curve ratio 0 to 100 JOG operation function Provided M function with mode M code o...

Page 62: ...efer to section 3 2 1 Refer to section 3 2 2 Refer to section 3 3 Design the power supply circuit which supplies power to such system components as the Motion controller I O equipment and servo amplifiers etc taking into consideration the protective coordination and noise suppression techniques External circuit design Power supply circuit design Safety circuit design Design the operation ready cir...

Page 63: ...er OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplif...

Page 64: ...n in the system In systems where coasting of the servomotor will be a problem during the forced stop the 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 the forced stop the emergency stop servo OFF or when the power i...

Page 65: ...tion controller FG 3 phase AC200 220V ELB R S T PYm CP3 24V 24G MC MC SK Ra1 CP4 Operation ready ON Operation ready OFF Note 1 PULL CP2 24V 24VG CP1 24V 24VG Ra1 com Servo normal output Servo normal 0N Alarm OFF 24VDC interface power supply 24V 24G 24VDC power supply 24VDC power supply 24VDC power supply for MR MQ100 24VDC power supply for electromagnetic brake 24VDC power supply SSCNETⅢ ...

Page 66: ... capacity of the leakage breaker Example For control axis 1 Servo error detection END F 1 SET PYm G 1 M2408 F 2 RST PYm PYm ON with initial ON normal Servo error detection of the axis 1 OFF abnormal error Note 5 Be sure to shut off both the main circuit power supply L1 L2 L3 and control power supply L11 L21 at the time of exchange of servo amplifier At this time it is not possible to communicate b...

Page 67: ...ontroller may malfunction as it is affected by various noises such as electric path noises from the power supply systems and electromagnetic noises from conductors To avoid such troubles set the 24VDC power supply according to application When there is much leakage current connect a leakage current breaker Motion controller 24VDC power supply Motion controller power supply Main power supply I O po...

Page 68: ...thing ground of each equipment and the shield grounds of the shielded cables to the earth 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 noise interference may occur from other equipment due to common impedances Servo amplifier 100 200VAC SSCNET Motion controller line noise filter 24VDC ...

Page 69: ...g emergency stop protective and interlock circuits should be constructed outside the Motion controller in a fail safe method 2 Emergency stop circuit The circuit should be constructed outside of the Motion controller or servo amplifier Shutting off the power supply to the external servo amplifier using this circuit should turn on the electromagnetic brakes of the servomotor 3 Forced stop circuit I...

Page 70: ...n the range of 0 to 55 C 32 to 131 F 2 Ambient humidity within the range of 5 to 95 RH 3 No condensing due to sudden temperature changes 4 No corrosive or inflammable gases 5 There must not be excessive dust iron filings oil mist salt or organic solvents 6 No direct sunlight 7 No strong electrical or magnetic fields 8 No direct vibrations or shocks to the Motion controller ...

Page 71: ... to ventilation problems do not mount the base units vertically or horizontally Mount the base units on a flat surface Unevenness or warping of the surface can apply undue force to printed circuit boards and lead to operation failures Avoid mounting 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 di...

Page 72: ...on calculate a rise in ambient temperature inside the control panel 3 4 Design Checklist Copy the following table for use as a check sheet at the worksite Item Sub Item Design confirmation Check Avoidance of operation failure at power on External circuit design Fail safe circuit design Avoidance of hazard at Motion controller failure Conformance with general specifications such as ambient temperat...

Page 73: ...3 12 3 DESIGN MEMO ...

Page 74: ... equipment Do not touch the heat radiating fins of controller or servo amplifier s regenerative resistor and servo motor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Remove the modules while paying attention This section describes instructions for handling the motion controller 1 Motion controller is m...

Page 75: ... Mount the motion controller in the following procedure a Temporarily fasten the bottom side screw Control panel Bottom side screw b Place the bottom side notch of the Motion controller onto the bottom side screw Control panel PULL c Set a screw through the upper side hole of the motion controller to the control panel Control panel PULL Upper side screw d Tighten both of the upper side screw and t...

Page 76: ...g dimensions 30mm 1 18inch 6mm 0 24inch 7mm 0 28inch 2 Motion controller mounting position Make space for air flow between the upper side and bottom side of the control panel and the motion controller 100mm 3 94inch or more Door 40mm 1 57inch or more 40mm 1 57inch or more 1mm 0 04inch or more 30mm 1 18inch or more 135mm 5 31inch 30mm 1 18inch or more PULL Motion controller Servo amplifier Extensio...

Page 77: ...own below to ensure good ventilation for heat release b Do not use it in any of the orientations shown below Flat Horizontal installation Upside down 4 Mounting surface Mount the Motion controller on a flat surface If the mounting surface is not even this may strain the printed circuit boards and cause malfunctions 5 Mounting of unit in an area where other devices are mounted Avoid mounting the Mo...

Page 78: ... mm 3 94 inch or more On the left of the Motion controller 30 mm 1 18 inch or more Contactor relay etc 100mm 3 94inch or more Contactor relay etc 30mm 1 18inch or more POINT 1 Make sure to tighten both the upper side screw and the bottom side screw 2 Tighten the screws within the specified torque range 3 If the screws are loose the motion controller may drop or malfunction 4 If the screws are too ...

Page 79: ...ion controller connect it to the SSCNET connector CN1 of the Motion controller while holding the SSCNET cable connector s tab Be sure to insert it until it clicks If the cord tip of the SSCNET cable is dirty optical transmission may be interfered and may result in malfunctions If it becomes dirty wipe with a bonded textile or similar Do not use solvent such as alcohol 3 Disconnection of SSCNET cab...

Page 80: ...r or servo amplifier When closing the door of control box pay careful attention to avoid pinching the SSCNET cable with the case door or a situation where the cable bend becomes smaller than the minimum bend radius Model name of SSCNET cable Minimum bend radius mm inch MR J3BUS M 25 0 98 MR J3BUS M A Enforced covering cord 50 1 97 Code 25 0 98 MR J3BUS M B Enforced covering cord 50 1 97 Code 30 1 ...

Page 81: ... Wiring process of SSCNET cable Put the SSCNET cable in the duct or fix the cable to the closest part of the Motion controller with bundle material in order to prevent the SSCNET cable from putting its own weight on SSCNET connector Leave the following space for wiring Putting in the duct Top of control panel or wiring duct 100mm 3 94inch or more Door 40mm 1 57inch or more 40mm 1 57inch or more 1m...

Page 82: ...hioning such as sponge or rubber which does not contain plasticizing material Minimum bend radius mm inch Model name of SSCNET cable Enforced covering cord Code MR J3BUS M 25 0 98 25 0 98 MR J3BUS M A 50 1 97 25 0 98 MR J3BUS M B 50 1 97 30 1 18 Motion controller Cable Cord Loose slack Bundle material Recommended product NK clamp SP type NIX INC Control panel Minimum bend radius of cord Minimum be...

Page 83: ...ake and optical transmission will not be possible Be sure to take sufficient care so that the SSCNET cable can easily bend or twist without damage 6 Be sure to use the SSCNET cable within the range of operating temperature described in this manual Especially as optical fiber for MR J3BUS M and MR J3BUS M A are made of synthetic resin it may melt if left near a fire or high temperature The cable po...

Page 84: ...f SSCNET cable may lower the optical characteristic and machine characteristic If used in such an environment be sure to take protective measures for the cord portion 11 When storing the Motion CPU or servo amplifier be sure to replace the protective cap on the connector so that dirt can not adhere to the end of SSCNET connector 12 The SSCNET connector connected to the SSCNET cable contains a cap ...

Page 85: ...supply cable For connection of a 24VDC power supply cable to the Motion controller connect it surely to a 24VDC power supply connector of Motion controller while holding a connector Be sure to insert it until it clicks 3 Removal of the 24VDC power supply cable For removal of the 24VDC power supply cable push a tab and pull out the cable while holding a connector POINT Forcibly removal the 24VDC po...

Page 86: ...rimped or pressure welded with the specified tools or correctly soldered Imperfect connections could result in short circuit fire or operation failure Be sure there are no foreign matters such as sawdust or wiring debris inside the module Such debris could cause fire damage or operation failure This section describes the power supply wiring instructions Refer to the 15 EMC directives for grounding...

Page 87: ...se power supply voltage does not exceed the maximum allowable circuit voltage even at the time of maximum power supply voltage elevation 2 Wiring of I O equipment a The wires used for connection to external I O signals should contain 0 3 to 0 75mm2 AWG22 to AWG18 conductors and 2 8mm 0 11inch or less in outside diameter b Do not run the input and output lines close to each other c When the wiring ...

Page 88: ...ding wire as much as possible Ground resistance 100 or less b When dedicated grounding cannot be used use 2 Common Grounding shown below Motion controller Another equipment Other equipment Another equipment Motion controller Motion controller Grounding Grounding 1 Independent grounding Best 2 Common grounding Good 3 Joint Grounding Not allowed c For grounding cable use cable of 2 mm2 or thicker Po...

Page 89: ...C POINT 1 Use a different 24VDC power supply for MR MQ100 and for I O components 2 Use different 24VDC power supplies for the MR MQ100 and the electromagnetic brake of the servomotor 3 Refer to Wiring of 24VDC power supply connector of MR MQ100 chapter 2 4 Motion controller and 24VDC power supply are an open type device and must be installed inside a control panel for use This not only ensures saf...

Page 90: ...10 Check that the 24VDC power supply wire is not bound to or runs close to the power wires 4 3 1 11 Check for grounding of the earth terminal FG 4 3 1 12 Check that the battery is connected correctly 2 5 5 13 Check that the internal I F are wired correctly 2 5 2 MR MQ100 Motion controller 14 Check that the Manual pulse generator or INC synchronous encoder is wired correctly 2 5 2 1 Check that the ...

