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Page 1 Mitsubishi A175B Motion Controller Main Base Unit In Stock Qty Available: 1 Used and in Excellent Condition Buy Today! https://www.artisantg.com/98326-3 A l l t r a d e m a r k s , b r a n d n a m e s , a n d b r a n d s a p p e a r i n g h e r e i n a r e t h e p r o p e r t y o f t h e i r r e s p e c t i v e o w n e r s .
Page 2: Motion Controller
MOTION CONTROLLER User’s Manual type A173UHCPU,A172SHCPUN, A171SHCPUN MITSUBISHI ELECTRIC...
Page 3: Precautions For Safety
INTORODUCTION Thank you for purchasing the Mitsubishi Motion Controller/A173UHCPU/A172SHCPUN/A171SHCPUN. This instruction manual describes the handing and precautions of this unit. Incorrect handing will lead to unforeseen events, so we ask that you please read this manual thoroughly and use the unit correctly. Please make sure that this manual is delivered to the final user of the unit and that it is stored for future reference.
Page 4 For Sate Operations 1. Prevention of electric shocks WARNING Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks.
Page 5: System Structure
3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity (+/-), as this may lead to destruction or damage.
Page 6 CAUTION Use wires and cables within the length of the range described in the instruction manual. The ratings and characteristics of the system parts (other than control unit, servo amplifier, servomotor) must be compatible with the control unit, servo amplifier and servomotor. Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation.
Page 7: Transportation And Installation
(3) Transportation and installation CAUTION Transport the product with the correct method according to the weight. Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it. Do not stack products past the limit. When transporting the control unit or servo amplifier, never hold the connected wires or cables.
Page 8: Trial Operation And Adjustment
CAUTION When coupling with the synchronization 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 servomotor shaft. Doing so may lead to shaft breakage.
Page 9: Usage Methods
(6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the control unit, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. The units must be disassembled and repaired by a qualified technician.
Page 10: General Cautions
(8) Maintenance, inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the control unit and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual.
Page 11 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 12: Table Of Contents
CONTENTS 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS............. 1- 1 to 1-57 1.1 Overview of the Motion System ......................1- 1 1.2 Overall Configuration of Motion System .................... 1- 3 1.2.1 A172SHCPUN/A171SHCPUN System Overall Configuration ............ 1- 3 1.2.2 A173UHCPU System Overall Configuration ................1- 5 1.3 Equipment in System .........................
Page 13 4.3 Operating System Installation Procedure ..................4- 7 4.4 Trial Run and Adjustment Checklist....................4- 8 5. INSPECTION AND MAINTENANCE ..................5- 1 to 5-23 5.1 Maintenance Works ........................... 5- 1 5.2 Daily Inspections ..........................5- 3 5.3 Scheduled Inspections ........................5- 4 5.3.1 Replacing the Battery ........................
Page 14: Specifications Of Motion System Components
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS This chapter provides the system configuration of the motion system and the specifications, functions, setting methods, external equipment connection methods, part names and other information of the related modules for those who are involved in the design, installation, wiring, trial run, adjustment and maintenance of the motion system.
Page 15 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS • The sequence program written into the SCPU, the servo program or motion program written into the PCPU, and the positioning parameters are created after starting up corresponding positioning software package by the peripheral device. •...
Page 16: Overall Configuration Of Motion System
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1.2 Overall Configuration of Motion System 1.2.1 A172SHCPUN/A171SHCPUN System Overall Configuration Motion slot Sequence module slot Manual pulse generator/ Extension cable synchronous encoder (A1SC B for interface module A1S6 and A168B) Battery Motion CPU A172 (A1S A6BAT...
Page 17 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS CAUTION Configure safety circuits external to the controller or servo amplifier if their abnormal operation could cause axis motion in a direction other than the safe operating direction for the system. Ensure that the characteristics of other components used in a system match those of the controllers, servo amplifiers, and servo motors.
Page 18: A173Uhcpu System Overall Configuration
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1.2.2 A173UHCPU System Overall Configuration Motion slot Sequence module slot Main base unit Manual pulse (A178B-S3/ Extension cable generator/ A178B-S2/ (A1SC B for synchronous encoder A178B-S1/ A1S6 interface module and A168B) Battery (A1S A173UHCPU A172 A172 A172 A172...
Page 19 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS CAUTION Configure safety circuits external to the controller or servo amplifier if their abnormal operation could cause axis motion in a direction other than the safe operating direction for the system. Ensure that the characteristics of other components used in a system match those of the controllers, servo amplifiers, and servo motors.
Page 20: Equipment In System
1.63 A171SHCPUN Max. 4 axes control 1.63 A172B One motion module slot and one sequence module slot A175B One motion module slot and four sequence module slots One motion module slot and seven sequence module A178B Sequence extension slots Main base unit...
Page 21 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (2) Table of servo amplifier modules Part Name Model Name Description 50 W to 22 kW MR-H Servo amplifier 30 kW to 55 kW MR-H Battery MR-BAT Backup for absolute position detection Termination MR-TM Fitted to the last amplifier of SSCNET connector External regenerative resistor 10 W to 500 W...
Page 22 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (3) Table of software package (a) Motion function Peripheral Software Package Main OS Software Package Model Name Applicable version Peripheral Teaching Devices function Model Name A173UH A172SH A171SH A172SH/ A173UH A171SH Japanese SW2SRX-GSV13P From 0AC on 00T or later SW2SRX- SW0SRX- SW0SRX-...
Page 23: General Specifications
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1.4 General Specifications Table 1.1 Generation Specifications Item Specification Operating ambient 0 to 55°C temperature Storage ambient -20 to 75°C temperature Operating ambient 10% to 90%RH, no condensation humidity Storage ambient 10% to 90%RH, no condensation humidity Number of Sweeps Frequency...
Page 24: Specifications And Settings Of Components
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1.5 Specifications and Settings of Components 1.5.1 A173UHCPU/A172SHCPUN/A171SHCPUN (1) Basic specifications of A173UHCPU, A172SHCPUN and A171SHCPUN Item A173UHCPU(-S1) A172SHCPUN A171SHCPUN No. of control axes 32-axes 8-axes 4-axes 3.5 ms/1 to 20 axes SV13 7.1 ms/21 to 32 axes Motion Computing 3.5 ms/1 to 8 axes...
Page 25 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (2) Functions and performance specifications of PCPU The performance specifications and functions of the PCPU depend on the motion function OS model installed in the CPU module. Refer to the programming manual of the motion functions installed in the CPU module.
