Mitsubishi Electric A173UHCPU - Manual

Page 2 - WARNING

− I − 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 tounforeseen events, so we ask that you please read this manual thoroughly and use the...

Page 3 - II; For Sate Operations; Prevention of electric shocks

− II − 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, asthis may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminaland charged se...

Page 4 - III; For injury prevention

− III − 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 th...

Page 5 - IV; CAUTION

− IV − 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 ...

Page 7 - VI; Servo amplifier; Do not bundle the power line or cables.

− VI − CAUTION When coupling with the synchronization encoder or servomotor shaft end, do not applyimpact 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 maylead to shaft breakage. When not...

Page 8 - VII; Conditions; Servo motor

− VII − (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from thecontrol unit, servo amplifier or servomotor.Always execute a test operation before starting actual operations after the program orparameters have been changed or after maintenance ...

Page 9 - VIII; power again, then perform a home position return operation.; Dispose of this unit as general industrial waste.

− VIII − (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 thecontrol unit and servo amplifier. Do not place fingers or hands in t...

Page 10 - Revisions

Revisions *The manual number is given on the bottom left of the back cover. Print Date *Manual Number Revision Apr.1998 IB(NA)-67395-B First edition Sep.2000 IB(NA)-67395-C Addition Addition of information on the A173UHCPU Correction For Sate Operations (4. Various precautions (3), (6), (8)), CONTEN...

Page 11 - CONTENTS

− I − 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 o...

Page 13 - SPECIFICATIONS OF MOTION SYSTEM COMPONENTS; Overview of the Motion System

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 1 1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS This chapter provides the system configuration of the motion system and thespecifications, functions, setting methods, external equipment connectionmethods, part names and other information of the relat...

Page 14 - REMARKS; Description

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 2 • The sequence program written into the SCPU, the servo program or motion program written into the PCPU, and the positioning parameters are createdafter starting up corresponding positioning software package by theperipheral device. • The periphera...

Page 15 - Overall Configuration of Motion System; GOT; POINTS

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 3 1.2 Overall Configuration of Motion System 1.2.1 A172SHCPUN/A171SHCPUN System Overall Configuration Motion slot Sequence module slot Manual pulse generator/synchronous encoderinterface module L im it switch ou tp ut mo du le Battery Emergency stop ...

Page 17 - A173UHCPU System Overall Configuration

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 5 1.2.2 A173UHCPU System Overall Configuration Motion slot Sequence module slot Manual pulsegenerator/synchronous encoderinterface module Battery Emergency stop input Po we r s u p p ly mo dul e Main base unit(A178B-S3/A178B-S2/A178B-S1/A17 B) IBM PC...

Page 19 - Equipment in System

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 7 1.3 Equipment in System (1) Table of motion modules Part Name Model Name Description Current Consumption 5 VDC (A) Remarks A173UHCPU(-S1) Max. 32 axes control 1.90 A172SHCPUN Max. 8 axes control 1.63 CPU module A171SHCPUN Max. 4 axes control 1.63 A...

Page 23 - Specifications and Settings of Components

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 11 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 SV13 3.5 ms/1 ...

Page 24 - (2) Functions and performance specifications of PCPU

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 12 (2) Functions and performance specifications of PCPU The performance specifications and functions of the PCPU depend on themotion function OS model installed in the CPU module.Refer to the programming manual of the motion functions installed in th...

Page 25 - (3) SCPU performance specifications and functions

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 13 (3) SCPU performance specifications and functions (a) SCPU performance specifications As the SCPU performance specifications differ according to the operatingsystem used, refer to the appropriate OS Programming Manual for details. Table 1.2 Table ...

Page 26 - Table 4.1 Table of SCPU Performance Specifications (Continued)

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 14 Table 4.1 Table of SCPU Performance Specifications (Continued) Item A173UHCPU (-S1) A172SHCPUN A171SHCPUN Standard Max. 10 blocks (set by memory capacity) No. of extension file register block -S1 Max. 46 blocks (set by memory capacity) Max. 10 blo...