Page 91: ... 7 Check the circuit of emergency stop or forced stop The mode indicated in the brackets at top left of each step is the mode for checking or setting using MT Developer2 Refer to Section 4 1 for installation method Servo amplifier setting Set the axis number of the servo amplifier to 0 Turn ON power supply Set the RUN STOP RESET switch of Motion controller to STOP and turn ON the Motion controller...

Page 92: ...rs using MT Developer 1 Fixed parameters 2 Home position return data 3 Jog parameters 4 Servo parameters 5 Parameter block 6 Limit switch Do not mount a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W Incorrect connections will lead the servomotor to operate abnormally Set parame...

Page 93: ...d in the programming manual Install emergency stop circuit externally so that operation can be stopped immediately and the power shut off If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if th...

Page 94: ...heck Motion program Test mode home position return Check home position return Check the followings by executing the home position return 1 Home position return direction 2 Home position return data 3 Proximity dog position Monitor Set the RUN STOP RESET switch of Motion controller to RUN and check that all positioning controls by Motion programs are correct Execute the test operation in the system...

Page 95: ...ntroller to position 0 Set to mode operated by RAM Shipped from the factory in SW1 0 SW2 0 position END POINT 1 The operating system software is installed at the time of Motion controller purchase It is necessary to install operating system software again after any upgrades 2 Be sure to change the rotary switches only after first turning off the power supply 3 Even if the operating system software...

Page 96: ...tation speed is within the motor s rating Check that the machine operates correctly by the JOG operation Check that the machine stops by the upper lower stroke limit Check that the machine stops by the emergency stop or forced stop Check that the home position return is executed correctly Power supply ON Motion controller in STOP status Basic axis operations Check that each positioning control of ...

Page 97: ...5 8 5 TRIAL OPERATION AND ADJUSTMENT MEMO ...

Page 98: ...N Read the manual carefully and pay careful attention to safety for the on line operation especially program change forced stop or operation change performed by connecting peripheral devices to the Motion controller during operation Erroneous operation may cause machine breakage or accident Never try to disassemble or modify Motion controller It may cause product failure operation failure injury o...

Page 99: ...supply built in grounding or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks CAUTION Be sure to ground the Motion controller servo amplifier and servomotor Do not ground commonly with other devices Ground resistance 100 or less The wiring work and inspections must be done by a qualified technician Wire the units after mounting the Motion controller ser...

Page 100: ...y suddenly restart after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them Do not apply ...

Page 101: ...tor part of the cable Connections should not be loose Retighten the connector fixing screws POWER LED Check that the LED is ON The LED should be ON red The LED off with power supplied is an abnormal situation Refer to Section 2 5 1 Steady RUN display Abnormal if RUN is not displayed or is incorrectly displayed Normal Steady STP display Abnormal if STP is not displayed or incorrectly displayed Refe...

Page 102: ...ve the Motion controller to check for looseness and rattling The module must be installed securely Retighten the screws 3 Installation Adhesion of dirt and foreign matter Check visually Dirt and foreign matter must not be present Remove and clean Looseness of FG terminal screws Try to further tighten screws with a screwdriver Screws must not be loose Retighten the terminal screws 4 Connection Loos...

Page 103: ...ntact a local sales representative Table 6 3 Life Module name Part name Life guideline Remark Capacitor Motion controller Electrolytic capacitor 10 years Life guideline a reference only If any abnormality is discovered the capacitor must be changed immediately even if it has not yet reached the life guideline 1 Capacitor The life of the capacitor greatly depends on ambient temperature and operatin...

Page 104: ...es POINT 1 SM51 or SM58 turns on when the battery voltage falls below the specified value and remains ON even after the voltage is recovered to the normal value SM51 or SM58 turns off after a power supply cycle or reset 2 After SM51 or SM58 turns on replace the battery immediately SM51 or SM52 turns on if the battery voltage becomes 2 5V or less SM58 or SM59 turns on if the battery voltage becomes...

Page 105: ...time is 7 hours the power on time ratio is 70 Note 3 The guaranteed value MIN equivalent to the total power failure time that is calculated based on the characteristics value of the memory SRAM supplied by the manufacturer and under the storage ambient temperature range of 25 C to 75 C 13 to 167 F operating ambient temperature of 0 C to 55 C 32 to 131 F Note 4 The guaranteed value TYP equivalent t...

Page 106: ...uilt in Motion controller cannot be guaranteed It is recommended to back up the data periodically 3 When the total power failure time exceeds its guaranteed value and SM51 SM52 SM58 and SM59 turns on immediately change the battery Even if the alarm has not yet occurred it is recommended to replace the battery periodically according to operating conditions 4 Even when not connect to a motion contro...

Page 107: ...eloper2 installed Then replace the battery with a new one After setting the battery in the Battery holder unit use the MT Developer2 verify function to confirm the data on the motion controller has not changed In the following status the backup time after power OFF is 3 minutes The lead connector of Q6BAT Q7BAT is disconnected The lead wire of Q6BAT Q7BAT is broken Remove the old battery from its ...

Page 108: ... Directive 2006 66 EC that is labeled batteries This symbol mark is according to the directive 2006 66 EC Article 20 Information for end users and Annex II Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and or reused This symbol means that batteries and accumulators at their end of life should be disposed of separately...

Page 109: ...ables cables f Display states of various types of indicators Motion controller 7 segment LED Installation mode Operation mode Battery error STOP RUN RESET etc g Status of setting of various types of switches Setting of No of stages of extension base unit power interrupt hold on status After checking a to g monitor the operating conditions of servomotors and error code using MT Developer2 2 Error C...

Page 110: ...n 7 segment LED BT displays on 7 segment LED AL L01 displays on 7 segment LED AL A1 displays on 7 segment LED displays on 7 segment LED Servo amplifier does not start AL S01 displays on 7 segment LED d Flowchart for when AL L01 displays on 7 segment LED e Flowchart for when AL A1 displays on 7 segment LED f Flowchart for when BT displays on 7 segment LED g Flowchart for when displays on 7 segment ...

Page 111: ... operation YES YES POWER LED turns off Is there power Is the wiring terminal connection correct YES END NO NO YES NO NO YES NO NO Supply power Does POWER LED turn on The supply voltage should be within the rated range Is the power supply voltage within the rated range YES Connect wiring and fix terminal connection correctly Does POWER LED turn on Does POWER LED turn on 1 ...

Page 112: ...nd get advice from out sales representative for the modules with failure END 1 NO YES Does POWER LED turn on Does POWER LED turn on Remove the internal I F connector from the Motion controller NO YES A manual pulse generator or a synchronous encoder break down the cable is disconnected A normal manual pulse generator or normal synchronous encoders are exchanged ...

Page 113: ...ally flashes in the first digit of 7 segment LED YES NO does not flash in the first digit of 7 segment LED a Flowchart for when POWER LED turns off H W fault Check operation in the order starting with the minimum system If the module will not work explain the error symptom and get advice from out sales representative for the modules with failure Does POWER LED turn on Does flash in the first digit...

Page 114: ...hows the flowchart when the A00 displays at the power supply ON or operation start END YES NO YES NO Explain the error symptom and get advice from out sales representative A00 displays on 7 segment LED Is the operating system software installed to Motion controller Install the operating system software Reset the Motion controller Does A00 disappear on 7 segment LED ...

Page 115: ... operation END NO YES YES NO YES NO AL L01 displays on 7 segment LED Confirm details of error by Motion controller error batch monitor of MT Developer2 Does a ROM ERROR occur Is ROM operation executed Reset the Motion controller Does A00 L01 disappear on 7 segment LED Set a rotary switch1 SW1 to 0 a rotary switch2 SW2 to 6 of Motion controller and then execute ROM writing Set a rotary switch1 SW1 ...

Page 116: ...s error code is displayed in two sequential flashes of 2 digits each END YES NO YES NO AL L01 displays on 7 segment LED Noise cause Take measures against noise Reset the Motion controller Does AL L01 disappear on 7 segment LED Explain the error symptom and get advice from out sales representative Confirm details of error by Motion controller error batch monitor of MT Developer2 ...

Page 117: ...W fault Explain the error symptom and get advice from out sales representative END YES SM58 SM51 OFF NO SM58 or SM51 ON Replace the battery BT displays on 7 segment LED Turn off the Motion controller power supply Turn on the Motion controller power supply Does BT disappear on 7 segment LED Confirm ON OFF by monitoring SM REMARK If SM51 SM58 turns on the contents for the data Refer to Section 6 5 o...

Page 118: ...on to the normal task program executed simultaneously in the Motion SFC program Correct the Motion operating time to shorten by the following methods and write it to Motion controller 1 Change the operation cycle to large value in the system setting 2 Reduce the number of execution to the event task program in the Motion SFC program YES NO Is the error code of Motion controller WDT cause 301 NO YE...

Page 119: ...e control power supply of servo amplifier turn on the control power supply of servo amplifier turn on YES YES NO NO Is the connection of SSCNET cable correct END Explain the error symptom and get advice from out sales representative YES NO NO Connect the SSCNET cable correctly Is the axis select rotary switch of servo amplifier correct NO Set the axis select rotary switch in 0 turn on the power su...

Page 120: ...chart for when AL flashes 3 times Steady S01 display displays on 7 segment LED during operation Does AL S01 disappear on 7 segment LED END YES NO Remove the error cause of servo amplifier and then execute the servo error reset M3208 20n ON or re turn on the servo amplifier power supply Confirm details of error by Motion CPU error batch monitor of MT Developer2 AL S01 displays on 7 segment LED ...