Page 26 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (3) SCPU performance specifications and functions (a) SCPU performance specifications As the SCPU performance specifications differ according to the operating system used, refer to the appropriate OS Programming Manual for details. Table 1.2 Table of SCPU Performance Specifications Item A173UHCPU(-S1) A172SHCPUN...
Page 27 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS Table 4.1 Table of SCPU Performance Specifications (Continued) Item A173UHCPU (-S1) A172SHCPUN A171SHCPUN Max. 10 blocks Standard (set by memory capacity) Max. 10 blocks Max. 3 blocks No. of extension file register block (set by memory capacity) (set by memory capacity) Max.
Page 28 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (b) SCPU functions Refer to the A2SHCPU user's manual for details of the SCPU functions of A171SHCPUN/A172SHCPUN and A3UCPU user’s manual for details of the SCPU functions of A173UHCPU. Table 1.3 Table of SCPU Functions Function Description ! Sets a constant time for one scan of a sequence program which is independent of the sequence...
Page 29 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (4) Names of A173UHCPU/A172SHCPUN/A171SHCPUN Parts A173UHCPU/A172SHCPUN 100 240VAC 100 240VAC 105VA 105VA [A173UHCPU] 18), 19) FRONT SSCNET 1:SSCNET1 2:SSCNET2 3:SSCNET3 4:SSCNET4 A171SHCPUN 100 240VAC 100 240VAC 105VA 24VDC 0.6A 105VA 24VDC 0.6A +24V 18), 19) Name Application ! RUN/STOP: Starts or stops operation of a sequence program.
Page 30 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS Name Applications ! Lit: Sequence program operating with RUN/STOP key switch set to RUN. The indicator remains lit if an operation error occurs in the sequence program (Refer to section 5.4.1 (10)). ! Not lit: The RUN indicator is not lit in the following cases: ! No 100/200 VAC power supplied to the CPU module.
Page 31 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS Name Applications Personal computer link SSC connector ! A connector for linking a personal computer and personal computer link SSC. SSCNET2 When using the A172SHCPUN/A171SHCPUN, connect the servo amplifier or (A172SHCPUN/ personal computer to SSCNET2, or when using the A173UHCPU, connect it to A171SHCPUN) SSCNET4.
Page 32: Switch Settings
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (5) Switch settings Operation mode setting A17 SHCPUN ON : Installation OFF: Ordinary operation Not used SW402 For A172SHCPUN/A171SHCPUN Not used I/O control method setting ON : Direct method for inputs and outputs OFF: Refresh method for inputs and outputs SCPU built-in RAM memory protect range setting Less than a range from 64k to 256k bytes Less than a range from 0k to 64k bytes...
Page 33 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS CAUTION Switch SW1-2 is for use by the manufacturer only. Leave this switch set OFF. Operation cannot be guaranteed if this switch is set to ON. POINTS (1) Turn off the power supply before setting the install switch. (2) After using this switch, check the switch status before turning on the power supply.
Page 34 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (6) Functions and performance specificotions of A173UHCPU/A172SHCPUN/A171SHCPUN internal power supply. Table 1.4 Internal Power Supply Specifications Item Specifications Model name A173UHCPU/A172SHCPUN A171SHCPUN +10% 100 to 240 VAC -15% Input power supply (85 to 264 VAC) Input frequency 50/60 Hz Max.
Page 35 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (7) Information control processing making use of personal computer By connecting a personal computer to the SSCNET, you can add to the motion system the digital oscilloscope functions used for monitoring the equipment status and for checking the operation, tuning and timing of the equipment and the user-developed software functions (e.g.
Page 36 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (a) MELSECNET(II) Master station Fiber-optic or coaxial cable (64 stations max.) Remote I/O 2nd class Local station station Local station Master station Fiber-optic or coaxial cable Remote I/O 3rd class Local station station Local station POINTS As the instruction for other station access in the MELSECNET(II) data link system, note that the system is not compatible with other station access via...
Page 37 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (9) Connection of peripheral device This section explains how to connect the peripheral device used to install the motion functions (motion OS) to the CPU module, create motion programs, create sequence programs, and perform JOG operation and teaching. As the peripheral device, use the IBM PC available on the market or the teaching unit (A30TU-E, A31TU-E).
Page 38: Power Supply Module Specifications
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1.5.2 Extension Base Power Supply Module (1) Power supply module specifications Table 1.5 Power Supply Module Specifications Specifications Item A1S61PN A1S62PN Mounting position in base Power supply module mounting slot +10% 200 to 240 VAC -15% Input power supply (85 to 264 VAC)
Page 39 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (2) Names of parts (a) A1S61PN power supply module names of parts (FG) (LG) 100-240 VAC Name Application POWER indicator Display indicator for 5 VDC power supply. FG terminal A grounding terminal connected with the shielding pattern on the printed circuit board. LG terminal Ground for power supply filter, with 1/2 the electrical potential of the input voltage.
Page 40 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (b) A1S62PN power supply module names of parts DC24V 0.6A (FG) (LG) 100-240 VAC Name Application POWER indicator Display indicator for 5 VDC power supply. 24VDC, 24GDC Supplies output modules which require 24 VDC internally (supplied through external terminals wiring).
Page 41: Base Units And Extension Cables
1) Main base unit specifications Table 1.6 Table of Main Base Unit Specifications Model Name A178B A178B A178B A172B A175B A178B Item No. of motion slots No. of sequencer slots Extension connections Mounting hole size 6 dia. slot (for M5 screw)
Page 42 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (2) Names and settings of parts (a) Main base unit (A172B, A175B, A178B) Sequencer slot Motion slot Name Application Extension cable Connects to the signal communications connector on the extension base unit with the extension cable.
Page 43 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (b) Main base unit (A178B-S1/S2/S3) 5) 7) A178B-S2 Motion slot Sequencer slot Name Application Extension cable Connects to the signal communications connector on the extension base unit with the extension cable. connector A cover for protecting the extension cable connector. When connecting to an extension base unit, cut out the area surrounded by the groove under the word “OUT”...
Page 44 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (c) Extension base unit (A1S65B, A1S68B) A1S68B Name Application Extension cable Connects to the signal communications connector on the main base unit with the extension cable. Remove the connector cover before connecting the extension cable. connector A cover for protecting the extension cable connector.
Page 45 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (d) Extension base unit (A168B) A168B Name Application Connects to the signal communications connector on the main base unit or bus Extension cable coupling type GOT with the extension cable. connector Take off the supplied connector cover before connecting the extension cable. A cover for protecting the extension cable connector.