Page 27 - Table 1.3 Table of SCPU Functions

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 15 (b) SCPU functions Refer to the A2SHCPU user's manual for details of the SCPU functions ofA171SHCPUN/A172SHCPUN and A3UCPU user’s manual for details ofthe SCPU functions of A173UHCPU. Table 1.3 Table of SCPU Functions Function Description Constant...

Page 28 - Name

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 16 (4) Names of A173UHCPU/A172SHCPUN/A171SHCPUN Parts 1) 2) 3) 4) 6) 7) 8) 9) 10) 14) 13) 16) 17) 15) 11) 19) 18) 18), 19) N 100 240VAC 105VA NC NC [A173UHCPU] FRONT SSCNET 4 1 3 2 1:SSCNET1 2:SSCNET2 3:SSCNET3 4:SSCNET4 N 12) 100 240VAC 105VA A173UH...

Page 29 - CHK

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 17 No. Name Applications 3) RUN indicator ! Lit: Sequence program operating with RUN/STOP key switch set to RUN. The indicator remains lit if an operation error occurs in the sequenceprogram (Refer to section 5.4.1 (10)). ! Not lit: The RUN indicator...

Page 33 - (6) Functions and performance specificotions of

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 21 (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 Input power supply 100 to 240 VAC ...

Page 34 - CPU module; MELSECNET; MELSECNET/10 data link system reference manual (Inter-PC network

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 22 (7) Information control processing making use of personal computer By connecting a personal computer to the SSCNET, you can add to the motionsystem the digital oscilloscope functions used for monitoring the equipmentstatus and for checking the ope...

Page 35 - nd class; Coaxial cable

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 23 (a) MELSECNET(II) Fiber-optic or coaxial cable Fiber-optic or coaxial cable 2nd class 3rd class (64 stations max.) Remote I/O station Remote I/O station Local station Local station Local station Master station Local station Master station POINTS A...

Page 37 - Table 1.5 Power Supply Module Specifications

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 25 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 Input power supply 200 to ...

Page 38 - (a) A1S61PN power supply module names of parts

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 26 (2) Names of parts (a) A1S61PN power supply module names of parts 1) 2) 3) 4) 5) 6) 7) N 100-240 VAC (FG) (LG) No. Name Application 1) POWER indicator Display indicator for 5 VDC power supply. 2) FG terminal A grounding terminal connected with the...

Page 39 - (b) A1S62PN power supply module names of parts

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 27 (b) A1S62PN power supply module names of parts 1) 3) 4) 5) 6) 7) 8) N 100-240 VAC (FG) (LG) 2 DC24V 0.6A 24V 24G 2) No. Name Application 1) POWER indicator Display indicator for 5 VDC power supply. 2) 24VDC, 24GDC terminals Supplies output modules...

Page 41 - Sequencer slot

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 29 (2) Names and settings of parts (a) Main base unit (A172B, A175B, A178B) 1) 3) *1 4) 5) 6) 7) 2) Sequencer slot Motion slot No. Name Application 1) Extension cable connector Connects to the signal communications connector on the extension base uni...

Page 42 - Motion slot

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 30 (b) Main base unit (A178B-S1/S2/S3) OUT A178B-S2 6) Motion slot 3) *1 Sequencer slot 1) 2) 4) 5) 7) No. Name Application 1) Extension cable connector Connects to the signal communications connector on the extension base unit with theextension cabl...

Page 46 - (5) Main base unit emergency stop circuit; Emergency stop

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 34 (4) Motion slots When using the A172SENC and limit output module (A1SY42), load them into P I/O (motion slots) of the main base. OUT Motion slot (5) Main base unit emergency stop circuit (a) By opening the main base unit emergency stop (EMG) circu...

Page 47 - POINT

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 35 (6) Connection and I/O assignment of base units This section explains the way to connect the base units and the concept ofsequence I/O assignment.Use the extension cables for connection of the main base unit and extensionbase unit and connection o...