Page 121: ...ter to the PERIPHERAL I F of the Motion controller 2 Start MT Developer2 3 Select Online Read from CPU Menu of MT Developer2 and read the project data from Motion controller 4 Start the monitor screen of MT Developer2 and select Motion CPU error batch monitor menu 5 Confirm the error codes and error messages displayed on screen Refer to help of MT Developer2 for details of operating method ...

Page 122: ... Motion controller becomes lower than the off current R DC input plus common Motion controller Resistor Note 1 A calculation example of the resistance to be connected is shown below Example 2 Input signal is not turned OFF Sneak path due to the use of two power supplies Motion controller E1 E2 E1 E2 Use only one power supply Connect a sneak path prevention diode Figure below Motion controller E1 E...

Page 123: ...e be connected to the terminal in question 2 Output circuit troubleshooting The following describes possible problems with output circuits and their corrective actions It can drive lamp relay or photo coupler Install a diode D for an inductive load relay etc or install an inrush current suppressing resistor R for a lamp load Permissible current 40mA or less inrush current 100mA or less A maximum o...

Page 124: ... W0 to W1FFF Latch range setting Motion register User area 10 7912 0 to 7911 Available Internal device Word device Motion register System area Note 4 10 4376 7912 to 12287 Not available Note 5 Bit device Special relay SM 10 2256 Note 6 SM0 to SM2255 Not available Special register SD 10 2256 Note 7 SD0 to SD2255 Not available System device Word device Coasting Timer FT 1 FT 888µs Not available Note...

Page 125: ...ommon device 64 points M3136 to Not available 64 points M3200 to Axis command signal 20 points 1 axis Real mode Axis status Virtual mode Output module M3220 to Not available 780 points M4000 to Virtual servomotor axis status 20 points 8 axes Note 1 Note 2 Note 4 M4160 to Not available 480 points M4640 to Synchronous encoder axis status 4 points 1 axis Note 2 M4644 to Not available 156 points M4800...

Page 126: ... any device Note 4 Only the area of the axis set in Mechanical System Program is occupied The area which is not used in Mechanical System Program can be used by users POINT 1 Total number of user device points 4704 points 2 This manual explains only the data registers that are used in Virtual mode Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for information r...

Page 127: ... position switching latch 6 Zero pass Operation cycle 7 error detection Immediate 8 Servo error detection Operation cycle 9 Home position return request Main cycle 10 Home position return complete Operation cycle 11 FLS 12 RLS Main cycle Status signal 13 Unusable 14 External signals DOG CHANGE Main cycle 15 Servo ready 16 torque limiting Operation cycle Status signal 17 Unusable 18 Virtual mode co...

Page 128: ...nd Operation cycle Command signal 6 Unusable 7 Error reset command 8 Servo error reset command Main cycle 9 External stop input disable at start command At start Command signal 10 11 Unusable 12 Feed current value update request command At start 13 Address clutch reference setting command SV22 only Note 1 14 Cam reference position setting command SV22 only Note 1 At virtual mode transition 15 Serv...

Page 129: ...e Backup Operation cycle Status signal 8 M4140 to M4159 2 Unusable 3 Command in position 4 Speed controlling Backup Operation cycle Status signal 5 6 Unusable 7 Error detection Backup Immedi ately Status signal 8 9 10 11 12 13 14 15 16 17 18 Unusable 19 M code outputting signal Backup Operation cycle Status signal Valid POINT 1 Axes 1 to 8 can be set as a Virtual axis Up to 3 axes can be used REMA...

Page 130: ...sh cycle Fetch cycle Signal direction 6 M4900 to M4919 0 Stop command 7 M4920 to M4939 1 Rapid stop command Operation cycle 8 M4940 to M4959 2 Forward rotation JOG start command 3 Reverse rotation JOG start command 4 Complete signal OFF command Main cycle 5 6 Unusable 7 Error reset command Main cycle Command signal 8 Unusable 9 External stop input disable at start command At start Command signal 1...

Page 131: ...me Real Virtual Refresh cycle Fetch cycle Signal direction 0 Error detection Immediately Status 1 Unusable 2 Virtual mode continuation operation disable warning Main cycle Status signal 3 Unusable Valid 7 2 7 Synchronous encoder axis command signal list Axis No Device No Signal name 1 M5440 to M5443 Signal name Real Virtual Refresh cycle Fetch cycle Signal direction 0 Error reset Main cycle Status...

Page 132: ... flag Main cycle Command signal M3080 M2088 M2036 M2089 M2037 Unusable 2 points M2090 M2091 M2038 Motion SFC debugging flag At debugging mode transition M2092 Unusable 24 points M2039 Motion error detection flag Immediate Status signal M2093 M2094 M2095 M2040 Speed switching point specified flag At start Command signal M3073 M2096 M2097 M2041 System setting error flag Operation cycle Status signal...

Page 133: ...2208 M2140 M2209 M2141 M2210 M2142 M2211 M2143 M2212 M2144 M2213 M2145 M2214 M2146 M2215 M2147 M2216 M2148 M2217 M2149 M2218 M2150 M2219 M2151 M2220 M2152 M2221 M2153 M2222 M2154 M2223 Unusable 36 points Note 5 M2155 M2224 M2156 M2225 M2157 M2226 M2158 M2227 M2159 Unusable 24 Points M2228 M2160 M2229 M2161 M2230 M2162 M2231 M2163 M2232 M2164 M2233 M2165 M2234 M2166 M2235 M2167 M2236 M2168 M2237 M2...

Page 134: ...l Note 2 M2304 M2273 M2305 M2274 M2306 M2275 M2307 M2276 M2308 M2277 M2309 M2278 M2310 M2279 M2311 M2280 M2312 M2281 M2313 M2282 M2314 M2283 M2315 M2284 M2316 M2285 M2317 M2286 M2318 M2287 M2319 Unusable 16 points M2288 Unusable 16 points Note 1 Axes 1 to 8 can be set as a Virtual axis Up to 3 axes can be used Axis 1 can be set as a Real axis Note 2 Device areas for axis9 or larger cannot be used ...

Page 135: ... Command signal M2051 M3078 M3079 Unusable 2 points M3080 Motion error history clear request flag Main cycle Command signal M2035 M3081 to M3135 Unusable Note 3 55 points Note 1 The state of a device is not in agreement when the device of a remark column is turned ON OFF directly In addition when the request from a data register and the request from the above device are performed simultaneously th...

Page 136: ...oints D758 to Not available 42 points Virtual servomotor axis monitor device 6 points 8 axes 6 points 24 axes Not available D800 to Current value after virtual servomotor axis main shafts differential gear 4 points 8 axes Back up D880 to Not available 240 points synchronous encoder axis monitor device 6 points Note 1 D1120 to Synchronous encoder axis Current value after synchronous encoder axis ma...

Page 137: ...er devices 6632 points 2 Note 1 Current value of synchronous encoder is updated in Real mode 3 This manual describes only details for data registers used in the virtual mode If it is required refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE ...

Page 138: ... Major error code Immediate 8 Servo error code Main cycle 9 Home position return re travel value PLS 10 11 Travel value after proximity dog ON Backup Operation cycle Command unit 12 Execute program No At start 13 M code 14 Torque limit value Operation cycle 15 Data set pointer for constant speed control At start during start Monitor device 16 17 Unusable Note 1 18 19 Real current value at stop inp...

Page 139: ...o Device No Signal name 1 D640 D641 2 D642 D643 3 D644 D645 Signal name Real Virtual Fetch cycle Unit Signal direction 4 D646 D647 0 5 D648 D649 1 JOG speed setting At start Command unit Command device 6 D650 D651 Valid Invalid 7 D652 D653 8 D654 D655 POINT 1 Only axis 1 can be set as a real mode Axes 1 to 8 can be set as a virtual servo motor axis Up to 3 axes can be used ...

Page 140: ...tual Refresh cycle Fetch cycle Signal direction 6 D850 to D859 0 7 D860 to D869 1 Feed current value Operation cycle 8 D870 to D879 2 Minor error code 3 Major error code Immediately 4 Execute program No At start 5 M code 6 7 Current value after virtual servomotor axis main shaft s differential gear 8 Error search output axis No 9 Data set pointer for constant speed control Backup Operation cycle M...

Page 141: ...ter synchronous encoder axis main shaft s differential gear 8 Error search output axis No Backup Operation cycle Monitor device 9 Unusable Valid 7 3 6 Cam axis monitor device list Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual VIRTUAL MODE for details Axis No Device No Signal name 1 D1240 to D1249 Signal name Real Virtual Refresh cycle Fetch cycle Signal direction 0 Unus...

Page 142: ...eration simultaneous start command request Main cycle Command device D756 D709 Unusable D757 Unusable D710 D758 D711 D759 D712 D760 D713 JOG operation simultaneous start axis setting register At start D761 D714 D762 D715 Manual pulse generator axis 1 No setting register At the manual pulse generator enable flag Command device D763 D716 D764 D717 D765 D718 D766 D719 Unusable D767 D720 Axis 1 Manual...

Page 143: ...n register Access Read and write enabled in whole range 7 4 1 Motion registers list Device No Purpose 0 to User devices 7912 points 7912 to Mark detection setting devices 88 points 8000 to Monitor devices2 20 points 1 axis 8020 to Not available 620 points 8640 to Motion error history devices 96 points 8736 to Analog output devices for extension IO unit 2 points 1 axis 8738 to Not available 62 poin...

Page 144: ...esh cycle Signal direction 0 Servo amplifier type 0 Unused 256 MR J3 B 257 MR J3 B Fully closed loop control 258 MR J3 B Linear 263 MR J3 B DD motor When the servo amplifier power on 1 Motor current 0 1 2 3 Motor speed 0 1 r min Operation cycle 1 7 ms or less Operation cycle Operation cycle 3 5 ms or more 3 5 ms 4 5 Command speed PLS s Operation cycle 6 7 Home position return re travel value Real ...

