A173Uhcpu(-S1) System Overall Configuration - Mitsubishi Electric A173UHCPU Programming Manual

1. GENERAL DESCRIPTION
1.1.2

A173UHCPU(-S1) System overall configuration

CPU base unit
A178B-S3
/A178B-S2
/A178B-S1
/A17 B
Battery
A173UHCPU A172S
A6BAT
Emergency
stop input
AC100/200V
Teaching unit
A31TU-E/A30TU-E
(SV13 only)
RS422
Communication cable
(A270CDCBL M/
A270BDCBL M)
Personal computer
(IBM PC/AT)
Windows NT/98
(Note)
SSCNET4
SSC I/F card/board
(A30CD-PCF/A30BD-PCF)
(Note)
SSCNET2
SSCNET3
SSCNET4
POINTS
(1) Use the A168B when using the bus-connection type GOT.
(2) Using the A31TU teaching unit provided with deadman switch requires the exclusively used
A31TUCBL03M connection cable between the CPU module and A31TU connector. The A31TU will
not operate at all if it is connected directly with the RS422 connector of the CPU, without using the
exclusively used cable.
Also, after disconnecting the A31TU, fit the A31SHORTCON short connector designed for
A31TUCBL.
(3) The motion slots also accept PLC A1S I/O modules.
(4) The motion slots accept one A1SI61 interrupt input module.
This module is designed for only event/NMI input to the motion CPU and is irrelevant to PLC
interrupt programs.
(5) The motion slots accept up to 256 I/O points.
(6) The I/O numbers of the I/O modules loaded in the motion slots should be later than the I/O numbers
used with the PLC slots.
Motion slots
Pulse generator/
synchronous encoder
interface module
A172S A172S A172S A1S
ENC ENC ENC ENC I61
P
P
P
E
E
E
E
External input signals
Brake output
Motion network cable
MR-H-BN/MR-J2S-B/MR-J2-B
Servo amplifier, max. 32 axes
Max. 24 axes
d1 d2
SSCNET1
M M
E E
Servo amplifier, max. 8 axes/1 network
Extension cable
A1SC
A1S NB: For A6
External interrupt input signals
16 points (I0 to I15)
× 3
Manual pulse generator
(MR-HDP01)
Serial absolute
synchronous encoder cable
(MR-HSCBL M)
Serial absolute
×
synchronous encoder
4
(MR-HENC)
FLS Upper limit switch
RLS Lower limit switch
STOP Stop signal
DOG/CHANGE Proximity dog/speed-position change
TRA Tracking
d3 d8
Termination
resistor
M M
E E
1 − 4
B: For A1S6 B, A168B
B
PLC extension base
For A1S6 B: up to 1 base
For A168B (GOT compatible) : up to 1 base
For A6 B : up to 1 base
×
8
×
1
(Note): The A173UHCPU may be used with 4 channels
of SSCNET.
When using the SSC I/F card/board
(A30CD-PCF/A30BD-PCF), connect it to
SSCNET4 and connect the servo amplifiers to
SSCNET1 to 3.
In this case, up to 24 axes of servo amplifiers
can be connected.
GOT