Mitsubishi Electric R16MTCPU User Manual Download Page 38

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2 EQUIPMENT SPECIFICATIONS
2.2 Motion CPU Module

• When an error is displayed on the dot matrix LED, confirm the error code etc. using MT Developer2.
• Refer to the Motion CPU error batch monitor or the following for error details.



MELSEC iQ-R Motion Controller Programming Manual (Common)

Rotary switch setting and operation mode

Rotary switch setting

*1 Do not set other than the above setting.

Operating
system
software

Not installed

"A00" is flickering

It becomes the status of installation mode when the
operating system software is not installed.

File error

"A01" is flickering

Displays when there is a file error in the operating
system software that was installed.

WDT error



" is displayed

Hardware error or software error.



displays the error code of "Motion CPU WDT error

cause (SD512)".

Self-diagnostic error
(Major/Moderate/Minor error)

" AL" flickers 3 times



4-digits error code is
displayed in two sequential
displays of 2-digits each.
(Left: error code [2200H])



Scrolled display of the file
name.
(Left: When file name is
"motnet01.csv")



When a continuous error
occurred, the mode is
displayed.
(Left: When mode is "RUN")

Displays when a self-diagnostic error occurs (major/
moderate/minor error).

• Displays the applicable file name when a parameter,

or file error is detected.

• The mode that the Motion CPU is operating. ("STP",

"RUN", "TES") is displayed only for a continuous
error.

Refer to the following for details of error codes and file
names.



MELSEC iQ-R Motion controller Programming

Manual (Common)

Rotary switch

Setting

Mode

Description

Normal mode

Normal operation mode

Ethernet information
display mode

Displays IP address, MAC address, and Ethernet link status.

Installation mode

Installed the operating system software using MT Developer2.

Built-in memory clear

Initializes the built-in memory of the standard ROM and backup RAM.

CAUTION

• Be sure to turn OFF the Multiple system power supply before the rotary switch setting change.

Item

Dot matrix LED

Details

Summary of Contents for R16MTCPU

Page 1: ...MELSEC iQ R Motion Controller User s Manual R16MTCPU R32MTCPU R64MTCPU ...

Page 2: ......

Page 3: ...abnormal condition it stops the operation and all outputs are Turned off if the overcurrent or overvoltage protection of the power supply module is activated Held or turned off according to the parameter setting if the self diagnostic function of the CPU module detects an error such as a watchdog timer error 3 All outputs may be turned on if an error occurs in a part such as an I O control part wh...

Page 4: ...ignals refer to the user s manual for the module used If a communication cable is disconnected the network may be unstable resulting in a communication failure of multiple stations Configure an interlock circuit in the program to ensure that the entire system will always operate safely even if communications fail Failure to do so may result in an accident due to an incorrect output or malfunction ...

Page 5: ...of the time Do not power off the programmable controller or reset the CPU module while the settings are being written Doing so will make the data in the flash ROM and SD memory card undefined The values need to be set in the buffer memory and written to the flash ROM and SD memory card again Doing so also may cause malfunction or failure of the module When changing the operating status of the CPU ...

Page 6: ...ort circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction When using an extension cable connect it to the extension cable connector of the base unit securely Check the connection for looseness Poor contact may cause malfunction When using an SD memory card fully insert it into the SD memory card slot Check that it is inserted comple...

Page 7: ... correctly connect the cable Incorrect wiring connecting the cable to an incorrect interface may cause failure of the module and external device Tighten the terminal screws or connector screws within the specified torque range Undertightening can cause drop of the screw short circuit fire or malfunction Overtightening can damage the screw and or module resulting in drop short circuit fire or malfu...

Page 8: ...external device and CPU module in case of a communication failure Do not disassemble or modify the modules Doing so may cause failure malfunction injury or a fire Use any radio communication device such as a cellular phone or PHS Personal Handy phone System more than 25cm away in all directions from the programmable controller Failure to do so may cause malfunction Shut off the external power supp...

Page 9: ... correct Lock the control panel and prevent access to those who are not certified to handle or install electric equipment CAUTION When changing data and operating status and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module read relevant manuals carefully and ensure the safety before operation In...