Page 145: ...r occurrence time Year month 8646 8658 8670 8682 8694 8706 8718 8730 Error occurrence time Day hour 8647 8659 8671 8683 8695 8707 8719 8731 Error occurrence time Minute second 8648 8660 8672 8684 8696 8708 8720 8732 Error setting data information 8649 8661 8673 8685 8697 8709 8721 8733 Unusable 8650 8662 8674 8686 8698 8710 8722 8734 8651 8663 8675 8687 8699 8711 8723 8735 Error setting data Signa...

Page 146: ... Mark detection data current monitor Operation cycle 2 Number of marks detected At mark detection 3 9056 to 9135 3 Mark detection settings verification flag Main cycle 4 4 9136 to 9215 5 6 7 8 9 10 11 12 13 14 15 Not available 16 17 Latch data storage area 1 18 19 Latch data storage area 2 20 21 Latch data storage area 3 22 23 Latch data storage area 4 to to 78 79 Latch data storage area 32 At mar...

Page 147: ...7920 to 7939 2 7940 to 7959 3 7960 to 7979 Signal name Fetch cycle Signal direction 4 7980 to 7999 0 Marl detection signal allocation devices At Registration code setting 1 Mark detection signal compensation time Operation cycle 2 Latch data type 3 Mark detection axis number At Registration code setting Command device 4 5 Not available 6 7 Latch data upper limit 8 9 Latch data lower limit 10 Mark ...

Page 148: ... may not be correct 2 When the motion controller s power supply is turned on the content of the analog output instruction device is cleared to 0 2 Analog input devices Axis No Device No Signal name 1 8800 to 8801 Signal name Pin No of MR J3 D01 Fetch cycle Signal direction 0 Analog input ANI1 CN20 2 1 Analog input ANI2 CN20 12 Operation cycle 0 8 ms or less 0 8 ms Operation cycle 1 7 ms 1 7 ms Ope...

Page 149: ...ed information about the nature of the special relay Set by When set Indicates whether the relay is set by the system or user and if it is set by system when setting is performed Set by S Set by system Motion controller U Set by user Motion SFC program or test operation using MT Developer2 S U Set by both system Motion controller and user When set Indicated only if setting is done by system Motion...

Page 150: ...restored to normal thereafter SM52 Battery low OFF Normal ON Battery low Turns on when the voltage of the external battery reduces to less than 2 5 V Turns OFF when the voltage of external battery returns to normal SM53 AC DC DOWN detection OFF AC DC DOWN not detected ON AC DC DOWN detected Turns ON if an instantaneous power failure of 10 ms or less occurs during use of the AC power supply module ...

Page 151: ...agnosis function When the Motion CPU detects a WDT error it executes an immediate stop without deceleration of the operating axes The error cause is stored in the Motion controller WDT error cause SD512 SM513 Manual pulse generator axis setting error ON At least one D714 to D715 setting is abnormal OFF All D714 to D715 settings are normal Judges whether the register for the manual pulse generator ...

Page 152: ...nature of the special register Details Indicates detailed information about the nature of the special register Set by When set Indicates whether the register is set by the system or user and if set by system when setting is performed Set by S Set by system Motion controller U Set by user Motion SFC program or test operation using MT Developer2 S U Set by both system Motion controller and user When...

Page 153: ...59 B15 B7 B0 B8 to to Example 35min 48 sec H3548 Minute 0 to 59 SD4 Error information categories Error information category code Category codes which help indicate what type of information is being stored in the error common information areas SD5 to SD15 and error individual information areas SD16 to SD26 are stored The category code for judging the error information type is stored Individual info...

Page 154: ...1 and stored in BIN code SD60 Fuse blown No Module No with blown fuse The lowest station I O No of the module with the blown fuse is stored S Occur an error The CPU switch status is stored in the following format B15 B12B11 B8 B7 B4 B3 B0 1 2 Not used 1 CPU switch status 0 RUN 1 STOP 2 Memory card switch Always OFF SD200 Status of switch Status of CPU switch The CPU operating status is stored as i...

Page 155: ...igned for M Stores the number of points currently set for M devices SD293 Number of points assigned for L Stores the number of points currently set for L devices SD294 Number of points assigned for B Stores the number of points currently set for B devices SD295 Number of points assigned for F Stores the number of points currently set for F devices SD296 Number of points assigned for SB Stores the ...

Page 156: ... Manual pulse generator axis setting error information Contents of the manual pulse generator axis setting error is stored when the manual pulse generator axis setting error flag SM513 turns on Normal 0 Setting error 1 SD513 The manual pulse generator axis setting error is stored in b0 P1 The smoothing magnification setting is stored in b3 P1 SD514 One pulse input magnification setting error is st...

Page 157: ...nt 4096 points X1000 to Not available 3584 points X1E00 to Input devices for extension IO unit 16 points 1 axis X1E10 to X1FFF Not available 496 points Device No Purpose Y0 to User devices PY assignment 4096 points Y1000 to Not available 3584 points Y1E00 to Output devices for extension IO unit 16 points 1 axis Y1E10 to Y1FFF Not available 496 points ...

Page 158: ...e 0 8 ms or less 0 8 ms Operation cycle 1 7 ms 1 7 ms Operation cycle 3 5 ms or more 3 5 ms Status signal 7 6 4 Output device Axis No Device No Signal name 1 Y1E00 to Y1E0F Signal name Pin No of MR J3 D01 Fetch cycle Signal direction 0 Output signal DO0 CN10 22 1 Output signal DO1 CN10 23 2 Output signal DO2 CN10 24 3 Output signal DO3 CN10 25 4 Output signal DO4 CN10 38 5 Output signal DO5 CN10 3...

Page 159: ...7 36 7 POSITIONING DEDICATED SIGNALS MEMO ...

Page 160: ...ine Every time the direction changes during positioning backlash compensation is executed with the set value The expression below shows the setting range 0 backlash compensation amount AP AL 65535 5 Upper stroke limit Note 214748364 8 to 214748364 7 21474 83648 to 21474 83647 0 to 359 99999 2147483648 to 2147483647 2147483647 Set the upper limit for the machine travel range The expression below sh...

Page 161: ...to reach the speed limit value from the start of motion 4 Deceleration time 1 to 65535 ms 1000 ms Set the time taken to stop from the speed limit value 5 Rapid stop deceleration time 1 to 65535 ms 1000 ms Set the time taken to stop from the speed limit value when a rapid stop is executed 6 S curve ratio 0 to 100 0 Set the S curve ratio for S pattern processing When the S curve ratio is 0 trapezoid...

Page 162: ...ck data setting Setting items of the parameter block Parameter block No setting E Interpolation control unit Acceleration time Deceleration time Rapid stop deceleration time Torque limit value Deceleration processing on STOP input Allowable error range for circular interpolation S curve ratio when S pattern processing is executed Speed limit value UNIT S R P TORQ STOP S RATIO 2 The parameter block...

Page 163: ...ta list Setting range mm inch degree PLS No Item Setting range Units Setting range Units Setting range Units Setting range Units Initial value Units Remarks 1 JOG speed limit value 0 01 to 6000000 00 mm min 0 001 to 600000 000 inch min 0 001 to 2147483 647 Note 1 degree min 1 to 2147483647 PLS s 20000 PLS s Sets the maximum speed at the JOG operation If JOG speed setting exceeds the JOG speed limi...

Page 164: ...int is not used in the home position return This method is used when the proximity dog is near the stroke end and the stroke range is narrow Count type Count type 3 Home position is zero point of servomotor This method is valid when the stroke range is short and count type 1 cannot be used Data set type 1 Home position is the commanded position of Motion controller External input signals such as d...

Page 165: ...nch min 0 001 to 2147483 647 Note 1 degree min 1 to 10000000 PLS s 1 PLS s 2 5 Creep speed 0 01 to 6000000 00 mm min 0 001 to 600000 000 inch min 0 001 to 2147483 647 Note 1 degree min 1 to 10000000 PLS s 1 PLS s 2 6 Travel value after proximity dog ON 0 0 to 214748364 7 µm 0 00000 to 21474 83647 inch 0 00000 to 21474 83647 degree 0 to 2147483647 PLS 0 PLS 2 7 Parameter Block setting 1 to 64 1 8 H...

Page 166: ...r the count type is set More than the deceleration distance at the home position return speed is set 7 Parameter Block setting The parameter block Refer to Section 4 3 No to use for home position return is set 8 Home position return retry function Valid invalid of home position return retry is set 9 Dwell time at the home position return retry The stop time at the deceleration stop during the home...

Page 167: ...8 8 8 PARAMETERS FOR POSITIONING CONTROL MEMO ...

Page 168: ...eloper2 the positioning data required to execute the specified servo instructions can be set Explanation of the program K11 Program No 11 ABS 1 1 axis linear interpolation control as absolute data method Axis1 3000000 0 Axis used and positioning address Used axes Positioning address 1 3000000 0 µm Program No Servo instruction Positioning data K 11 ABS 1 Axis 1 Speed Dwell M code P B 3000000 0 4000...

Page 169: ...ntrol is executed using the data of parameter block 3 P B 3 9 1 2 Servo program area 1 Servo program area Internal RAM memory of the Motion controller which stores the servo program created using MT Developer2 2 Servo program capacity The servo program area has a capacity of 16384 steps 0 Program No 10 Program No 1 Program No 2 16384 Servo programs are stored in the order in which their program No...

Page 170: ...ation time Fixed position stop 1 B 1 1 1 Number Description Instruction symbol Lists the servo instructions usable in servo programs 1 Processing Lists the processing outlines of the servo instructions a Indicates positioning data which can be set in servo instructions 1 Item which must be set by the user The servo instruction can not execute unless this data is set by the user 2 Item which is set...