Page 46 Selection of Main Base No. of Motion Slots Main Base Model No. of Sequence Slots (No. of A172SENCs and A1SY42s) A172B A175B A178B A178B-S1 A178B-S2 A178B-S3 (b) Selection of sequence extension base unit and extension cable Choose the sequence extension base according to the number of MELSEC-A series I/O modules fitted to the sequence extension base unit.
Page 47 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (4) Motion slots When using the A172SENC and limit output module (A1SY42), load them into P I/O (motion slots) of the main base. Motion slot (5) Main base unit emergency stop circuit (a) By opening the main base unit emergency stop (EMG) circuit, it is possible to effect an emergency stop all axes of the separate servo amplifiers (MR- H-BN/MR-J2S-B/MR-J2-B) simultaneously.
Page 48 Therefore, for example, when an extension base unit is connected to the A175B main base unit (one motion slot and four sequencer slots), the A175B main base unit has only four sequencer slots physically but automatic assignment is made as if four 16-point slots are occupied between the main and extension base units.
Page 49 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS • Example of using the A175B main base (when a 16-point module is loaded to each slot) Main base unit Motion slot (A175B) Sequencer slot No. 1 2 3 Sequencer slot No. The I/O numbers indicated are those set by automatic I/O assignment.
Page 50 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS • Example of using the A178B-S3 main base (when a 16-point module is loaded to each slot) Sequencer slot No. Motion slot Main base unit (A178B-S3) The I/O numbers indicated are those set by automatic I/O assignment. When empty slots 0 to 7 are set to 0 points (S0) in the I/O assignment, the I/O numbers of slot 8 of the extension...
Page 51: Manual Pulse Generator/Synchronous Encoder Interface Module
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1.5.4 Manual Pulse Generator/Synchronous Encoder Interface Module A172SENC receive external signals required for positioning control (motion control signals and tracking inputs), manual pulse generator inputs, and synchronous encoder inputs. (1) Specifications Table 1.9 A172SENC Specifications Item Specification Model Name...
Page 52: Description Of Parts
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (2) Description of Parts (a) A172SENC Name Application Display the input status from external equipment and errors detected by self-diagnosis. Description PX0 to Indicators to display the motion control signal input status of each LED indicators PX1F axis.
Page 53 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (3) Selection of A172SENC module and connection with external equipment (a) Number of A172SENC modules Determine the number of A172SENC modules according to the number of control axes which use such external signals as upper and lower stroke limit and near-zero point dog signals and the number of manual pulse generators/synchronous encoders used.
Page 54 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (b) Connection of manual pulse generators/synchronous encoders Manual pulse generators are available in voltage output type and differential output type, and synchronous encoders are available in voltage output/differential output type and serial absolute output type (Model: MR- HENC).
Page 55 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS • Interface between PULSER connector and voltage-output manual pulse generator/incremental synchronous encoder Pin No. PULSER Input or Connector Wiring Example Internal Circuit Specification Description Signal Name Output Voltage-Output Type • Rated input To connect manual voltage 5.5 VDC pulse generator Manual...
Page 56 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS • Interface between PULSER connector and differential-output manual pulse generator/incremental synchronous encoder Pin No. PULSER Input or Connector Wiring Example Internal Circuit Specification Description Signal Name Output Voltage-Output Type • Rated input To connect manual voltage 5.5 VDC pulse generator Manual...
Page 57 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 2) Connection of serial absolute synchronous encoder (MR-HENC) Use the SY.ENC connector at the A172SENC module front to connect the serial absolute synchronous encoder (MR-HENC). Use the MR-HSCBL M encoder cable between the serial absolute synchronous encoder (MR-HENC) and SY.ENC connector.
Page 58 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS CAUTION Connect the SY.ENC connector to external equipment using a shielded cable. To reduce electromagnetic interference, do not position the cable close to, or bundle it with, power or main circuit cables. A clearance of at least 200 mm (0.66 inch) to other cables is required. Connect the shield wire of the shielded cable to the FG terminal of the external equipment.
Page 59 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS • Interface between SY.ENC connector and external equipment Pin No. Input or Wiring Example Internal Circuit Specification Description Signal Name SY.ENC Output Connector • Transmission method: serial communications Serial synchronous • Position detection encoder method: absolute 7, 8, 16 Input...
Page 60 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS Use the CTRL connector at the A172SENC module front to connect the servo external signals. The pin layout and connection of the CTRL connector are described below. The following pin layout is the front view as seen from the CTRL connector front of the A172SENC.
Page 61 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS • Interface between CTRL connector and servo external signal Pin Number Input or Signal Name Wiring Example Internal Circuit Specification Description Outpu CTRL Connector • Supply voltage Upper stroke PX0, PX4, PX8, PXC 12 to 24 VDC limit input PX10, PX14, PX18, PX1C 6.8k...
Page 62: Teaching Unit
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1.5.5 Teaching Unit (1) Names of parts (a) A30TU-E Emergency Invalid Valid Stop MITSUBISHI A30TU-E A30TU-E SV13 *Data *Monitor *PROG *Test Press the mode key. DATA TEST STOP ITEM CLEAR WRITE STEP- STORE STEP+ RETURN SHIFT ERROR...
Page 63 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (b) A31TU-E Valid Invalid Schematic Schematic drawing drawing of of rear panel front panel Emergency Stop MITSUBISHI A31TU-E A31TU-E SV13 *Data *Monitor *PROG *Test Press the mode key. DATA TEST STOP ITEM CLEAR WRITE STEP- STORE STEP+...
Page 64 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (2) Selection of teaching unit and connection with CPU module (a) Selection of teaching unit There are the A30TU-E and A31TU-E teaching units. Refer to the following table for selection. Selection of Teaching Unit Comparison A30TU-E A31TU-E...
Page 65 Teaching unit version is marked on the rated name plate at the rear panel of the unit. (4) A30TU-E rated name plate Unit version A30TU-E DATE MITSUBISHI ELECTRIC CORPORATION (5) A31TU-E rated name plate MITSUBISHI TEACHING UNIT MODEL A31TU-E DATE B...
Page 66: Sscnet Cables And Termination Resistor And Their Connection Method
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1.5.6 SSCNET Cables and Termination Resistor and Their Connection Method Motion controller CPU module SSCNET cable overall length 1)+2) 30m(98.36ft.) Servo amplifier Servo amplifier MR-H-BN MR-H-BN MR-J2S-B MR-J2S-B MR-J2-B MR-J2-B Product Model Description MR-HBUS M For connection of CPU and servo amplifier (MR-H-BN) Cable length within...
Page 67 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (2) Connection of CPU module and servo amplifiers This section explains how to connect the CPU module. Use the SSCNET to connect the CPU module and servo amplifiers. When using the A172SHCPUN/A171SHCPUN, only one line of SSCNET is available for servo amplifier connection (use SSCNET1).