Page 10: ...The halogens such as fluorine chlorine bromine and iodine which are contained in a fumigant used for disinfection and pest control of wood packaging materials may cause failure of the product Prevent the entry of fumigant residues into the product or consider other methods such as heat treatment instead of fumigation The disinfection and pest control measures must be applied to unprocessed raw woo...

Page 11: ...INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT Prohibited Application Prohibited Applications include but not limited to the use of the PRODUCT in ...

Page 12: ...ay be necessary Please refer to one of the following manuals MELSEC iQ R Module Configuration Manual Safety Guidelines This manual is included with the base unit The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives Additional measures To ensure that this product maintains EMC and Low Voltage Directives please refer to the following manual ...

Page 13: ...on 27 Checking operating system software version 28 1 4 Restrictions by the Software s Version 29 1 5 Engineering Software Version 30 CHAPTER 2 EQUIPMENT SPECIFICATIONS 31 2 1 General Specifications 31 2 2 Motion CPU Module 32 Name of parts 32 LED display 34 Rotary switch setting and operation mode 36 Specifications 39 2 3 Serial Absolute Synchronous Encoder 42 Specifications 42 2 4 SSCNETIII Cabl...

Page 14: ... is displayed or flickering in the dot matrix LED 66 When cannot write to Motion CPU 67 When cannot read from Motion CPU 67 When the servo amplifier does not start 67 CHAPTER 7 EMC DIRECTIVES 68 7 1 Requirements for Compliance with the EMC Directive 68 Standards relevant to the EMC directive 69 Installation instructions for EMC directive 70 Parts of measure against noise 72 Measure against noise 7...

Page 15: ...ook e Manual PDF MELSEC iQ R Motion Controller Programming Manual Program Design IB 0300239 This manual explains the functions programming debugging for Motion SFC and others Print book e Manual PDF MELSEC iQ R Motion Controller Programming Manual Positioning Control IB 0300241 This manual explains the servo parameters positioning instructions device lists and others Print book e Manual PDF MELSEC...

Page 16: ...ute synchronous encoder or Q171ENC W8 Abbreviation for Serial absolute synchronous encoder Q171ENC W8 SSCNET H 1 High speed synchronous network between Motion controller and servo amplifier SSCNET 1 SSCNET H General name for SSCNET H SSCNET Absolute position system General name for system using the servomotor and servo amplifier for absolute position Intelligent function module General name for mo...

Page 17: ...such as Rq 1140 Stop command R M34480 32n Q M3200 20n indicate the device No for the device assignment methods shown below When R and Q are not beside the device No the device No is the same for both device assignment methods Symbol Device assignment method R MELSEC iQ R Motion device assignment Q Q series Motion compatible device assignment ...

Page 18: ...ion in system Extension of the R series module Motion CPU module R64MTCPU R32MTCPU R16MTCPU Selected according to the system Main base unit R35B R38B R312B Power supply module RnCPU I O module Intelligent function module of the R series Power supply module I O module Intelligent function module of the R series Extension cable RC B Servo amplifier MR J4 W B Servo amplifier MR J3 W B R6 B extension ...

Page 19: ...ld and drain wire or copper braid shield and aluminium layered type shield Part name Connection type Cable type Ethernet standard Specification Ethernet cable Connection with HUB Straight cable 10BASE T Compliant with Ethernet standards category 5 or higher Shielded twisted pair cable STP cable 100BASE TX Direct connection Straight cable Crossover cable 10BASE T 100BASE TX Ethernet cable 1 Persona...

Page 20: ...function module E I O module Intelligent function module Analog Input Output Input Output Up to 4096 points External input signals d01 M E d02 d16 M E d01 M E d02 M E M E d16 M E Power supply module Personal computer GOT USB Ethernet PERIPHERAL I F Cognex Corporation vision system Sensing module MR MT2000 series 3 I O module Intelligent function module L61P LJ72MS15 MELSEC L series SSCNETµ H head ...

Page 21: ...C iQ R Module Configuration Manual Up to four modules of MELSEC iQ R series PLC CPU modules Motion CPU modules can be installed from the CPU slot the slot on the right side of power supply module to the I O slot 6 of the main base unit CPU modules are called CPU No 1 to CPU No 4 from the left sequentially There is no restriction on the installation order of CPU No 2 to No 4 For CPU module other th...

