Mitsubishi Electric Q173CPU User Manual page 128

3 DESIGN
POINT
1) (Note-1) : The following is the Motion SFC program example.
2) (Note-2) : It is also possible to use a full wave rectified power supply as the power supply for the
electromagnetic brake.
3) (Note-3) : It is also possible to use forced stop signal of the servo amplifier.
4) (Note-4) : It recommends using one leakage breaker for one servo amplifier. When electric power is
supplied to multiple servo amplifiers for one leakage breaker, select the wire connected to the
servo amplifier according to the capacity of the leakage breaker.
5) (Note-5) : Only the point has described the vector inverter FR-V5 0- .
Refer to the "FR-V5 0-
6) (Note-6) : Select the brake unit of inverter according to the necessity.
7) Refer to Section 2.4.9 (4) for the connection of SSCNET cable and terminal connector .
8) Please contact your nearest Mitsubishi sales representative, when you construct a double circuit by
external safety circuit.
9) Sample system circuit design is not based on JIS B9705-1/ISO 13849-1/EN954-1 (Safety of
machinery - Safety related parts of control systems), ansi/RIA R15.06 (American National Standard
for industrial Robots and Robot systems - Safety requirements revision), and JIS B8433 (Manipulating
industrial robots - Safety).
Out of control panel
Short-circuit connector for
teaching unit
A31TUD3TM(A31TU-D3
A31TU-DN not use)
INSTRUCTION MANUAL(BASIC)" for details.
Teaching unit
(A31TU-D3
DISABLE
A31TU
/
DATA TEST
PROGRAM MONITOR
STOP
EMG.STOP
INSTRUCTION ITEM CLEAR
; # SP
7 8 9
OVERRIDE
WRITE DELETE INDIRECT
D E F
4 5 6
STEP -
STORE
A B C
1 2 3
STEP +
MDI
FUNCTION -
. 0
RETURN
ERROR
SHIFT
CAN
RESET
AXIS GO
JOG - JOG +
NO.
MC
use)
ENABLE
Circuit example when using MR-H-BN
(Note-4)
R M R-H -B N
S
T
CP4
(Note-4)
R1
S1
COM
MBR
EM1
EM2
Circuit example when using MR-J2-B/MR-J2S-B
(Note-4)
L1
MR-J2-B /
MR-J2S-B
L2
L3
CP5
(Note-4)
L11
L21
COM
MBR
EM1
SG
Circuit example when using FR-V520-
(Note-4)
R
FR-V520-
S
T
CP6
(Note-4)
R1
S1
3 - 9
< Example> For control axis 1 and axis 2
Servo error detection
[F 1]
SET PYm
[G 1]
M2408 M2428
[F 2]
RST PYm
END
U
U
V
V
W
W
Electro-
Ground
magnetic
24VDC
brake
(Note-2)
Ra5
(Note-3)
U
U
V
V
W
W
Electro-
Ground
magnetic
brake
(Note-2)
Ra6
(Note-3)
24VDC
U
U
V
V
W
W
Ground
PYm ON with initial
(ON : normal)
Servo error detection
of the axis 1, axis 2.
OFF : abnormal (error)
SM
Ra5
SM
Ra6
(Note-5)
IM
(Note-6)