Page 68 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (c) MR-J2S-B/MR-J2-B+MR-H-BN configuration MR-J2S-B MR-J2S-B CPU module /MR-J2-B /MR-J2-B MR-H-BN Termination connector Battery Battery Battery MR-BAT, MR-BAT, MR-BAT, A6BAT A6BAT A6BAT MR-J2S-B CPU module MR-H-BN /MR-J2-B MR-H-BN Termination connector Battery Battery Battery MR-BAT, MR-BAT, MR-BAT, A6BAT A6BAT...
Page 69 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS (3) Servo amplifier axis numbers and axis No. (dno.) setting The axis No.s are used to set the axis numbers of the SSCNET-connected servo amplifiers in the program. Axis No.s 1 to 32 can be set for the A173UHCPU, 1 to 8 for the A172SHCPUN, and 1 to 4 for the A171SHCPUN.
Page 70: Battery
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1.5.7 Battery This section describes the battery specifications and handling precautions. (1) Battery in CPU module (a) Specifications The specifications of the battery for memory back-up are shown in the table below. Table 1.10 Battery Specifications Model Name A6BAT Item...
Page 71: Design
2. DESIGN 2. DESIGN This chapter provides those who will design and manage the motion system with the procedures and instructions necessary to design the motion system. For the system and parameter settings and programming method of the motion system, refer to the operating and programming manuals.
Page 72 2. DESIGN Design of system to which GOT and personal computer information control have been added Choose the GOT when using the graphic panel to perform equipment status monitoring and equipment operation. Refer to Section 1.5.1(7). Select the personal computer and related software packages when you want to execute the digital oscilloscope functions designed for tuning and timing checking and user-developed software functions (e.g.
Page 73 2. DESIGN CAUTION Provide appropriate circuits external to the servo system CPU to prevent cases where danger may result from abnormal operation of the overall system in the event of a power supply fault or servo system CPU failure. Mount each controller, servo amplifier, servomotor, and regenerative resistor on a non- flammable material.
Page 74: System Design
2. DESIGN 2.2 System Design To exercise motion control and external I/O equipment control, the motion system consists of the CPU module, main base unit and various modules such as the power supply module, pulse generator/synchronous encoder modules and I/O modules.
Page 75: External Circuit Design
2. DESIGN 2.3 External Circuit Design As to the ways to design the external circuits of the motion system, this section explains the method and instructions for designing the power supply and safety circuits, etc. (1) Sample system circuit design for motion control 3-phase 200/220VAC A172SENC...
Page 76 2. DESIGN POINTS (1) *1 : A 100 VAC power supply can also be used as the power supply to the CPU module. (2) *2 : Sequence program Servo alarm/ M9036 M9074 Error detection (3) *3 : It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake.
Page 77 2. DESIGN (2) Example of system circuit configuration compatible with A31TU-E type teaching unit 3-phase 200/220VAC A173UHCPU/ A172SENC A172SHCPUN/ A171SHCPUN Ym+1 200VAC PX1F 200VAC Ym+n EMG. COM. CPU EMG BRAKE CPU EMGL BRAKE A31TUCBL TU EMG1 TU EMG2 Motion control DED1 PX1F input for 8 axes...
Page 78 2. DESIGN POINT Outside of control board (1) *1 : 100 VAC power supply can also be used as the power supply to the CPU module. (2) *2 : Sequence program Valid Invalid Schematic drawing of front panel Servo alarm/ Emergency Stop MITSUBISHI A31TU-E...
Page 79 2. DESIGN (c) Sample system circuit designs Using AC Using AC and DC Power supply Power supply Transformer Transformer Transformer Fuse Fuse Fuse M9006 DC power supply DC power M9006 established signal input M9039 supply M9039 START/STOP circuit M9084 Set TM to time Fuse (Starting possible when the to establish...
Page 80: Power Supply Circuit Design
2. DESIGN 2.3.1 Power Supply Circuit Design This section describes the protective coordination and noise suppression techniques of the power supply circuit. (1) Separation and protective coordination (leakage current protection, overcurrent protection) of power supply lines When wiring, separate the lines of CPU module power supplies from those of the I/O equipment and servo amplifier as shown below.
Page 81 2. DESIGN (2) Power supply noise and lightening surge suppression techniques If there is a possibility that a malfunction may occur due to a sneak noise from the main power supply or servo amplifier or due to a lightening surge, use a line noise filter and lightening surge absorber in the power supply lines of the motion controller and I/O equipment.
Page 82: Safety Circuit Design
2. DESIGN (4) Grounding The motion system may malfunction as it is affected by various noises such as electric path noises from the power supply lines, radiated and induced noises from other equipment, servo amplifiers and their cables, and electromagnetic noises from conductors.
Page 83 2. DESIGN (2) Main base emergency stop circuit (a) By opening the EMG circuit of the main base unit, all axes of the external servo amplifiers (MR-H-BN/MR-J2S-B/MR-J2-B) can be brought to an emergency stop at once. After an emergency stop, remove the emergency stop factor and cancel the emergency stop (switch on the EMG circuit) to switch on the servo amplifiers immediately.
Page 84 2. DESIGN • For A172SHCPUN/A171SHCPUN M1608+20n Turns on M0 when servo error detection (M1608+20n) turns on or servo OFF M1815+20n command (M1815+20n) turns off. M1608+20n M1815+20n Servo error Turns on T200 200ms T200 after servo error turns off Servo ready T200 and servo ready turns on.
Page 85 2. DESIGN (4) Failsafe measures for Motion controller failure Failure of the CPU module or memory is detected by the self-diagnosis function, but some abnormalities in the I/O control components cannot be detected by the CPU. Some failures can result in situations such as all points turning on or off, where normal operation and safety of the controlled object cannot be assured.
Page 86: Instructions For External Circuit Wiring Design
2. DESIGN 2.3.3 Instructions for External Circuit Wiring Design (1) Wiring (a) Use the wires of the following diameters for wiring. Application Recommended Wire Diameter 100VAC, 200VAC, 24VDC wires Thickest possible wires of 2.0mm max. I/O equipment 0.75mm (0.75 to 1.5mm usable) Ground wire 2.0mm...
Page 87: Layout Design Within Enclosure
2. DESIGN 2.4 Layout Design within Enclosure 2.4.1 Location Environment Avoid locating the motion controller system in environments subject to: (1) Ambient temperature outside the range 0°C to 55°C (2) Ambient humidity outside the range 10% to 90% RH (3) Condensation resulting from sudden temperature changes (4) Corrosive or inflammable gas (5) Large amounts of conducting dust or iron filings, oil mist, salt, organic solvents (6) Direct sunlight...