Page 22: ...epping motor module AlphaStep 5 phase manufactured by ORIENTAL MOTOR Co Ltd IAI electric actuator controller manufactured by IAI Corporation Motion CPU Communication type SSCNETIII H SSCNETIII R64MTCPU 32 axes 16 axes R32MTCPU 16 axes R16MTCPU 16 axes Operation cycle Communication type SSCNETIII H SSCNETIII 0 222ms Maximum 12 control axes per line 1 MR J4W3 B software version A2 or earlier cannot ...

Page 23: ...R J4W B When using a multi axis servo amplifier MR J4W B there is a restriction on the number of connectable units servo amplifier MR J4 W B SSCNET H head module other drivers etc between the Motion CPU and the multi axis servo amplifier The number of connectable units are shown below When more than the number of connectable units are connected a warning error code 0C82H occurs While communication...

Page 24: ...rt 0 67 R04ENCPU Program capacity 40k steps LD instruction processing speed 0 98ns Built in Ethernet port Built in CC Link IE 1 49 R08ENCPU Program capacity 80k steps LD instruction processing speed 0 98ns Built in Ethernet port Built in CC Link IE 1 49 R16ENCPU Program capacity 160k steps LD instruction processing speed 0 98ns Built in Ethernet port Built in CC Link IE 1 49 R32ENCPU Program capac...

Page 25: ...71ENC W8 Resolution 4194304pulse rev Permitted axial loads Radial load Up to 19 6N Thrust load Up to 9 8N Permitted speed 3600r min 0 25 Serial absolute synchronous encoder cable Q170ENCCBL M A Serial absolute synchronous encoder Q171ENC W8 MR J4 B RJ 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft 50m 164 04ft Connector set for serial absolute synchronous encoder cable MR J3CN2 MR J4 B R...

Page 26: ...put 32 points 0 42 RY42NT2P Transistor output sink type output 64 points 0 25 RY40PT5P Transistor output source type output 16 points 0 13 RY41PT1P Transistor output source type output 32 points 0 19 RY41PT2H Transistor output source type output 32 points 0 41 RY42PT1P Transistor output source type output 64 points 0 29 Input Output composite module RH42C4NT2P DC input plus common minus common sha...

Page 27: ...O module MR MT2200 Sensing pulse I O module MR MT2300 Sensing analog I O module MR MT2400 Sensing encoder I F module SSCNET H head module LJ72MS15 Maximum link points Input 64 bytes Output 64 bytes Transmission cycle 0 222ms 0 444ms 0 888ms Refer to the MELSEC L series PLC manuals Optical hub unit MR MV200 3 branches 1 unit 24VDC power supply connector is attached Part name Model name Description ...

Page 28: ... controller engineering software 1 Included in Motion controller engineering software MELSOFT MT Works2 2 The servo setup software MR Configurator2 is included with MELSOFT MT Works2 PLC engineering software Motion CPU Model name R64MTCPU SW10DNC RMTFW R32MTCPU R16MTCPU Part name Model name MELSOFT MT Works2 MT Developer2 1 MR Configurator2 2 SW1DND MTW2 E Part name Model name MELSOFT GX Works3 SW...

Page 29: ... the Motion CPU module The SERIAL line displays the Motion CPU module production information Production information marking The production information of the Motion CPU module is found on the production information marking on the front of the Motion CPU module Checking with GX Works3 The production information can be checked on the system monitor screen in GX Works3 Page 28 Checking with GX Works3...

Page 30: ...uct Information List button Checking with MT Developer2 Installation screen Check on the installation screen CPU information screen Check on the CPU information screen Help CPU information Device Check with the special register Operating system software version SD740 to SD747 Refer to for details on special registers MELSEC iQ R Motion Controller Programming Manual Common Operating system software...

Page 31: ...ter 04 1 115V 4 Override function 04 1 115V 4 Test mode expansion 04 1 115V 1 41T 2 SD memory card compatible label function 04 1 115V 2 Parameter change function 05 2 Stepping motor module AlphaStep 5 phase manufactured by ORIENTAL MOTOR Co Ltd 05 1 118Y 2 Home position return of driver home position return method 05 1 118Y 4 Device assignment method 07 1 120A 2 Machine control 07 1 120A 6 Motion...