Page 48 - Example of using the A178B-S2 main base (when a 16-point module is

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 36 • Example of using the A175B main base (when a 16-point module is loaded to each slot) Sequencer slot No. CPU P o wer suppl y mo d u le A168B extension base unit Motion slot 0 00 0F to 10 80 8F to 8 90 9F to 9 A0 AF to 11 B0 BF to 12 C0 CF to 13 D...

Page 49 - Example of using the A178B-S3 main base (when a 16-point module is

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 37 • Example of using the A178B-S3 main base (when a 16-point module is loaded to each slot) CPU Po we r s u p p ly m odul e A1S68B extension base unit Motion slot 10 80 8F to 8 90 9F to 9 A0 AF to 11 B0 BF to 12 C0 CF to 13 D0 DF to 14 E0 EF to 15F0...

Page 50 - Table 1.9 A172SENC Specifications

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 38 1.5.4 Manual Pulse Generator/Synchronous Encoder Interface Module A172SENC receive external signals required for positioning control (motion controlsignals and tracking inputs), manual pulse generator inputs, and synchronousencoder inputs. (1) Spe...

Page 52 - A172SENC Specifications; Signal/Connected External

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 40 (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 ofcontrol axes which use such external signals as upper and lower stroke limit ...

Page 53 - (b) Connection of manual pulse generators/synchronous encoders; CPU Module; PULSER connector

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 41 (b) Connection of manual pulse generators/synchronous encoders Manual pulse generators are available in voltage output type and differentialoutput type, and synchronous encoders are available in voltageoutput/differential output type and serial ab...

Page 54 - Interface between PULSER connector and voltage-output

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 42 • Interface between PULSER connector and voltage-output manual pulse generator/incremental synchronous encoder Pin No. PULSER Connector Input or Output Signal Name Voltage-Output Type Wiring Example Internal Circuit Specification Description A + 4...

Page 55 - Interface between PULSER connector and differential-output; Connection examples; Connection of voltage-output manual pulse generator

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 43 • Interface between PULSER connector and differential-output manual pulse generator/incremental synchronous encoder Pin No. PULSER Connector Input or Output Signal Name Voltage-Output Type Wiring Example Internal Circuit Specification Description ...

Page 56 - ) Interface with external equipment; CPU

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 44 2) Connection of serial absolute synchronous encoder (MR-HENC) Use the SY.ENC connector at the A172SENC module front to connect theserial absolute synchronous encoder (MR-HENC).Use the MR-HSCBL M encoder cable between the serial absolutesynchronou...

Page 58 - Interface between SY.ENC connector and external equipment

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 46 • Interface between SY.ENC connector and external equipment Pin No. Input or Output Signal Name SY.ENC Connector Wiring Example Internal Circuit Specification Description MR 4 MRR 3 P5 *3 7, 8, 16 SG *3 1, 2, 15, 17 BAT 14 Input SD 20 • Transmissi...

Page 60 - Interface between CTRL connector and servo external signal; Brake

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 48 • Interface between CTRL connector and servo external signal Pin Number Input or Outpu t Signal Name CTRL Connector Wiring Example Internal Circuit Specification Description PX0, PX4, PX8, PXC PX10, PX14, PX18, PX1C B20 A20 B16 A16 B12 A12 B8 A8 F...

Page 63 - (2) Selection of teaching unit and connection with CPU module

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 51 (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 followingtable for selection. Selection of Teaching Unit Comparison A30TU-E A31TU-E Dead-ma...

Page 64 - Teaching unit version applicable to CPU module is as follows:; Model Name; DATE; Unit version; DATE B

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 52 (c) Connection of A30TU-E and CPU module (3) Applicable teaching unit version Teaching unit version applicable to CPU module is as follows: Model Name Applicable Version A30TU-E D or later A31TU-E B or later Teaching unit version is marked on the ...