Page 88: Installing The Base Units
2. DESIGN 2.4.2 Installing the Base Units This section describes the precautions related to mounting a motion controller in an enclosure. (1) To improve ventilation and permit easy mounting of the unit, leave a space of at least 30 mm (1.18 inch) between the top of the unit and any other object. (2) Provide a wiring duct, if required.
Page 89: Installation
2. DESIGN 2.4.3 Installation The mounting positions of the main base unit and extension base unit are shown below. Top of enclosure, wiring duct, or other components Main base unit Extension base unit 30mm (1.18inch) min. Connector for SSCNET 70mm 40mm (1.57inch) (2.76inch) min.
Page 90: Calculating Heat Generated By A173Uhcpu/A172Shcpun/A171Shcpun
2. DESIGN 2.4.4 Calculating Heat Generated by A173UHCPU/A172SHCPUN/A171SHCPUN If a motion controller is installed in an enclosure, the temperature inside the enclosure must be restricted to the operation ambient temperature of 55 C . The average power consumption (heat generation) of the equipment and instruments in the enclosure must be known to design the heat dissipation of the enclosure.
Page 91 2. DESIGN (4) Average power consumption from voltage drop in output circuits of the output modules (power consumption of simultaneously ON points) Vdrop No. output points Simultaneously ON ratio (W) is the output current(actual operation current) (A) Vdrop: Vdrop is the voltage drop of each output module (V) (5) Average power consumption from voltage drop in input circuits of the input modules (power consumption of simultaneously ON points) E No.
Page 92: Design Checklist
2. DESIGN 2.5 Design Checklist At the worksite, copy the following table for use as a check sheet. Item Sub Item Design Confirmation Check Number of axes axes CPU module selection Number of I/O points points Selected CPU module Manual pulse generator pcs.
Page 93: Mounting And Wiring
3. MOUNTING AND WIRING 3. MOUNTING AND WIRING This chapter provides the mounting and wiring procedures and hardware handling information for those who will mount each equipment to a control box or the like, design wiring and install the hardware. This chapter does not give the ways to install and wire the amplifiers, motors and others and the way to wire the external relay circuit.
Page 94 3. MOUNTING AND WIRING 3.2.1 Mounting without DIN Rail Drill mounting screw holes in accordance with the outline dimensional drawings in Appendix 1.3 Main Base Unit and Appendix 1.4 Extension Base Unit. Screw Tightening Torque Range N 273 to 361 Base mounting screw (M5 screw) (Control box, when screws are made of iron) 3.2.2 Mounting with DIN Rail...
Page 95 3. MOUNTING AND WIRING (3) Mounting units to, and removing them from, the DIN rail (a) Mounting to DIN rail The procedure to mount a base unit on the DIN rail is described below. 1) Engage the top of the base unit DIN rail groove with the top of the DIN rail.
Page 96: Mounting And Removing Modules
3. MOUNTING AND WIRING 3.3 Mounting and Removing Modules This section describes how to mount CPU modules, I/O modules, and special- function modules in a base unit, and how to remove them. (1) Mounting modules Follow the procedure below to mount a module in the base unit. Base unit Module Module...
Page 97: Removing Modules
3. MOUNTING AND WIRING (2) Removing modules Follow the procedure below to remove a module from the base unit. Base unit Remove the fixing screws and pivot the module around the bottom lugs toward you. Module connector Lifting the module up, detach the lugs from the module fixing holes.
Page 98 3. MOUNTING AND WIRING CAUTION When removing a module, remove the module fixing screws before attempting to remove the lugs from module fixing holes. Forcing out a module may damage the lugs. Turn off the power supply before mounting or removing a module. The terminal block and pin connectors of this base unit are made of resin.
Page 99: Mounting The Serial Absolute Synchronous Encoder
3. MOUNTING AND WIRING 3.4 Mounting the Serial Absolute Synchronous Encoder Precautions when using a MR-HENC serial absolute synchronous encoder. (1) If the serial absolute synchronous encoder is linked to a chain, timing belt, or gears, the machine rotating shaft should be supported by a separate bearing and connected to MR-HENC through a coupling.
Page 100 3. MOUNTING AND WIRING CAUTION The MR-HENC contains a glass disk and precision mechanism. Take care when handling it. The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration exceeding the prescribed limits. Do not connect the encoder directly to the rotating machine shaft. Always connect the encoder through a flexible coupling.
Page 101: Wiring
3. MOUNTING AND WIRING 3.5 Wiring 3.5.1 How to Run the Power Supply and I/O Wires (1) Precautions when using the A1S62PN power supply module 24 VDC output Do not connect 24 VDC outputs from multiple power supply modules in parallel to supply a single I/O module.
Page 102 3. MOUNTING AND WIRING (c) Keep 24 VDC I/O wires separatlf wires from 100 VAC and 200 VAC wires. (5) Grounding Connect the ground wiring as described in steps (a) to (c) below. (a) Use a separate ground, if possible. Ground resistance 100 or less.
Page 103: Example Of Routing The Power Supply And I/O Wires
3. MOUNTING AND WIRING 3.5.2 Example of Routing the Power Supply and I/O Wires This section shows examples of wiring the main base unit and extension base unit power-supply and ground wires. (A17 B, A178B(-S1/S2/S3)) main base unit CPU module 100/110VAC Fuse Select transformer...
Page 104: Mounting/Wiring Checklist
3. MOUNTING AND WIRING 3.6 Mounting/Wiring Checklist At the worksite, copy the following table for use as a check sheet. Item Sub Item Mounting/Wiring Confirmation Check Check for loose or distorted mounting. Base unit mounting Check that the mounting screw tightening torque is as specified. Check the unit for damage.
Page 105: Trial Run And Adjustment
4. TRIAL RUN AND ADJUSTMENT 4. TRIAL RUN AND ADJUSTMENT This chapter describes the checking items and procedures necessary for trial run and adjustment for those who will perform trial run and adjustment of the motion system. 4.1 Checklist before Trial Operation Table 4.1 Checklist before Trial Operation Model Name Check Item...
Page 106 4. TRIAL RUN AND ADJUSTMENT CAUTION Check and adjust the programs and parameters before starting trial operation. Errors in the programs or parameters may cause the machine to make unpredicted movements. Never make very large adjustments as this can make operation unstable. WARNING Do not open the front casing or terminal cover during operation or when power is connected.