Page 32: ...Manual G Code Control 1 5 Engineering Software Version The operating system software and engineering software versions that support Motion CPU are shown below Expansion of the number of Motion SFC programs and servo programs 10 1 130L 3 4 Synchronous encoder via sensing module 10 1 130L 1 55H 5 Mixed operation cycle function 10 1 130L 2 RnENCPU Multiple CPU system compatible 10 1 118Y 1 032J Actua...

Page 33: ...ltage of 300V is 2500V 5 This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used Pollution level 2 is when only non conductive pollution occurs A temporary conductivity caused by condensing must be expected occasionally Item Specification Operating ambient temperature 0 to 55 32 to 131 1 Storage ambient temperature 25 to ...

Page 34: ...Module Name of parts This section explains the names of the parts of the Motion CPU module 6 1 2 3 4 5 7 9 8 10 11 12 13 14 15 With front cover open Front face of R32MTCPU 10 11 12 13 14 15 Front face of R64MTCPU 10 12 13 14 15 Front face of R16MTCPU 16 17 Side face 18 ...

Page 35: ... display 6 Mode select rotary switch Set the operation mode Normal mode Installation mode etc Each switch setting is 0 to F Factory default 0 Page 36 Rotary switch setting 7 RUN STOP switch Move RUN STOP to change the operating state of the Motion CPU module RUN Program is started STOP Program is stopped 8 SD memory card access control switch Switch for stopping card access when removing the SD me...

Page 36: ...ault Explain the error symptom LED display and get advice from our sales representative for the modules with failure E is displayed Hardware error or software error during initializing indicates the error code Explain the error symptom LED display and get advice from our sales representative for the modules with failure Source Destination is displayed Left When files are transmitted from the SD me...

Page 37: ...ys when the operating system software installation from the SD memory card is completed normally ER is displayed Left When there is a SD memory card access error Displays when there was an error in operating system software installation from the SD memory card indicates the following errors 0 SD memory card access error 1 Install file error 2 Built in ROM access error 3 License key file error Buil...

Page 38: ...in two sequential displays of 2 digits each Left error code 2200H Scrolled display of the file name Left When file name is motnet01 csv When a continuous error occurred the mode is displayed Left When mode is RUN Displays when a self diagnostic error occurs major moderate minor error Displays the applicable file name when a parameter or file error is detected The mode that the Motion CPU is operat...

Page 39: ...of a display in Ethernet information display mode Ex IP address 192 168 3 39 Subnet mask pattern 255 255 255 0 Default router IP address 192 168 3 1 MAC address 38 E0 8E 01 23 45 When the Ethernet parameters are not written in the Motion CPU the addresses are displayed as follows IP address 192 168 3 39 IP address 0 0 0 0 Default router IP address 0 0 0 0 Installation mode Mode for installing the ...

Page 40: ...mory clear is complete FIN is displayed on the dot matrix LED 7 Turn the Multiple CPU system power supply OFF 8 Set the rotary switch to 0 to switch to normal mode Do not turn Multiple system power supply OFF while the clear is processing If Multiple CPU system power supply is turned OFF during clearing of standard ROM accessing the standard ROM may no longer be possible Execute a drive format fro...

Page 41: ...pe SSCNET H SSCNET Number of lines 2 lines 2 1 line 2 Distance between stations maximum m ft SSCNET H 100 328 08 SSCNET 50 164 04 Combined cable length maximum m ft 3 SSCNET H 3200 10498 69 1600 5249 34 SSCNET 800 2624 67 Number of sensing module connection stations Up to 8 stations Up to 4 stations line Up to 4 stations Number of SSCNET H head module connection stations Number of optical hub unit...

Page 42: ...rn method Home position return re try function provided home position shift function provided JOG operation function Provided Manual pulse generator operation function Possible to connect 3 modules High speed counter module use Synchronous encoder operation function Possible to connect 12 modules Via module High speed counter module use Via servo amplifier 6 Via device Multiple CPU advanced synchr...