Page 171: ...solute 3 axes linear interpolation 3 axes INC 3 Incremental 3 axes linear interpolation ABS 4 Absolute 4 axes linear interpolation Linear interpolation control 4 axes INC 4 Incremental 4 axes linear interpolation ABS Absolute auxiliary point specified circular interpolation Auxiliary point specified INC Incremental auxiliary point specified circular interpolation ABS Absolute radius specified circ...

Page 172: ...ration time Rapid stop deceleration time Torque limit value Deceleration processing at stop input Allowable error range for circular interpolation S curve ratio Repeat condition Program No Command speed constant speed Cancel Skip FIN acceleration deceleration WAIT ON OFF Fixed position stop acceleration deceleration time Fixed position stop 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1 2 2 2 1 1 2 1...

Page 173: ...ation Auxiliary point specified INH Incremental auxiliary point specified helical interpolation ABH Absolute radius specified helical interpolation less than CW 180 ABH Absolute radius specified helical interpolation CW 180 or more ABH Absolute radius specified helical interpolation less than CCW 180 ABH Absolute radius specified helical interpolation CCW 180 or more INH Incremental radius specifi...

Page 174: ...ror range for circular interpolation S curve ratio Repeat condition Program No Command speed constant speed Cancel Skip FIN acceleration deceleration WAIT ON OFF Fixed position stop acceleration deceleration time Fixed position stop 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1 2 2 2 1 1 2 1 1 1 1 1 2 1 Note 2 1 1 B 2 Note 2 1 B Note 2 1 B 1 Note 2 1 B 1 Note 2 1 B Number of steps 7 to 22 10 to 27 9...

Page 175: ...art Forward rotation VF Speed control forward rotation start Speed control Reverse rotation VR Speed control reverse rotation start Forward rotation VVF Speed control forward rotation start Speed control Reverse rotation VVR Speed control reverse rotation start Forward rotation VPF Speed position control forward rotation start Reverse rotation VPR Speed position control reverse rotation start Spee...

Page 176: ... Cancel Skip FIN acceleration deceleration WAIT ON OFF Fixed position stop acceleration deceleration time Fixed position stop 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1 2 2 2 1 1 2 1 1 1 1 1 2 1 Note 2 1 1 B 2 Note 2 1 B Note 2 1 B 1 Note 2 1 B 1 Note 2 1 B Number of steps 4 to 17 5 to 19 7 to 21 3 to 15 3 to 16 4 to 18 2 to 4 1 to 13 1 4 to 9 5 to 10 7 to 12 4 to 9 5 to 10 7 to 12 4 to 6 Must be...

Page 177: ...ard rotation PVF Speed control with fixed position stop Reverse rotation PVR Speed control with fixed position stop absolute specification Position follow up control PFSTART Position follow up control start CPSTART1 1 axis constant speed control start CPSTART2 2 axes constant speed control start CPSTART3 3 axes constant speed control start CPSTART4 4 axes constant speed control start ABS 1 ABS 2 A...

Page 178: ...ve ratio Repeat condition Program No Command speed constant speed Cancel Skip FIN acceleration deceleration WAIT ON OFF Fixed position stop acceleration deceleration time Fixed position stop 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1 2 2 2 1 1 2 1 1 1 1 1 2 1 Note 2 1 1 B 2 Note 2 1 B Note 2 1 B 1 Note 2 1 B 1 Note 2 1 B Number of steps 6 to 19 4 to 16 3 to 15 3 to 17 4 to17 2 to 10 3 to 11 4 to ...

Page 179: ...imit value Auxiliary point Radius Central point Pitch Virtual enable Number of steps 1 1 1 1 1 1 1 1 1 1 1 Positioning control Number of indirect words 1 2 2 1 1 1 2 2 2 1 INC 1 INC 2 INC 3 INC 4 INC INC INC INC INC INC INC Constant speed control passing point incremental specification INH INH INH INH INH INH INH Constant speed control passing point helical incremental specification Constant speed...

Page 180: ...erpolation S curve ratio Repeat condition Program No Command speed constant speed Cancel Skip FIN acceleration deceleration WAIT ON OFF Fixed position stop acceleration deceleration time Fixed position stop 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1 2 2 2 1 1 2 1 1 1 1 1 2 1 Note 2 1 1 B 2 Note 2 1 B Note 2 1 B 1 Note 2 1 B 1 Note 2 1 B Number of steps 2 to 10 3 to 11 4 to 12 5 to 13 5 to 14 4 to...

Page 181: ...1 1 1 1 Positioning control Number of indirect words 1 2 2 1 1 1 2 2 2 1 FOR TIMES FOR ON FOR OFF Repeat range start setting Repetition of same control used in speed switching control constant speed control NEXT Repeat range end setting Simultaneous start START Simultaneous start Home position return ZERO Home position return start High speed oscillation OSC High speed oscillation CHGA Servomotor ...

Page 182: ...ble error range for circular interpolation S curve ratio Repeat condition Program No Command speed constant speed Cancel Skip FIN acceleration deceleration WAIT ON OFF Fixed position stop acceleration deceleration time Fixed position stop 1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1 2 2 2 1 1 2 1 1 1 1 1 2 1 Note 2 1 1 B 2 Note 2 1 B Note 2 1 B 1 Note 2 1 B 1 Note 2 1 B Number of steps 2 3 2 to 3 2...

Page 183: ... indicated by the sign Only positive settings can be made during speed position control Positive Forward rotation address increase direction Negative Reverse rotation address decrease direction 0 to 214748364 7 µm 0 to 21474 83647 0 to 21474 83647 0 to 2147483647 Command speed Sets the positioning speed Units for speed are the control units set in the parameter block Becomes either vector speed lo...

Page 184: ...7483647 10 5 inch 0 to 2147483647 10 5 degree 0 to 2147483647 2 1 to 600000000 10 2 mm min 1 to 600000000 10 3 inch min 1 to 2147483647 10 3 degree min Note 5 1 to 2147483647 PLS s 2 4 Note 2 Note 3 0 to 5000 ms 1 5 0 to 32767 1 6 1 to 1000 1 7 Note 1 The n in n03 n08 n09 and n10 indicates the axis No 1 to 32 Note 2 When an error occurs because the speed limit value is exceeded it is controlled at...

Page 185: ...7 0 to 359 99999 2147483648 to 2147483647 Central point Incremental data method Set at the central point specified circular interpolation 0 to 2147483647 Circular Interpolation Number of pitches Set at the helical interpolation 0 to 999 Control unit Note 7 3 0 1 2 3 Speed limit value 200000 PLS s 0 01 to 6000000 00 mm min 0 001 to 600000 000 inch min 0 001 to 2147483 647 degree min Note 5 1 to 214...

Page 186: ...8 to 2147483647 10 5 inch 0 to 35999999 10 5 degree 2147483648 to 2147483647 0 to 2147483647 2 2 n10 Note 1 0 to 999 1 28 0 1 2 3 1 11 1 to 600000000 10 2 mm min 1 to 600000000 10 3 inch min 1 to 2147483647 10 3 degree min Note 5 1 to 2147483647 PLS s 2 12 1 to 65535 ms 1 13 1 to 65535 ms 1 14 1 to 65535 ms 1 15 0 to 100 1 21 1 to 1000 1 16 0 Deceleration to a stop in accordance with the decelerat...

Page 187: ...ion stop by turning on the specified bit device in the servo program X Y M B F U G Skip Set to cancel positioning to pass point and execute the positioning to the next point by turning on the specified bit device during positioning at each pass point for constant speed control instruction X Y M B F U G FIN acceleration deceleration Set to execute positioning to each pass point for constant speed c...

Page 188: ...95 1 19 1 to 600000000 10 2 mm min 1 to 600000000 10 3 inch min 1 to 2147483647 10 3 degree min Note 5 1 to 2147483647 PLS s 2 4 Note 2 Note 3 1 to 5000 ms 1 13 Control by 1000 ms 1 to 65535 ms 1 13 Control by 1000 ms Note 2 When an error occurs because the speed limit value is exceeded it is controlled at the speed limit value Note 3 Applies when the command speed is 0 Note 4 If there are multipl...

Page 189: ...9 22 9 SERVO PROGRAMS FOR POSITIONING CONTROL MEMO ...

Page 190: ...ecution type and FS Scan execution type combined F FS0 to F FS4095 Number of transition programs 4096 G0 to G4095 Code size program Up to approx 64k bytes 32766 steps Number of blocks line program Up to 8192 blocks in the case of 4 steps min blocks Number of characters block Up to 128 comment included Number of operand block Up to 64 operand constants word device bit devices nesting block Up to 32...

Page 191: ...l relays M 12288 points Link relays B 8192 points Annunciators relays F 2048 points Special relays SM 2256 points Data registers D 8192 points Link registers W 8192 points Special registers SD 2256 points Motion registers 12288 points Coasting timers FT 1 point 888µs Number of devices Device in the Motion controller only included the positioning dedicated device Multiple CPU area device None ...

Page 192: ...tion control program FSn FS0 to FS4095 until the next transition condition enables Subroutine call start step Program name 8 GSUB program name When a WAIT command comes after GSUB performs a subroutine call and transfers control to the specified program Control returns to the call source program at END execution When anything other than WAIT comes after GSUB performs subroutine start starts the sp...

Page 193: ... WAITON ON bit device Kn 14 WAITON bit device Prepares start conditions of the next motion control step and issues an instruction immediately when the specified bit device turns ON Always pair this transition with the motion control step one for one WAITOFF OFF bit device Kn 14 WAITOFF bit device Prepares start conditions of the next motion control step and issues an instruction immediately when t...