Page 107: Trial Run And Adjustment Procedure
4. TRIAL RUN AND ADJUSTMENT 4.2 Trial Run and Adjustment Procedure POINTS (1) Make note of motor model names before the motor is installed on a machine. The motor name plate may not be visible after the motor is installed. (2) The machine may make unpredictable movements after a servo amplifier or servomotor is first turned on.
Page 108 4. TRIAL RUN AND ADJUSTMENT CAUTION Do not connect a phase-advancer capacitor, surge absorber, or radio noise filter (FR-BIF option) to the servo amplifier output. Ensure output teminals U, V, W, are correctly connected. Abnomal servomotor operation may result if the teminals are incorrctly connected.
Page 109 4. TRIAL RUN AND ADJUSTMENT CAUTION If used in systems for which safety [Servo PC Mode] standards apply (such as robot systems), Write positioning data all controllers, servo amplifiers, and Write the created sequence programs and servomotors must meet the prescribed motion programs to CPU module with the safety standads.
Page 110 4. TRIAL RUN AND ADJUSTMENT CAUTION [Test Mode JOG Operation Design system with sufficient mechanical and Manual Pulse Generator] allowance for a safe stop if an axis passes Check machine movements the stroke limit switch at maximum speed. (1) Check the following machine movements using JOG operation from a peripheral device or manual pulse generator operation.
Page 111: Operating System Installation Procedure
4. TRIAL RUN AND ADJUSTMENT 4.3 Operating System Installation Procedure In the CPU module, the operating system (hereafter abbreviated to the OS) can be changed using the peripheral device and software package. This OS change is called installation. Start installation Refer to Section 1.5.1(4) for Open the cover at the front of the the information on the install switch.
Page 112: Trial Run And Adjustment Checklist
4. TRIAL RUN AND ADJUSTMENT 4.4 Trial Run and Adjustment Checklist At the worksite, copy the following table for use as a check sheet. Work Step Item Trial Run and Adjustment Confirmation Check Check that each module is mounted properly. Check that each connector is fitted properly.
Page 113: Inspection And Maintenance
5. INSPECTION AND MAINTENANCE 5. INSPECTION AND MAINTENANCE This chapter describes the methods of troubleshooting and daily maintenance and inspection for those who will carry out such works. 5.1 Maintenance Works This section explains the periodic and daily inspections performed to operate the motion system safely and normally and the actions to be taken for troubles that may take place during motion system operation.
Page 114 5. INSPECTION AND MAINTENANCE CAUTION Perform daily and periodic inspections in accordance with the directions in this manual and the instruction manual for the product used. Make backups of controller and servo amplifier programs and parameters before carrying out maintenance and inspection. Be careful not to trap your fingers in the gaps when opening and closing parts that can be opened and closed.
Page 115: Daily Inspections
5. INSPECTION AND MAINTENANCE 5.2 Daily Inspections The inspections listed in the table below should be conducted every day. Table 5.2 Daily Inspections Item Description Evaluation Standard Remedy All screws tight and covers in Tighten loose Base unit installation Must be firmly installed. position.
Page 116: Scheduled Inspections
5. INSPECTION AND MAINTENANCE 5.3 Scheduled Inspections The inspections listed in the table below should be conducted once or twice every 6 to 12 months. They should also be conducted after equipment is moved or upgraded, and if the wiring is changed. Table 5.3 Scheduled Inspections Item Description...
Page 117: Replacing The Battery
5. INSPECTION AND MAINTENANCE 5.3.1 Replacing the Battery (1) Replacing the CPU module battery M9006 or M9007 turns ON if the voltage drops from the A6BAT battery which backs up programs and provides memory back-up functions. Program and memory contents are not lost immediately when these special relays turn ON, but memory contents may be lost if this special realy status is overlooked.
Page 118 5. INSPECTION AND MAINTENANCE (b) Replacing a battery Follow the procedure below to replace a battery when its life expires. After the battery is disconnected, a capacitor maintains memory back-up for a short time. Complete the battery change operation within the time specified in Table 5.5 or the memory contents may be lost.
Page 119: Troubleshooting
5. INSPECTION AND MAINTENANCE 5.4 Troubleshooting This section describes the errors which could occur when using the system and what to do about them. Refer to the appropriate software package operating manual for information on the error messages displayed during peripheral device operation. When an error occurs, the system status can be determined by checking the equipment where the error occurred, from the error codes, or by monitoring with a peripheral device.
Page 120 5. INSPECTION AND MAINTENANCE (3) Checking by monitoring from the peripheral device Use the peripheral device monitor functions to determine the control status. The following statuses can be determined. Refer to the appropriate peripheral software package operating manual for details about the operating procedures. (a) Present value monitor Displays servomotor present value addresses and error codes.
Page 121: Troubleshooting For Cpu Module And I/O Modules
5. INSPECTION AND MAINTENANCE 5.4.1 Troubleshooting for CPU Module and I/O Modules This section explains how to determine the cause of problems occurring in the SCPU of CPU module or I/O modules, and gives descriptions and remedies the errors indicated by each error code. This manual does not give troubleshooting flowcharts that apply to the use of MR-H-BN, MR-J2S-B and MR-J2-B servo amplifiers.
Page 122 5. INSPECTION AND MAINTENANCE (2) Flowchart when POWER indicator is not lit Follow the flowchart below if the POWER indicator does not light when the power is turned on or goes out during operation. POWER indicator not lit Is power supplied? Supply power.
Page 123 5. INSPECTION AND MAINTENANCE (3) Flowchart when RUN indicator is not lit Follow the flowchart below if the RUN indicator goes out during operation. RUN indicator goes out Is an error displayed Refer to error table. when a peripheral device is connected? RUN indicator (1) Defective CPU module...
Page 124 5. INSPECTION AND MAINTENANCE (4) Flowchart when RUN indicator is flashing Follow the flowchart below if the RUN indicator flashes when the power is turned on or during operation. RUN indicator flashing Check error from peripheral Hardware defect device (See Section 5.4.1(10).) Contact your nearest Mitsubishi representative with Reset with the CPU module...
Page 125 5. INSPECTION AND MAINTENANCE (5) Flowchart when ERROR indicator is lit Follow the flowchart below if the ERROR indicator lights during operation. ERROR indicator lit Connect a peripheral device Is M9008 ON? Cause of error of PCPU? Hardware error Refer to error code table for Cause of error of SCPU? corrective action.
Page 126 5. INSPECTION AND MAINTENANCE (6) Flowchart when ERROR indicator is flashing Follow the flowchart below if the ERROR indicator flashes during operation. ERROR indicator flashing Does YES (0) special register D9124 contain 0? Contact your nearest NO (not 0) Mitsubishi representative with Reset the coil of the details.