Page 43: ...6 K0 to 4095 5 For operating system software version 09 or earlier 256 No 0 to 255 6 Servo amplifier MR J4 B RJ only 7 Servo amplifier MR J3 B MR J4 B only Driver communication function 7 Provided File transmission at boot function Provided Parameter change function Provided Mixed operation cycle function Provided Event history function Provided Add on function Provided Override function Provided ...

Page 44: ... Transmission method Serial communications Direction of increasing addresses CCW viewed from end of shaft Protective construction Dustproof Waterproof IP67 Except for the shaft through portion Permitted speed at power ON 3600r min Permitted speed at power OFF 2 500r min Permitted axial loads Radial load Up to 19 6N Thrust load Up to 9 8N Runout at input shaft tip 0 02mm 0 00079 inch or less 15mm 0...

Page 45: ... number of servo amplifiers can be connected per SSCNET H line Specifications Motion CPU Communication type SSCNETIII H SSCNETIII R64MTCPU Up to 32 Up to 16 R32MTCPU Up to 16 R16MTCPU Up to 16 Model name Cable length m ft Description MR J3BUS M Standard cord for inside panel MR J3BUS015M 0 15 0 49 Motion CPU Servo amplifier Servo amplifier Servo amplifier MR J3BUS03M 0 3 0 98 MR J3BUS05M 0 5 1 64 ...

Page 46: ... Servo amplifier Servo amplifier Servo amplifier 1 CN1A CN1B Cap CN1A CN1B 1 SSCNETµ cable length MR J3BUS M use 1 3m 9 84ft MR J3BUS M A use 1 20m 65 62ft MR J3BUS M B use 1 50m 164 04ft CN2 2 CN1 Motion CPU module 1 If the CN1A and CN1B connection is incorrect the servo amplifiers cannot communicate 2 R64MTCPU R32MTCPU only Attach a cap to connectors of line not being used SSCNETµ H LINE 2 SSCNE...

Page 47: ...ch 0 to F and the auxiliary axis No setting switches SW3 SW4 to the appropriate combination The table for setting the station No with the axis select rotary switch and auxiliary axis No setting switches of the servo amplifier is shown in the table below Motion CPU Axis No setting range Setting range of station No SSCNETIII H SSCNETIII R64MTCPU 1 to 64 1 to 64 1 to 16 R32MTCPU 1 to 32 R16MTCPU 1 to...

Page 48: ...No setting switches to OFF Connector No of Motion CPU module Correspondence between SSCNET H line and connector No of Motion CPU module is shown in the table below 1 Number of SSCNET H lines R64MTCPU R32MTCPU 2 lines R16MTCPU 1 line The setting of axis select rotary switch and auxiliary axis No setting switches differs depending on the servo amplifier Refer to the following for details Servo ampli...

Page 49: ...ernal force which concentrates on the fixing part of SSCNET cable or the connecting part of SSCNET connector At worst the breakage of SSCNET cable or damage of SSCNET connector may occur For cable laying handle without putting forced tension Lateral pressure If lateral pressure is added on the SSCNET cable the cable itself distorts internal optical fiber gets stressed and then transmission loss wi...

Page 50: ... the module Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted When bundling the cable fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizing If using adhesive tape for bundling the cable fire resistant acetate cloth adhesive tape 570F Teraok...

Page 51: ...te ester may affect MR J3BUS M and MR J3BUS M A cables made of plastic In addition MR J3BUS M B cable made of quartz glass is not affected by plasticizer If the adhesion of solvent and oil to the cord part of SSCNET cable may lower the optical characteristic and machine characteristic If it is used such an environment be sure to do the protection measures to the cord part When keeping the Motion C...

Page 52: ...ocks to the Motion controller 1 When an extended temperature range base unit is used each module can be used in the environment of 0 to 60 32 to 140 3 2 Module Installation Mounting position When mounting the Motion controller to an enclosure or similar fully consider its operability maintainability and environmental resistance Refer to the following for details of mounting position of modules MEL...

Page 53: ...mory card is inserted all the way in If the SD memory card is not inserted properly insufficient contact may cause an operation failure 2 The CARD READY LED flickers until the SD memory card can be used When the CARD READY LED is ON the SD memory card can be used 3 If the CARD READY LED does not turn on after installing a SD memory card check that SD memory card forced disable instruction SM606 an...

