A173Uhcpu System Overall Configuration - Mitsubishi Electric A173UHCPU User Manual

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS

1.2.2 A173UHCPU System Overall Configuration

Battery
A173UHCPU A172
A6BAT
Emergency stop input
100/200VAC
IBM PC
(DOS)
RS422
Teaching unit
A31TU-E/A30TU-E
RS422
Communication cable
(A270CDCBL
A270BDCBL
IBM PC (DOS,Windows)
*2
SSCNET4
SSC I/F card/board
(A30CD-PCF/A30BD-PCF)
*1:No. of motion slots
A17 B
A178B-S1
A178B-S2
A178B-S3
POINTS
(1) When using the sequence extension base and bus connection type GOT, select the A168B as the
sequence extension base. When not using the sequence extension base, you can connect the bus
connection type GOT directly to the extension connector of the main base unit.
(2) When using a teaching unit A31TU-E with a dead-man switch, a dedicated connecting cable
A31TUCBL03M is required between the CPU unit and A31TU-E connector. If the A31TU-E is
connected directly to the RS422 connector of the CPU without using a dedicated cable, the
A31TU-E will not operate at all. After disconnecting the A31TU-E, attach a short-circuit connector
A31SHORTCON for A31TUCBL.
(3) In a motion module, a sequence A1S I/O modules can also be installed.
*2 The A173UHCPU can use four channels of the SSCNET. When using the SSCNET card/board
(A30CD-PCF/A30BD-PCF), connect it to the SSCNET4 and the servo amplifiers to the SSCNET1
to 3.
In this case, up to 24 axes of servo amplifiers can be connected.
*3 TRA tracking enable can use any one point.
*1
Motion slot
Manual pulse
generator/
synchronous encoder
interface module
A172 A172 A172
SENC SENC SENC SENC
External input signals
FLS upper stroke limit
RLS lower stroke limit
STOP signal
DOG/CHANGE near-zero point dog/
speed-position change
M/
M)
TRA tracking
Electromagnetic brake command output
*2
SSCNET2
d1
SSCNET1
1
M
M
2
4 E
E
8
Sequence module slot
Main base unit
(A178B-S3/
Extension cable
A178B-S2/
(A1SC
A178B-S1/
A1S6
A17 B)
and A168B)
(A1S
for A6
A1S input module or
special function module
P
Manual pulse generator 3
P
(MR-HDP01)
P
Serial absolute synchronous
E
encoder cable
E
(MR-HSCBL M)
Serial absolute synchronous encoder
E
(MR-HENC)
E
*3
SSCNET cable
SSCNET3
d9
d8 d16
M
M
E
E
MR-H-BN/MR-J2S-B/MR-J2-B model
Servo amplifier, max. 32 axes
1 − 5
B for
B
NB
B)
Sequence extension base
Up to one extension base unit for A1S6 B
Up to one extension base unit for A168B
(GOT compatible)
Up to one extension base unit for A6 B
4
8 8
1 1
SSCNET4
d17
d24
M M
M
E E
E
SSCNET:Servo System Controller NETwork
GOT
8 8
1 1
d25
d32
M
E