Page 127 5. INSPECTION AND MAINTENANCE (7) Flowchart when output module load does not turn on Follow the flowchart below if the output module loads do not turn on during operation. Output load does not turn on Is the Check output mode in monitor indicator LED of the output mode from peripheral device.
Page 128 5. INSPECTION AND MAINTENANCE (8) Flowchart when program cannot be written The following flowchart assumes that a program or other data cannot be written to the CPU when an attempt was made to write it. Program cannot be written Is the Set RUN/STOP switch to RUN/STOP switch set to STOP.
Page 129 5. INSPECTION AND MAINTENANCE (9) Possible Problems with I/O Modules This section describes possible problems with input and output circuits, and what to do about them. (a) Troubleshooting input circuits Table 5.7 describes problems and corrective actions for input circuits. Table 5.7 Troubleshooting Input Circuits Symptom Cause...
Page 130 5. INSPECTION AND MAINTENANCE Table 5.7 Troubleshooting Input Circuits (cont.) Symptom Cause Corrective Action • Sneak path due to use of two power supplies. • Use a single power supply. • Connect a diode to prevent sneak paths, as shown in the diagram. Input module Input signal does not turn OFF...
Page 131 5. INSPECTION AND MAINTENANCE (b) Troubleshooting output circuits Table 5.8 describes problems and corrective actions for output circuits. Table 5.8 Troubleshooting Output Circuits Symptom Cause Corrective Action • If load is internally half-wave rectified • Connect a resistor between several tens k (some solenoids are like this) and several hundreds k across the load.
Page 132 5. INSPECTION AND MAINTENANCE (10) Table of Error Codes of SCPU If an error occurs when RUN is executed or during CPU module operation, the self- diagnosis function displays an error or stores an error code (including step number) in the special registers. Table 5.9 shows the methods for reading the error codes when an error occurs and describes how to check and correct the error.
Page 133 5. INSPECTION AND MAINTENANCE Table 5.9 Table of Error Codes (cont.) Contents (BIN) Error of Special Error Description and Cause Corrective Action Status Register D9008 (1) A CHK instruction ladder block (1) Check the CHK instruction contains an instruction (including ladder block for items (1) to (7) NOP) other than LDX, LDIX, in the column to the left.
Page 134 5. INSPECTION AND MAINTENANCE Table 5.9 Table of Error Codes (cont.) Contents (BIN) Error of Special Error Description and Cause Corrective Action Status Register D9008 (1) During execution, the END code (1) Reset the CPU and run again. was read as a different instruction If the same error is displayed code due to noise, or some other again, a problem exists in the...
Page 135 5. INSPECTION AND MAINTENANCE Table 5.9 Table of Error Codes (cont.) Contents (BIN) Error Error Description and Cause Corrective Action of Special Status Register D9008 An interrupt was generated but no (1) A hardware error exists in one of interrupt module is mounted. the modules.
Page 136: Appendices
APPENDICES APPENDICES Appendix 1 Cables Appendix 1.1 SSCNET Cables Generally use the SSCNET cables of our options. If the length you need is not found in our options, fabricate the cable on the customer side. (1) Selection The following table indicates the SSCNET cables used with the servo amplifiers.
Page 137 APPENDICES (2) MR-HBUS M (a) Explanation of type Type: MR-HBUS M Symbol Cable Length [m] (b) Connection diagram When fabricating a cable, use the recommended wire given on Appendix 1.1 (1), and make the cable as shown in the following connection diagram. The overall distance of the SSCNET cables on the same bus is 30m.
Page 138 APPENDICES (3) MR-J2HBUS M-A (a) Explanation of type Type: MR-J2HBUS M-A Symbol Cable Length [m] (b) Connection diagram When fabricating a cable, use the recommended wire given on Appendix 1.1 (1), and make the cable as shown in the following connection diagram. The overall distance of the SSCNET cables on the same bus is 30m.
Page 139 APPENDICES (4) MR-J2HBUS M (a) Explanation of type Type: MR-J2HBUS M Symbol Cable Length [m] (b) Connection diagram When fabricating a cable, use the recommended wire given on Appendix 1.1 (1), and make the cable as shown in the following connection diagram. The overall distance of the SSCNET cables on the same bus is 30m.
Page 140: Appendix 1.2 Encoder Cables
APPENDICES Appendix 1.2 Encoder Cables Generally use the encoder cables of our options. If the length you need is not found in our options, fabricate the cable on the customer side. (1) Selection The following table indicates the encoder cables used with the servo motors. Make selection according to your operating conditions.
Page 141 APPENDICES Characteristics of One Core Core Size Finish OD Structure Conductor Insulating Wire Model Number of Cores [mm] [Number of resistance sheath OD wires/mm] /km] d[mm] UL20276 AWG#28 7 pairs (BLAC) 0.08 14 (7 pairs) 7/0.127 222 max. 0.38 UL20276 AWG#28 4 pairs (BLAC) 0.08 8 (4 pairs) 7/0.127...
Page 142 APPENDICES (2) MR-HSCBL M (Long flexing life product) (a) Explanation of type Type: MR-HSCBL M Symbol Cable Length [m] (b) Connection diagram When fabricating a cable, use the recommended wire and encoder cable fabricating connector set given on Appendix 1.2 (1), and make the cable as shown in the following connection diagram.
Page 143 APPENDICES (3) MR-EN1CBL M-H (Long flexing life product) (a) Explanation of type Type: MR-EN1CBL M-H Symbol Cable Length [m] (b) Connection diagram When fabricating a cable, use the recommended wire and encoder cable fabricating connector set given on Appendix 1.2 (1), and make the cable as shown in the following connection diagram.
Page 144 APPENDICES (4) MR-JHSCBL M-L/MR-JHSCBL M-H (a) Explanation of type Type: MR-JHSCBL M- Symbol Specifications Symbol Cable Length [m] Standard flexing life Long flexing life (b) Connection diagram When fabricating a cable, use the recommended wire and encoder cable fabricating connector set given on Appendix 1.2 (1), and make the cable as shown in the following connection diagram.
Page 145 APPENDICES (5) MR-ENCBL M-H (Long flexing life product) (a) Explanation of type Type: MR-ENCBL M-H Long flexing life Symbol Cable Length [m] (b) Connection diagram When fabricating a cable, use the recommended wire and encoder cable fabricating connector set given on Appendix 1.2 (1), and make the cable as shown in the following connection diagram.