Page 54: ...ory card is completed Thus the time it takes for the CARD READY LED to turn OFF differs depending on the function When Memory card remove attach prohibit SM605 is ON the CARD READY LED does not turn OFF when the SD memory card access control switch is pushed When the CARD READY LED will not turn OFF turning ON SD memory card forced disable instruction SM606 will force the stop of the SD memory car...

Page 55: ...ling it The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration exceeding the prescribed limits Do not connect the shaft of serial absolute synchronous encoder directly to machine side rotary shaft Always after connecting the shaft of serial absolute synchronous encoder to another bearing once connect the shaft through a flexible coupling Never hit the end of t...

Page 56: ...ue to common impedances Refer to the following for details of grounding MELSEC iQ R Module Configuration Manual Servo amplifier Instruction Manual Safety circuit Concept of safety circuits When the Multiple CPU system is powered on and off normal control output may not be done momentarily due to a delay or a startup time difference between the Multiple CPU system power supply and the external powe...

Page 57: ...Refer to the Servo amplifier Instruction Manual about servomotor capacity Operation status of the emergency stop servo amplifier forced stop and the Motion controller forced stop are as follows Item Operation of the signal ON Remark Emergency stop Servo OFF The power supply of the servo amplifier is shut off by external circuit and the servomotor stops Servo amplifier forced stop A stop command fr...

Page 58: ...g of the PLC CPU module Set the following parameters using GX Works3 System parameter CPU parameter Module parameter MELSEC iQ R CPU Module User s Manual Application 5 Write parameters to PLC CPU module Write the parameters set in GX Works3 to the PLC CPU module GX Works3 Operating Manual 6 Selection of device assignment method for Motion CPU module Select the device assignment method MELSEC iQ R ...

Page 59: ...Control Machine control parameters MELSEC iQ R Motion Controller Programming Manual Machine Control G code control parameters MELSEC iQ R Motion Controller Programming Manual G Code Control 16 Write Motion programs Write the Motion programs created in MT Developer2 to the Motion CPU module Help of MT Developer2 17 Turn ON power supply of Multiple CPU system again Turn ON again or reset the Multipl...

Page 60: ...uence operation by executing the sequence program using an actual external input Also refer to the following for details of the operation to check processing times MELSEC iQ R Motion Controller Programming Manual Common When the servo amplifier servo motor is first turned on check the operation before the servo motor is mounted on a machine to avoid unexpected accidents such as machine breakage ...

Page 61: ...le fixing hook must be engaged securely Engage the module fixing hook securely 2 Motion CPU module READY LED Check the READY LED is ON READY LED must be ON Page 34 LED display ERROR LED Check the ERROR LED is OFF ERROR LED must be OFF Dot matrix LED RUN is displayed STP is displayed E does not display Page 66 When an error is displayed or flickering in the dot matrix LED W does not display AL does...

Page 62: ...gases 2 Installation Looseness rattling Move the module to check for looseness and rattling The module must be installed firmly Retighten the screws If the modules are loose fix it with screws Adhesion of dirt and foreign matter Visual inspection Dirt and foreign matter must not be present Remove dirt and foreign matter and clean Attach a connector cover to the connectors that are not being used T...

Page 63: ...cement please contact your sales representative Synchronous encoder Change the synchronous encoder in 20 000 to 30 000 hours as a guideline under rated speed This differs on the operating conditions The bearings must also be changed if unusual noise or vibration is found during inspection Module name Part name Life guideline Remark Synchronous encoder Capacitor 20 000 to 30 000 hours Life guidelin...

Page 64: ...es Display states of various types of indicators After checking all of the above monitor the operating conditions of servomotors and error code using MT Developer2 and GX Works3 Check of trouble Check to see how the operating condition varies while the Motion controller is operated as follows Set the RUN STOP switch of Motion CPU module to STOP Reset the trouble with the RUN STOP RESET switch of P...