Page 194: ...ition condition and after operation execution If transition condition is not met transitions to the right connected step Same operation as Shift If preceded by a subroutine call or starting step waits for the subroutine operation completion and then transitions to the next step after meeting the transition condition If the transition condition is not met transitions to the right connected step Jum...

Page 195: ...ither a step or a transition Parallel branch Number of branches 22 number of coupling points 2 12 PABm PAT1 PAT2 Multiple routes steps connected in parallel are executed simultaneously Each parallel branch destination may be started by either a step or transition Parallel coupling 8 PAEm CALL Kn PABm PAT1 CALL Fn SFT Gn JMP PAEm PAT2 CALL Fn SFT Gn JMP PAEm PAEm CALL Fn Execution waits at the coup...

Page 196: ...upling a selective coupling as shown on the left In this case a pointer Pn cannot be set between the parallel coupling point PAEm and the selective coupling point IFEm Parallel branch Selective branch IFBm PABm PAT1 FIT1 FIT2 PAT2 After a parallel branch a selective branch can be performed Appli cation type Selective coupling Parallel coupling PAEm IFEm SFT Gn PABm PAT1 CALL Fn IFBm IFT1 SFT Gn CA...

Page 197: ... case a pointer Pn cannot be set between the selective coupling point IFEm 1 and the selective coupling point IFEm Parallel branch Parallel branch PABm 1 PABm PAT1 PAT1 PAT2 PAT2 After a parallel branch a parallel branch can be performed A parallel branch can be nested up to four levels Appli cation type Parallel coupling Parallel coupling PAEm 1 PAEm CALL Kn PABm PAT1 SFT Gn PABm 1 PAT1 CALL Fn J...

Page 198: ...branch In this case a pointer Pn cannot be set between the parallel coupling point PAEm and the selective branch point IFBm Selective coupling Selective branch IFEm IFBm 1 IFT1 IFT2 JMP IFEm IFEm IFBm 1 IFT1 SFT Gn JMP IFEm 1 IFT2 SFT Gn JMP IFEm 1 IFEm 1 The selective coupling point and selective branch point can be the same Note that in the Motion SFC chart this type is displayed in order of a s...

Page 199: ... the actual input PX actual output PY Input X X100 Input Actual Input PX PX180 Output Y Y100 Output Actual Output PY PY1E0 Internal relay M M20 Link relay B B3FF Annunciator F F0 Special relay SM SM0 usable unusable CAUTION Restrictions on write enabled bit devices 1 X Devices except Actual inputs can be written 2 Special relay has predetermined applications in the system Do not perform write to o...

Page 200: ...l L or decimal point provided at the end indicates the data type The constant without the data type is regarded as the applicable minimum type K 100 H0FFL etc K may be omitted Binary operation 6 Bit operation 6 Sign 1 Standard function 15 Type conversion 6 Bit device status 2 Bit device control 5 Logical operation 4 Comparison operation 6 Motion dedicated function 2 Number of instructions Others 6...

Page 201: ...ial operation EXP S 2 ABS Absolute value ABS S 2 RND Round off RND S 2 FIX Round down FIX S 2 FUP Round up FUP S 2 BIN BCD BIN conversion BIN S 2 Standard function BCD BIN BCD conversion BCD S 2 SHORT Convert into 16 bit integer type signed SHORT S 2 USHORT Convert into 16 bit integer type unsigned USHORT S 2 LONG Convert into 32 bit integer type signed LONG S 2 ULONG Convert into 32 bit integer t...

Page 202: ...ession conditional expression 4 CHGV Speed change request CHGV S1 S2 4 Motion dedicated function CHGT Torque limit value change request CHGT S1 S2 4 EI Event task enable EI 1 DI Event task disable DI 1 NOP No operation NOP 1 BMOV Block transfer BMOV D S n 6 FMOV Same data block transfer FMOV D S n 6 MULTW Write device data to CPU shared memory of the self CPU MULTW D S n D1 8 MULTR Read device dat...

Page 203: ...ent can be shared among multiple Motion SFC programs None 3 Number of consecutive transitions 1 to 10 Set the number of consecutive transitions toward the program set to the event 1 4 END operation End continue Set the operation mode of the END step toward the program set to the event End 5 Executing flag None Bit device Set the bit device turned ON while executing Motion SFC program X0 to X1FFF Y...

Page 204: ...oint type is ended by L and the 64 bit floating point type by F F for the link register b For the 32 bit integer type and 64 bit floating point type specify the device number with an even number It cannot be set as an odd number c The coasting timer FT is incremented per 888 µs The coasting timer is a 32 bit integer type 2 Bit device descriptions Device description Device No n specified ranges Inp...

Page 205: ...10 16 10 MOTION SFC PROGRAMS MEMO ...

Page 206: ...tware and the same operational control can be performed The mechanical system program consists of mechanical module connection diagrams and mechanical module parameters Mechanical module connection diagrams show a virtual mechanical system consisting of multiple connected virtual mechanical modules The mechanical module parameters are used to control of the mechanical modules used at the mechanica...

Page 207: ...rection Virtual main shaft input axis 1 system 1 block Gear Drive module Transmission module Drive module Virtual axis Synchronous encoder Cam Drive module Output axis Transmission module Output module Virtual auxiliary Synchronous encoder Synchronous encoder Virtual servomotor Virtual servomotor Connection axis Differential gear Speed change gear Fig 11 1 Configuration of the Mechanical Module Co...

Page 208: ... shaft The maximum number of blocks allowable in a single system is 32 3 Transmission module connections There are 3 transmission module connection patterns Pattern 1 Straight connection to output i e no differential gear Pattern 2 Differential gear connection directly connected to the output module i e no speed change gear Pattern 3 Differential gear connection with a speed change gear on the out...

Page 209: ...d clutch speed change gear can be used in A and B 2 There are no restrictions on connection constraints if a clutch speed change gear combination is used Clutch Speed change gear Clutch Speed change gear Clutch Speed change gear b Transmission module which can be used in above C pattern 3 Only a clutch can be used in location C ...

Page 210: ...ve module is transmitted to the output axis as a function of the gear ratio and rotation direction defined by the user in the module s settings Direct clutch Smoothing clutch 2 2 1 1 Transmits or disconnects the drive module rotation to the output module Direct clutches transmit directly to the output shaft while smoothing clutches perform an acceleration deceleration profile during ON OFF operati...

Page 211: ...2 Bit devices List Name Setting range Input relay X0000 to X1FFF Output relay Y0000 to Y1FFF Internal relay M0 to M8191 Link relay B0000 to B1FFF Annunciator F0 to F2047 2 Word devices Table 11 3 Word devices List Name Setting range Data register D0 to D8191 Link register W0 to W1FFF Motion register 0 to 12287 Remark An error will occur if the multi CPU common devices for Q172DCPU Q173DCPU are set...

Page 212: ...o ways to communicate between the Motion controller and a computer Direct connection and Hub Connection Ethernet cables and parameters are different for Direct connection and Hub Connection Please note there are two types of Ethernet cables Crossover cable and Straight cable Refer to the section 2 1 2 12 1 1 Direct connection Direct connection uses an Ethernet cable between the Motion controller a...

Page 213: ...lect Ethernet Board for PC side I F 2 Select CPU Module for CPU side I F Select the Ethernet Port Direct Connection on the CPU side I F Detail Setting of PLC Module screen 3 Choose this setting for Other Station Setting CPU side I F Detailed Setting of PLC Module Online Transfer Setup CPU side I F Detailed Setting of PLC Module Select Ethernet Port Direct connection ...

Page 214: ...h the below conditions In the Motion controller IP address bits corresponding to 0 in the computer subnet mask are all ON 255 or all OFF 0 Example Motion controller IP address 64 64 255 255 Personal computer IP address 64 64 1 1 Personal computer subnet mask 255 255 0 0 In the Motion controller IP address bits corresponding to the computer IP address for each class in the personal computer IP addr...

Page 215: ...ng a direct connection method a Connecting an Ethernet cable Crossover cable Connect an Ethernet cable Crossover cable between the Motion controller and a computer b Setting IP address of the Motion controller Set the IP address located in the Built in Ethernet Port Setting tab The default IP address value is 192 168 3 39 Refer to 2 Note about IP address value setting No need to set Subnet Mask Pa...

Page 216: ...riting parameters Write parameters to the Motion controller Crossover cable must be used for this step e Changing cables Power off the Motion controller then change the Ethernet cable from a crossover cable to a straight cable Equipment Ethernet cable The Motion controller Hub Straight cable All Computers Hub Straight cable f Enabling the parameters of the Motion controller Once power returns to t...

Page 217: ...ng CPU side I F Detailed Setting of PLC Module Select Connection via Hub Set the IP address to the same value as the IP address of the Motion controller The default value of the IP address is 192 168 3 39 Refer to part 2 of this chapter below regarding the IP address setting Select Connection via Hub Set IP address Refer to 2 on next page PC side I F Ethernet Board Setting Select TCP or UDP to be ...

Page 218: ...The IP address of the computer For instance 192 168 1 1 is already set as the IP address of the computer Built in Ethernet Port Setting Set the values of these 3 columns to the same value as the computer s setting Be sure this column has a different value than the computer s setting For example 192 168 1 2 on the controller when 192 168 1 1 is set on the computer side Set this value to be the same...

Page 219: ...ditions Any connection made over the internet Any connection made through a fire wall Any connection made through a broadband router Any connection made through a wireless LAN f When multiple Motion controllers are connected to MT Developer2 beware of the below cautions IP addresses must be different for each Motion controller Different projects must be used for each Motion controllers on MT Devel...