Page 146 APPENDICES (6) MR-JCCBL M-L/MR-JCCBL M-H (a) Explanation of type Type: MR-JCCBL M- Symbol Specifications Symbol Cable Length [m] Standard flexing life Long flexing life (b) Connection diagram When fabricating a cable, use the recommended wire and encoder cable fabricating connector set given on Appendix 1.2 (1), and make the cable as shown in the following connection diagram.
Page 147: Appendix 1.3 A31Tu-E Teaching Unit Cable
APPENDICES Appendix 1.3 A31TU-E Teaching Unit Cable (1) A31TUCBL03M cable (a) A31TUCBL03M cable appearance EMG1 EMG2 DED1 EMGL DED2 (Solderless terminal 0.5-3) CPU module side A31TU-E side (b) A31TUCBL03M cable connection details Pin No. Pin No. Signal name Signal name (Red) (Red) EMG1...
Page 148 APPENDICES (2) A31SHORTCON short-circuit connector (a) A31SHORTCON appearance (b) A31SHORTCON internal wiring Pin No. Signal name EMG1 EMG2 DED1 DED2 Connector 17JE-23250-02(D8A) Manufactured by JAE APP − 13...
Page 149: Appendix 2 Outside Dimensions
APPENDICES Appendix 2 Outside Dimensions Appendix 2.1 CPU Modules (1) A173UHCPU Module INPUT OUTPUT 100 - 240VAC 5VDC 5A 105VA 50 / 60Hz WARNING Hazardous voltage (3.69) (4.46) (0.25) (0.66) Unit=mm (inch) (2) A172SHCPUN Module INPUT OUTPUT 100 - 240VAC 5VDC 5A 105VA 50 / 60Hz...
Page 150 APPENDICES (3) A171SHCPUN Module INPUT OUTPUT 100 - 240VAC 5VDC 105VA 24VDC 0.6A 50 / 60Hz WARNING Hazardous voltage (3.69) (4.46) (0.25) (0.66) Unit=mm (inch) APP − 15...
Page 151: Appendix 2.2 Pulse Generator/Synchronous Encoder Interface Module (A172Senc)
APPENDICES Appendix 2.2 Pulse Generator/Synchronous Encoder Interface Module (A172SENC) (2.82) 71.6 (1.36) 34.5 (0.87) 93.6 (3.69) (0.91) Unit=mm (inch) (0.26) APP − 16...
Page 152: Appendix 2.3 Main Base Unit
APPENDICES Appendix 2.3 Main Base Unit (1) A172B main base unit mounting screws 16.4 200(7.87) (0.65) 220(8.66) (1.1) Unit = mm(inch) (2) A175B main base unit mounting screws 16.4 305(12.02) (0.65) 325(12.81) (1.1) Unit = mm(inch) APP − 17...
Page 153 APPENDICES (3) A178B(-S1/S2/S3) main base unit mounting screws A178B 16.4 410(16.15) (0.65) 430(16.94) (1.1) Unit = mm(inch) APP − 18...
Page 154: Appendix 2.4 Extension Base Units
APPENDICES Appendix 2.4 Extension Base Units (1) A1S65B extension base unit mounting screws 16.4 295(11.61) (0.65) 315(12.4) (1.1) Unit = mm(inch) (2) A1S68B extension base unit mounting screws 16.4 400(15.75) (0.65) 420(16.54) (1.1) Unit = mm(inch) APP − 19...
Page 155 APPENDICES (3) A168B extension base unit mounting screws 400(15.75) 16.4 (0.65) 420(16.54) (1.1) Unit = mm(inch) APP − 20...
Page 156: Appendix 2.5 Teaching Unit
APPENDICES Appendix 2.5 Teaching Unit (1) A30TU-E teaching unit Emergency Invalid Valid Stop MITSUBISHI A 3 0 T U -E DATA TEST STOP ITEM CLEAR WRITE STEP- STORE STEP+ RETURN SHIFT ERROR RESET AXIS JOG - JOG + 95(3.74) 5000(197) Unit = mm(inch) APP −...
Page 157 APPENDICES (2) A31TU-E Teaching Unit 95(3.74) DATA TEST STOP ITEM CLEAR WRITE STEP- STORE STEP+ RETURN SHIFT ERROR RESET AXIS JOG - JOG + Unit = mm(inch) APP − 22...
Page 158: Appendix 2.6 Connector
APPENDICES Appendix 2.6 Connector (1) Honda Tsushin Kogyo make PCR-LS20LA1 PCR-LS20LA1 13.0 (0.51) 10.4 (0.41) 14.2 (0.56) 23.0 12.2 (0.91) (0.04) (0.48) (0.04) 27.4 27.4 12.2 (1.08) (1.08) (0.04) (0.48) (0.04) 32.0 32.0 (1.26) (1.26) (0.07) Unit: mm (inch) Type Number of Pins Connector Case...
Page 159 APPENDICES (b) Threaded type Type Connector : 10120-3000VE Shell kit : 10320-52A0-008 • These are not options and should be prepared by the user. 12.0 (0.47) 14.0 (0.55) 22.0 27.4 (1.08) (0.86) 33.3 12.7 Unit: mm (inch) (1.3) (0.5) (c) Insulation displacement type Type Connector : 10120-6000EL Shell kit : 10320-3210-000...
Page 160: Appendix 2.7 Manual Pulse Generator Specifications
APPENDICES Appendix 2.7 Manual Pulse Generator Specifications 3.6(0.14) studs (M4 10), Packing, t=2.0 PCD72, equi-spaced +5 to 12V 0V ± 0.5 27.0 8.89 (0.63) (0.79) (1.06) (0.35) (0.3) 4.8(0 to 19)dia., equi-spaced Unit = mm (inch) The figure of processing a disc Item Specification Model name...
Page 161: Appendix 2.8 Serial Absolute Synchronous Encoder Specifications
APPENDICES Appendix 2.8 Serial Absolute Synchronous Encoder Specifications 68(2.68) 56(2.2) 1.15(0.05) +0.14 2(0.08) 91(3.58) +0.14 1.15(0.05) 4- 5.4(0.21) 20(0.79) Effective dimension 28(1.1) 2(0.08) 19.5 -0.012 21(0.83) 5(0.2) 5(0.2) 3(0.12) (0.77) -0.042 102(4.02) 33(1.3) 135(5.31) Shaft cross-section Cross-section B-B Keyway Dimensional Diagram Unit = mm (inch) Item Specification...
Page 162 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 TELEX: J24532 CABLE MELCO TOKYO NAGOYA WORKS : 1-14 , YADA-MINAMI 5 , HIGASHI-KU , NAGOYA , JAPAN IB (NA) 67395-C (0009) MEE Printed in Japan Specifications subject to change without notice.

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