Page 65: ...ule 5 Connect GX Works3 and start system monitor Check the module where the error has occurred 6 Select the module where the error has occurred and start module diagnostics in GX Works3 Check the cause of the error and corrective action 7 When the cause cannot be specified using module diagnostics check the operations and errors from the event history in GX Works3 to specify the cause 8 Connect MT...

Page 66: ...r occurrence Due to an incorrect program or parameter setting or the status of external signals axis operation cannot be started continued The program has detected a minor error or warning and can continue Use MT Developer2 to specify the cause and correct the error Flickering Moderate error occurrence Stopped Due to an incorrect program or parameter setting or momentary noise the program and axis...

Page 67: ... more detailed information error causes and error corrections to be checked than checking LEDs Checking with MT Developer2 Check with the following function in MT Developer2 Motion CPU error batch monitor Refer to the following for details Help of MT Developer2 Checking with GX Works3 Check with the following functions in GX Works3 System monitor Module diagnostics Event history Refer to the follo...

Page 68: ...ective action E is displayed during initializing A hardware error or software error is occurring Exchange the Motion CPU module is the error code A00 is flickering The operating system software is not installed Put the Motion CPU module in installation mode and install the operating system software A01 is displayed There is an error in the operating system software file that was installed Reinstal...

Page 69: ...ory card Secure enough free space on the standard ROM or the SD memory card With the Multiple CPU system in an erroneous state self diagnostic errors such as CPU configuration error parameter error etc occurring is transmission via Multiple CPU being performed Use the PERIPHERAL I F of the Motion CPU to write to the Motion CPU Check item Corrective action Has a password been registered Authenticat...

Page 70: ...0880 Ratingen Germany 7 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 This section summarize the precautions on compliance with the EMC Directive of the machinery con...

Page 71: ... 2009 Electrostatic discharge immunity Immunity test in which electrostatic discharge is applied to the product 8kV 10 times at 1 second interval Air discharge 4kV 10 times at 1 second interval Contact discharge EN61000 4 3 2006 A1 2008 A2 2010 Radiated immunity 1 Immunity test in which electric fields are radiated to the product 80 AM modulation 1kHz 80 1000MHz 10V m 1400M 2000MHz 3V m 2000M 2700...

Page 72: ...ncies Holes made in the control panel must be 10cm 3 94inch diameter or less If the holes are larger than 10cm 3 94inch 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 th...

Page 73: ...ible Make sure the grounded cables are not exposed to electromagnetic induction from cables that are not grounded Ground the exposed shield section to spacious area on the control panel A clamp can be used as shown below In this case mask the inner wall surface and clamp when coating the control panel to prevent these from being coated as well The method of grounding with a vinyl coated wire solde...

Page 74: ... amplifier and Multiple CPU system s power supply is effective for the reducing noise The noise filter has the effect of reducing conducted noise of 10 MHz or less Noise ferrite Recommended product The precautions required when installing a noise filter are described below Do not bundle the wires on the input side and output side of the noise filter When bundled the output side noise will be induc...

Page 75: ...ice configuration for details of each cable Ethernet cable Page 17 Peripheral device configuration In wiring inside the panel the power line connected to the power or servo amplifier and the communication cable such as bus connection cable or network cable must not be mixed If the cables are installed closely with each other for wiring reasons using a separator made of metal can make the cables le...

Page 76: ...f two cords is changed by how to bend it Cable model Cable length m ft Bending life Application remark 0 15 0 49 0 3 0 98 0 5 1 64 1 3 28 3 9 84 5 16 40 10 32 81 20 65 62 30 98 43 40 131 23 50 164 04 MR J3BUS M 015 03 05 1 3 Standard Standard cord for inside panel MR J3BUS M A 5 10 20 Standard Standard cable for outside panel MR J3BUS M B 1 30 40 50 Long bending life Long distance cable Item Descr...

Page 77: ...o has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas MR J3BUS M Model explanation Exterior dimensions MR J3BUS015M Unit mm inch MR J3BUS03M to MR J3BUS3M Refer to model explanation for cable length L Page 74 Model explanation Unit mm inch 1 Dimension of connector part is the same as that of MR J3BUS015M Type MR J3BUS M Cable type Standard cord for inside panel S...