Page 220: ...Setting System Setting Basic Setting CPU Name Setting The Find CPU Built in Ethernet port on Network function in the CPU side I F Detailed Setting of PLC Module conveniently shows the below information when MT Developer2 and the Motion controller are connected via the PERIPHERAL I F Ethernet IP address CPU type Label Comment Item Contents Length Label Enter a label name and or purpose of the Motio...

Page 221: ...etting GOT1020 is shown below 3 Precautions a Communication with RS 422 can be performed only when the motion controller is starting in the normal mode When a system setting error etc occurs it is possible to communicate only if the motion controller is in the normal mode b It is not possible to communicate in the installation mode c When a rate faster than 38400bps is specified say when 57600 115...

Page 222: ... continuous latch data that can be stored Up to 32 Range of latch data 2147483648 to 2147483647 Feature One type of data can be selected out of a total of 7 types Real current value Feed current value Position feed back Feed current value of virtual servomotor Current value of synchronous encoder Current value within 1 cam shaft revolution Real current value Current value within 1 cam shaft revolu...

Page 223: ...ch data upper limit 2147483648 to 2147483647 Operation cycle Note 2 7928 7929 7948 7949 7968 7969 7988 7989 Latch data lower limit 2147483648 to 2147483647 Operation cycle Setting device 7930 7950 7970 7990 Mark detection mode 0 to 32 Operation cycle Note 2 8896 8897 8976 8977 9056 9057 9136 9137 Mark detection data current monitor 2147483648 to 2147483647 Operation cycle Note 2 8898 8978 9058 913...

Page 224: ...ices 7920 20m These devices allocate between the digital inputs DI1 to DI4 to the mark detection functions Setting value Contents 1 The mark detection signal is allocated to DI1 2 The mark detection signal is allocated to DI2 3 The mark detection signal is allocated to DI3 4 The mark detection signal is allocated to DI4 Ex1 Each mark detection functions is allocated to a different digital inputs 7...

Page 225: ...ithin 1 cam shaft revolution Feed current value Note 1 1 Note 1 It depends on the axis whose data is latched 10 1 μm 10 5 degree 10 5 inch PLS e Mark detection data axis number 7923 20m Select the axis number for mark detection function With the exception of Feed current value of virtual servomotor only axis 1 can be selected Please refer to the above table f Latch data upper limit 7926 20m 7927 2...

Page 226: ... 65535 is reached the count returns to 0 Ring counter The latch data is always stored to 8912 8913 80m Specified number of detections mode 7930 20m 0 to 32 Until Number of marks detected 8898 80m reaches the value of 7930 20m the latch data is stored to the Latch data storing area Clear Number of marks detected 8898 80m before starting the mark detection function c Mark detection settings verifica...

Page 227: ...0m to 8974 8975 80m Remark m for example in 7920 20m corresponds to the Mark detection function number Mark detection function number 1 2 3 4 m 0 1 2 3 Timing chart 1 Timing of mark detection function verification When Registration code 7912 to 7919 is set and Mark detection signal allocation devices 7920 20m Latch data type 7922 20m and Mark detection data axis number 7923 20m are all correct Mar...

Page 228: ...the Number of marks detected 8898 80m should be cleared to 0 When a mark detection signal turns on Latch data will be stored to the first Latch data storage area 8912 80m 8913 80m and then the Number of marks detected will be incremented by 1 The next mark detection signal stores the Latch data to the second Latch data storage area 8914 80m 8915 80m and then increments the Number of marks detected...

Page 229: ...rque limit value 1 Motor current 1 Motor speed 2 r min Servo command value 2 PLS Virtual servomotor feed current value 2 PLS Synchronous encoder current value 2 PLS Virtual servo M code 1 Current value after main shaft differential gear 2 PLS Current value within one revolution of cam axis 2 PLS Execute cam No 1 Execute stroke amount 2 10 1 µm 10 5 inch PLS Valid in virtual mode only Optional addr...

Page 230: ...l is an abbreviation for the MELSEC communication protocol The MELSEC communication protocol is a name of the communication method used to access CPU modules from external devices in accordance with the communication procedure of Q series programmable controllers such as serial communication modules Ethernet modules For details on the MC protocol refer to the Q Corresponding MELSEC Communication P...

Page 231: ...ng refer to this section 2 c Open Setting Set the following items 1 Protocol Select a connection used as MC protocol Up to 16 CPU modules can be connected 2 Open System Select MC protocol 3 Host Station Port No Required Set the host station port number in hexadecimal Setting range 0401H to 1387H 1392H to FFFEH 1 2 3 POINT When the Enable online change MC protocol box is unchecked if a data write r...

Page 232: ...ce number 188 points Sets resets bit devices in units of 16 or 32 points by randomly specifying a device or device number Test Random write In units of words Note 2 1402 0000 Writes word devices in units of one or two points by randomly specifying a device or device number Note 5 Registers bit devices to be monitored in units of 16 or 32 points Monitor registration Note 2 Note 3 Note 4 In units of...

Page 233: ...H 4 Precautions a Number of connected modules In the connection with external devices using the MC protocol the number of Motion controllers set as MELSOFT connection in the Open Settings on Built in Ethernet Port setting of Basic Setting can be connected simultaneously b Data communication frame Table below shows the frames available in the communication function using the MC protocol with PERIPH...

Page 234: ...monitoring timer has run over The response message for the following request has been received Receive the rest of response messages The receive data exceeds the size limit REMARK Personal computers use the TCP socket functions internally for Ethernet communication These functions do not have boundary concept Therefore when data is sent by executing the send function once the recv function needs t...

Page 235: ...058H The request data length after the ASCII to binary conversion does not match the data size of the character area a part of text data Correct the text data or the request data length of the header data and resend the data to the Motion controller 7 C059H The command and or subcommand are specified incorrectly The command and or subcommand not supported in the Motion controller are specified Che...

Page 236: ...irtual mode Executable 1 Synchronous encoder current value monitor in real mode The synchronous encoder set in the system setting is updated for every operation cycle in the current value storage register D1120 D1121 regardless of whether or not the synchronous encoder is set in the mechanical program However the current value after synchronous encoder axis main shaft s differential gear storage r...

Page 237: ...uipment Compatibility of servo amplifier models and software versions is as follows Model name Connection with MR J3 D01 Software version of servo amplifier MR J3 B MR J3 B RJ004 MR J3 B RJ006 C5 or later MR J3 B RJ080W MR J3 S C5 or later Possible Impossible 3 I O Specifications The I O points and the signal update cycle of extension IO unit MR J3 D01 are as follows Item Number of devices Update ...

Page 238: ...not necessary to set from MT Works2 However when using the servo amplifier s data monitor function the following restrictions should be noted for the I O expansion unit Number of optional data monitor Input signal Output signal Analog output ANO1 Analog output ANO2 Analog input ANI1 Analog input ANI2 0 1 2 3 Use No use ...

Page 239: ...alog input voltage is stored in units of mV However 0 is always stored in the channel due to improper usage as per the restrictions 2 When the motion controller s power supply is turned on the content of the analog input instruction device is cleared to 0 3 Input signal Device No Signal name Pin No of MR J3 D01 X1E00 Input signal DI0 CN10 1 X1E01 Input signal DI1 CN10 2 X1E02 Input signal DI2 CN10...

Page 240: ... DO3 CN10 25 Y1E04 Output signal DO4 CN10 38 Y1E05 Output signal DO5 CN10 39 Y1E06 Output signal DO6 CN10 40 Y1E07 Output signal DO7 CN10 41 Y1E08 Output signal DO8 CN10 42 Y1E09 Output signal DO9 CN10 43 Y1E0A Output signal DO10 CN10 44 Y1E0B Output signal DO11 CN10 45 Y1E0C Output signal DO12 CN10 46 Y1E0D Output signal DO13 CN10 47 Y1E0E Output signal DO14 CN10 48 Y1E0F Output signal DO15 CN10 ...

Page 241: ...tial value Unit Setting range PO06 D1AD1 Analog input ANI1 offset of the extension IO unit Set the offset voltage of the analog input in hexadecimal 0000h mV 0000h to 0FFFFh Note 1 PO07 D1AD2 Analog input ANI2 offset of the extension IO unit Set the offset voltage of the analog input in hexadecimal 0000h mV 0000h to 0FFFFh Note 1 PO08 D1DA1 Analog output ANO1 offset of the extension IO unit Set th...

Page 242: ... Errors Motion SFC parameter errors Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC IB NA 0300135 Real Virtual mode switching errors Drive module errors Output module errors Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE IB NA 0300137 14 1 Self diagnosis errors When an error occurs check the error code and details using the Motion CPU Error Bat...

Page 243: ... system setting SYS SET DATA ERR System setting data is not written System setting data is written before Relative check Or It is written with an error of Relative check AXIS No ERROR System setting data is not written ROM ERROR1 Operating system software data type written to ROM is different ROM ERROR2 Data is not written to ROM ROM ERROR3 ROM data size is wrong Execute ROM write again Check for ...

Page 244: ... Manual REAL MODE for all other errors Table 14 3 Servo programming setting error Error code Error name Error contents Error processing Corrective action 51 Rapid stop deceleration time setting error The rapid stop deceleration time is bigger than the setting value of deceleration time Control with the setting value of deceleration time Set the rapid stop deceleration time within the range of 1 to...

Page 245: ...14 4 14 ERROR CODE MEMO ...

Page 246: ...rope BV Address Gothaer strase 8 40880 Ratingen Germany 15 1 Requirements for Compliance with the EMC Directive The EMC Directive specifies that products placed on the market must be so constructed that they do not cause excessive electromagnetic interference emissions and are not unduly affected by electromagnetic interference immunity Section 15 1 1 through Section 15 1 4 summarize the precautio...