Page 66 - (2) Connection of CPU module and servo amplifiers

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 54 (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. Whenusing the A172SHCPUN/A171SHCPUN, only one line of SSCNET is availablefor servo...

Page 69 - Table 1.10 Battery Specifications; Battery connector

1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS 1 − 57 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 tablebelow. Table 1.10 Battery Specificati...

Page 70 - System Designing Procedure

2. DESIGN 2 − 1 2. DESIGN This chapter provides those who will design and manage the motion system with theprocedures 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 manual...

Page 74 - MC

2. DESIGN 2 − 5 2.3 External Circuit Design As to the ways to design the external circuits of the motion system, this sectionexplains the method and instructions for designing the power supply and safetycircuits, etc. (1) Sample system circuit design for motion control R S T NFB A173UHCPU/A172SHCPUN...

Page 75 - electromagnetic brake.

2. DESIGN 2 − 6 POINTS (1) *1 : A 100 VAC power supply can also be used as the power supply to the CPU module.(2) *2 : Sequence program M9036 M9074 Yn Servo alarm/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 76 - unit

2. DESIGN 2 − 7 (2) Example of system circuit configuration compatible with A31TU-E type teaching unit R S T NFB A173UHCPU/A172SHCPUN/A171SHCPUN A172SENC PX0 PX1F TRA COM 200VAC 200VAC FG LG EMG EMG. COM. BRAKEOUT BRAKECOM PX0 PX1F TRA COM Ra1 Ra2 EMG OFF ON Ra1 +DC24V 24G Ym Ym+1 Ym+n COM CPU EMG C...

Page 77 - Ym; (4) For details on connection of SSCNET cable and; Outside of control board

2. DESIGN 2 − 8 POINT (1) *1 : 100 VAC power supply can also be used as the power supply to the CPU module. (2) *2 : Sequence program M9036 M9074 Servo alarm/Error detection Ym (3) *3 : It is also possible to use a full wave rectified power supply as the power supply for theelectromagnetic brake. (4...

Page 78 - Procedure to start up the power supply.

2. DESIGN 2 − 9 (c) Sample system circuit designs Power supply Power supply Transformer Transformer Transformer Fuse Fuse Fuse CPU CPU Ym Yn M9084 M9006 M9039 XM RA1 MC Ym Yn M9084 TM M9006 M9039 XM TM TM RA1 MC1 NO M10 Program DC powersupply (+) (-) Fuse RA2 MC M10 RA1 MC Start switch Stop switch O...

Page 82 - (3) External electromagnetic brake circuit

2. DESIGN 2 − 13 (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 anemergency stop at once. After an emergency stop, remove the emergencystop factor and cancel the emergen...

Page 85 - Instructions for External Circuit Wiring Design; Application; run them to connect modules in the shortest distance.

2. DESIGN 2 − 16 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 2 max. I/O equipment 0.75mm 2 (0.75 to 1.5mm 2 usable) Ground ...

Page 89 - Calculating Average Power Consumption; (1) Power consumption of power supply module

2. DESIGN 2 − 20 2.4.4 Calculating Heat Generated by A173UHCPU/A172SHCPUN/A171SHCPUN If a motion controller is installed in an enclosure, the temperature inside theenclosure must be restricted to the operation ambient temperature of 55 C .The average power consumption (heat generation) of the equipm...

Page 90 - PW; : internal surface area of the enclosure (m

2. DESIGN 2 − 21 (4) Average power consumption from voltage drop in output circuits of the output modules (power consumption of simultaneously ON points) W OUT = I OUT Vdrop No. output points Simultaneously ON ratio (W) I OUT : I OUT is the output current(actual operation current) (A) Vdrop : Vdrop ...

Page 91 - At the worksite, copy the following table for use as a check sheet.

2. DESIGN 2 − 22 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 Number of I/O points points CPU module selection Selected CPU module Manual pulse generator pcs. Synchronous encoder pcs. Number of up...