Page 78: ... Dimension of connector part is the same as that of MR J3BUS015M Keep the cap and the tube for protecting light cord end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty SSCNETIII cable Variation mm inch 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 A B A B 1 L Protective tube ...

Page 79: ...shown below 2 Standard OD Outside Diameter Maximum OD is about 10 larger Type Length m ft Wire model Remark Q170ENCCBL M A 2 6 56 5 16 40 10 32 81 20 65 62 30 98 43 50 164 04 J14B103715 00 12pair BLACK Q171ENC W8 MR J4 B RJ Connector sets type Description Remark MR J3CN2 Servo amplifier connector Q171ENC W8 MR J4 B RJ Wire model Core size mm2 Number of cores Characteristics of one core Finished OD...

Page 80: ...s encoder 50m 164 04ft or less Synchronous encoder cable Q171ENC W8 Encoder connector View A A G T P F J E L M C S R H D N K B U V View B B A Encoder side D MS3106B22 14S plug D MS3057 12A cable clamp Cable length 50m 164 04 ft or less LG BAT MR2 MRR2 MD2 MDR2 P5 2 9 3 4 7 8 1 SD plate R E K L H J S N MR J4 B RJ side 36210 0100PL plug 36310 3200 008 shell Twisted pair for signal BAT LG MR MRR MD M...

Page 81: ...he light generated from CN1A CN1B connector of servo amplifier or the end of SSCNET cable The light can be a discomfort when it enters the eye The cable is available per 1 m up to 100 m The number of the length 1 to 100 will be in the part in the cable model Cable model Cable length m ft Bending life Application remark 1 to 100 3 28 to 328 08 SC J3BUS M C 1 to 100 Ultra long bending life Long dist...

Page 82: ...ES Appendix 2 Exterior Dimensions Appendix 2 Exterior Dimensions Motion CPU module R16MTCPU Unit mm inch R32MTCPU Unit mm inch 27 8 1 09 110 4 33 106 4 17 4 0 16 98 3 86 27 8 1 09 110 4 33 106 4 17 4 0 16 98 3 86 ...

Page 83: ...APPENDICES Appendix 2 Exterior Dimensions 81 A R64MTCPU Unit mm inch 27 8 1 09 110 4 33 106 4 17 4 0 16 98 3 86 ...

Page 84: ...coder Sumitomo 3M Limited make SCR type Type Plug 36210 0100PL Shell 36310 3200 008 Unit mm inch SSCNETIII cable connector Unit mm inch 22 7 0 89 11 0 43 34 8 1 37 22 4 0 88 10 0 39 8 0 31 39 6 1 56 2 3 0 09 4 8 0 19 20 9 0 2 17 6 0 2 0 69 0 01 0 82 0 01 8 0 31 1 7 0 07 13 4 0 53 15 0 59 9 3 0 37 6 7 0 26 ...

Page 85: ...nchronous encoder Q171ENC W8 Unit mm inch 7 0 28 Cross section diagram A A 40 1 57 58 5 2 30 22 25 0 88 123 25 4 85 8 72 0 34 8 72 0 34 4 φ5 5 0 22 45 37 5 1 48 42 1 65 85 3 35 58 5 2 30 29 1 14 2 0 08 30 1 18 A A 14 0 55 φ100 3 94 0 0 020 φ75 2 95 0 37 9 52 0 0 008 ...

Page 86: ...4 1 5 2 2 2 4 3 3 4 1 6 5 Appendix 2 WARRANTY June 2016 IB NA 0300235 E Added or modified parts SAFETY PRECAUTIONS INTRODUCTION Section 1 1 1 2 1 4 2 1 2 2 2 4 3 1 5 2 September 2016 IB NA 0300235 F Added models MR MT2010 MR MT2100 MR MT2200 MR MT2300 MR MT2400 RY41NT2H RY41PT2H Added or modified parts TERMS Section 1 1 1 2 1 4 1 5 2 2 December 2016 IB NA 0300235 G Added models RX41C6HS RX61C6HS R...

Page 87: ...been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fir...

Page 88: ...erver Windows Vista and Windows XP are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries The company names system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies In some cases trademark symbols such as or are not specified in this manual IB NA 0300235 H ...

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Page 90: ...out notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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