Page 247: ...ient burst EFT B immunity Immunity test in which burst noise is applied to the power cable and signal line AC power line 2kV 5kHz DC power line 2kV 5kHz I O communication line 1kV 5kHz EN61000 4 5 2006 Surge immunity Immunity test in which surge is applied to the power line and signal line AC power line Common mode 2 5kV Differential mode 1 5kV DC power line Common mode 0 5kV Differential mode 0 5...

Page 248: ...re 10cm 3 94 inch or larger radio frequency noise may be emitted In addition because radio waves leak through a clearance between the control panel door and the main unit reduce the clearance as much as practicable The leakage of radio waves can be suppressed by the direct application of an EMI gasket on the paint surface 2 Connection of power line and ground wire It is necessary to use the Motion...

Page 249: ...sk the inner wall surface when coating the control panel and contact the exposed shield section with the clamp at the exposed bare metal surface Shield section Screw Clamp fitting Shield cable Exposed bare metal surface Figure 15 1 Part to be exposed Figure 15 2 Shield grounding Correct example Note The method of grounding with a vinyl coated wire soldered onto the shielded section of the shielded...

Page 250: ...wer supply line of the servo amplifier or the controller is effective for the reducing noise The noise filter has the effect of reducing conducted noise of 10 MHz or less The precautions required when installing a noise filter are described below a Do not bundle the wires on the input side and output side of the noise filter When bundled the output side noise will be induced into the input side wi...

Page 251: ...om the module When the cables pulled out from the control panel ground the cables at a position 5 to 10cm 1 97 to 3 94inch near the input output hole of the control panel with the cable clamp AD75CK AD75CK Inside control panel Motion controller 5 to 10cm 1 97 to 3 94 inch 20 to 30cm 7 87 to 11 81 inch Cable clamp Recommended product Manufacturer Model name AERSBAN DSET AERSBAN ESET Mitsubishi elec...

Page 252: ...asure against noise of the internal I F connector cable Ground the cables at a position 30 to 40cm 11 81 to 15 75inch away from the module with the cable clamp etc When the cables are extracted from the control panel ground the cables at a position 5 to 10cm 1 97 to 3 94inch away from the exit entrance of the control panel with the cable clamp etc Refer to Section 2 5 2 b for the internal I F conn...

Page 253: ...15 8 15 EMC DIRECTIVES MEMO ...

Page 254: ...8 43 ft contact your nearest Mitsubishi sales representative 2 Specifications Description SSCNET cable model MR J3BUS M MR J3BUS M A MR J3BUS M B SSCNET cable length m ft 0 15 0 49 0 3 to 3 0 98 to 9 84 5 to 20 16 40 to 65 62 30 to 50 98 43 to 164 04 Minimum bend radius mm inch 25 0 98 Reinforcing coat cable 50 1 97 Code 25 0 98 Reinforcing coat cable 50 1 97 Code 30 1 18 Tension strength N 70 140...

Page 255: ...en chloride gas which is corrosive and harmful may be generated For disposal of the SSCNET cable optical fiber request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas a MR J3BUS M 1 Model explanation Type MR J3BUS M 015 Cable length m ft 05 1 0 15 0 49 0 3 0 98 0 5 1 64 03 1 3 28 None A Symbol B Cable typ...

Page 256: ...R J3BUS50M B Refer to the table of this section 1 for cable length L Variation mm inch SSCNET cable A B MR J3BUS5M A to MR J3BUS20M A 100 3 94 30 1 18 MR J3BUS30M B to MR J3BUS50M B 150 5 91 50 1 97 Unit mm inch A A L B B Note Protective tube Note Dimension of connector part is the same as that of MR J3BUS015M POINT Keep the cap and the tube for protecting light code end of SSCNET cable in a plast...

Page 257: ...ctor MR MQ100 side Solderless terminal Note Use a cable of wire size AWG22 Twisted pair cable 1B 2B 1A 2A 24V 24G 24V 24G 24V 24G 2A 2B 1A 1B Solderless terminal size R1 25 3 5 c Q170MPWCBL2M E With EMI terminal 1827587 2 Terminal 1 1827864 2 Connector 1B 2B 1A 2A 24V 24G 24V 24G Note Use a cable of wire size AWG22 Twisted pair cable 24V 24G Solderless terminal MR MQ100 side 2A 2B 1A 1B 2 1 2 1 EM...

Page 258: ...H 24 HAL 23 HAH 22 HB 21 HA 20 5VGND SG 48 5V 5V 46 SG 47 5V 45 SEL 49 SG 50 DO1 DO1 6 COM2 7 DO2 DO2 31 DOCOM COM2 32 DI1 DI1 3 COM1 5 DI3 DI3 4 DI2 DI2 28 COM1 30 DI4 DI4 29 DICOM HBH HAL HAH Shell FG FG Note Differential output type Manual pulse generator Incremental synchronous encoder side Output Input Mark detection input side MR MQ100 Twisted pair cable Note Connect SEL to the SG terminal i...

Page 259: ... 45 SEL 49 SG 50 DO1 DO1 6 COM2 7 DO2 DO2 31 DOCOM COM2 32 DI1 DI1 3 COM1 5 DI3 DI3 4 DI2 DI2 28 COM1 30 DI4 DI4 29 DICOM Shell FG FG Note voltage output open collector type Manual pulse generator Incremental synchronous encoder side Output Input Mark detection input side MR MQ100 HA HB Twisted pair cable Note When Voltage output Open collector type is used open between SEL and SG ...

Page 260: ...App 7 APPENDICES 3 Internal I F connector cable a Q170MIOCBL1M A Type Q170MIOCBL M A B Symbol Cable type The GOT side is cable covering The GOT side is D SUB 9pin 1 Cable length m ft 1 3 28 Symbol ...

Page 261: ...M2 32 DI1 DI1 3 COM1 5 DI3 DI3 4 DI2 DI2 28 COM1 30 DI4 DI4 29 HBH HAL HAH Shell FG FG Manual pulse generator Incremental synchronous encoder side Output Input Mark detection input side MR MQ100 SDB RXDL RXDH 41 RDB TXDL 17 RDA TXDH 16 GOT 42 SDA SG SG 37 SG 38 13 AB HB HA RSA RSB CSA CSB 5V SG COM1 Yellow Dot mark Red Yellow Dot mark Black Pink Dot mark Red Pink Dot mark Black White Dot mark Blac...

Page 262: ... 48 5V 45 SG 47 DO1 DO1 6 COM2 7 DO2 DO2 31 COM2 COM2 32 DI1 DI1 3 COM1 5 DI3 DI3 4 DI2 DI2 28 COM1 30 DI4 DI4 29 HBH HAL HAH Shell FG Manual pulse generator Incremental synchronous encoder side Output Input Mark detection input side MR MQ100 SDB RXDL RXDH 41 RDB TXDL 17 RDA TXDH 16 GOT 42 SDA SG SG 37 SG 38 13 AB HB HA 1 6 7 2 5 3 8 4 9 RSA RSB CSA CSB 5V SG COM1 FG FG Shell ...

Page 263: ...10 APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2 1 MR MQ100 unit mm inch 135 5 31 168 6 61 30 1 18 178 7 01 30 1 18 154 6 06 8 0 31 6 0 24 7 0 28 161 6 34 4 6 0 18 With battery Q6BAT Without battery ...

Page 264: ...9 0 27 23 9 0 94 49 6 1 95 47 2 1 86 1 5 0 06 2 4 0 09 3 1 0 12 25 35 1 00 27 15 1 07 26 2 1 03 19 9 0 78 2 Large capacity battery holder For Q7BAT unit mm inch PUSH 47 2 1 86 1 5 0 06 2 4 0 09 26 2 1 03 6 9 0 27 34 7 1 37 2 0 08 18 0 71 45 9 1 81 10 0 39 27 7 1 09 29 4 1 18 4 8 0 19 29 4 1 16 27 4 1 08 ...

Page 265: ...5 9 0 23 3 1 0 12 7 6 0 30 12 45 0 49 2 Internal I F connector HONDA TSUSHIN KOGYO CO make Item Type Core size AWG Remark soldering type connector HDR E50MSG1 AWG19 to AWG22 Attachment HDR E50MAG1 AWG28 Pressure displacement type connector HDR E50MG1 AWG30 connector case HDR E50LPH Attachment unit mm inch 33 8 1 33 25 34 1 00 38 14 1 50 3 0 12 8 0 31 10 0 39 34 59 1 36 22 8 0 90 φ9 0 35 ...

Page 266: ...App 13 APPENDICES 3 SSCNET cable connector unit mm inch 20 9 0 2 0 82 0 01 17 6 0 2 0 69 0 01 8 0 31 2 3 0 09 1 7 0 07 4 8 0 19 13 4 0 53 15 0 59 6 7 0 26 9 3 0 37 ...

Page 267: ...App 14 APPENDICES MEMO ...

Page 268: ...ncorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry 4 A failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced 5 Any replacement of consumable parts battery fan etc 6 A failure caused by e...

Page 269: ...er companies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway ser...

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Page 272: ...7 463 540 Fax 358 0 207 463 541 GREECE UTECO 5 Mavrogenous Str GR 18542 Piraeus Phone 30 211 1206 900 Fax 30 211 1206 999 HUNGARY MELTRADE Kft Fertő utca 14 HU 1107 Budapest Phone 36 0 1 431 9726 Fax 36 0 1 431 9727 LATVIA Beijer Electronics SIA Ritausmas iela 23 LV 1058 Riga Phone 371 0 784 2280 Fax 371 0 784 2281 LITHUANIA Beijer Electronics UAB Savanoriu Pr 187 LT 02300 Vilnius Phone 370 0 5 23...

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