Page 92 - MOUNTING AND WIRING; Mounting and Wiring Methods

3. MOUNTING AND WIRING 3 − 1 3. MOUNTING AND WIRING This chapter provides the mounting and wiring procedures and hardware handlinginformation for those who will mount each equipment to a control box or the like, designwiring and install the hardware.This chapter does not give the ways to install and...

Page 93 - Screw; DIN rail

3. MOUNTING AND WIRING 3 − 2 3.2.1 Mounting without DIN Rail Drill mounting screw holes in accordance with the outline dimensional drawings inAppendix 1.3 Main Base Unit and Appendix 1.4 Extension Base Unit. Screw Tightening Torque Range N cm Base mounting screw (M5 screw) 273 to 361 (Control box, w...

Page 94 - ) Push the base unit toward the DIN rail to fasten it.

3. MOUNTING AND WIRING 3 − 3 (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. 2) Push the base unit toward the DI...

Page 95 - Mounting and Removing Modules

3. MOUNTING AND WIRING 3 − 4 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 Modul...

Page 96 - Follow the procedure below to remove a module from the base unit.; End

3. MOUNTING AND WIRING 3 − 5 (2) Removing modules Follow the procedure below to remove a module from the base unit. End Base unit Moduleconnector Module fixingholes Module Remove the fixing screws and pivot the module around the bottom lugs toward you. Lifting the module up, detach the lugs from the...

Page 98 - Table 3.1 Permitted Shaft Loads; Coupling

3. MOUNTING AND WIRING 3 − 7 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 sepa...

Page 99 - Fig. 3.2 Connecting the Encoder to a Machine Shaft

3. MOUNTING AND WIRING 3 − 8 CAUTION The MR-HENC contains a glass disk and precision mechanism. Take care when handling it. Theencoder performance may deteriorate if it is dropped or subjected to shocks or vibrationexceeding the prescribed limits.Do not connect the encoder directly to the rotating m...

Page 100 - Connect units together over the minimum distance.

3. MOUNTING AND WIRING 3 − 9 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 parallelto supply a single I/O module. The power supply modules will be...

Page 104 - TRIAL RUN AND ADJUSTMENT; Checklist before Trial Operation

4. TRIAL RUN AND ADJUSTMENT 4 − 1 4. TRIAL RUN AND ADJUSTMENT This chapter describes the checking items and procedures necessary for trial runand adjustment for those who will perform trial run and adjustment of the motionsystem. 4.1 Checklist before Trial Operation Table 4.1 Checklist before Trial ...

Page 106 - Trial Run and Adjustment Procedure

4. TRIAL RUN AND ADJUSTMENT 4 − 3 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 isinstalled. (2) The machine may make unpredictable movements after a servo amplifier...

Page 110 - Operating System Installation Procedure; Start installation

4. TRIAL RUN AND ADJUSTMENT 4 − 7 4.3 Operating System Installation Procedure In the CPU module, the operating system (hereafter abbreviated to the OS) can bechanged using the peripheral device and software package.This OS change is called installation. Start installation Open the cover at the front...

Page 111 - Trial Run and Adjustment Checklist

4. TRIAL RUN AND ADJUSTMENT 4 − 8 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. Check each...

Page 112 - INSPECTION AND MAINTENANCE; Maintenance Works

5. INSPECTION AND MAINTENANCE 5 − 1 5. INSPECTION AND MAINTENANCE This chapter describes the methods of troubleshooting and daily maintenance andinspection for those who will carry out such works. 5.1 Maintenance Works This section explains the periodic and daily inspections performed to operate the...

Page 114 - Daily Inspections

5. INSPECTION AND MAINTENANCE 5 − 3 5.2 Daily Inspections The inspections listed in the table below should be conducted every day. Table 5.2 Daily Inspections No. Item Description Evaluation Standard Remedy 1 Base unit installation All screws tight and covers in position. Must be firmly installed. T...

Page 115 - Scheduled Inspections

5. INSPECTION AND MAINTENANCE 5 − 4 5.3 Scheduled Inspections The inspections listed in the table below should be conducted once or twice every6 to 12 months. They should also be conducted after equipment is moved orupgraded, and if the wiring is changed. Table 5.3 Scheduled Inspections No. Item Des...

Page 116 - Table 5.4 Battery Life; Synchronous

5. INSPECTION AND MAINTENANCE 5 − 5 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 backsup programs and provides memory back-up functions. Program and memorycontents are not lost immediately when these specia...

Page 117 - IMPORTANT

5. INSPECTION AND MAINTENANCE 5 − 6 (b) Replacing a battery Follow the procedure below to replace a battery when its life expires. After thebattery 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 orth...

Page 118 - Error occurs; (1) Checking the equipment where the error occurred; Error code

5. INSPECTION AND MAINTENANCE 5 − 7 5.4 Troubleshooting This section describes the errors which could occur when using the system andwhat to do about them.Refer to the appropriate software package operating manual for information on theerror messages displayed during peripheral device operation. Whe...

Page 119 - (3) Checking by monitoring from the peripheral device

5. INSPECTION AND MAINTENANCE 5 − 8 (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 fordetails about the op...

Page 120 - The flowcharts below are classified according to symptoms.

5. INSPECTION AND MAINTENANCE 5 − 9 5.4.1 Troubleshooting for CPU Module and I/O Modules This section explains how to determine the cause of problems occurring in theSCPU of CPU module or I/O modules, and gives descriptions and remedies theerrors indicated by each error code. This manual does not gi...

Page 121 - (2) Flowchart when POWER indicator is not lit

5. INSPECTION AND MAINTENANCE 5 − 10 (2) Flowchart when POWER indicator is not lit Follow the flowchart below if the POWER indicator does not light when the power isturned on or goes out during operation. POWER indicator not lit Is power supplied? Supply power. Does POWER indicator light? Is supply ...

Page 122 - (3) Flowchart when RUN indicator is not lit

5. INSPECTION AND MAINTENANCE 5 − 11 (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 when a peripheral device is connected? Refer to error table. YES NO Reset with the CPU moduleRUN/ST...

Page 123 - (4) Flowchart when RUN indicator is flashing

5. INSPECTION AND MAINTENANCE 5 − 12 (4) Flowchart when RUN indicator is flashing Follow the flowchart below if the RUN indicator flashes when the power is turned onor during operation. RUN indicator flashing Check error from peripheraldevice(See Section 5.4.1(10).) Reset with the CPU moduleRUN/STOP...

Page 124 - (5) Flowchart when ERROR indicator is lit

5. INSPECTION AND MAINTENANCE 5 − 13 (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 SCPU? Reset with the CPU moduleRUN/STOP key switch. Take corrective...

Page 125 - (6) Flowchart when ERROR indicator is flashing; ERROR indicator flashing

5. INSPECTION AND MAINTENANCE 5 − 14 (6) Flowchart when ERROR indicator is flashing Follow the flowchart below if the ERROR indicator flashes during operation. ERROR indicator flashing Does special register D9124 contain 0? Reset the coil of theannunciator which is ONusing the RST F instruction. End...

Page 126 - (7) Flowchart when output module load does not turn on

5. INSPECTION AND MAINTENANCE 5 − 15 (7) Flowchart when output module load does not turn on Follow the flowchart below if the output module loads do not turn on duringoperation. Output load does not turn on Is the indicator LED of the output module ON? Check output mode in monitormode from periphera...

Page 127 - (8) Flowchart when program cannot be written

5. INSPECTION AND MAINTENANCE 5 − 16 (8) Flowchart when program cannot be written The following flowchart assumes that a program or other data cannot be written tothe CPU when an attempt was made to write it. Program cannot be written Is the RUN/STOP switch set to STOP? Set RUN/STOP switch toSTOP. C...

Page 128 - Table 5.7 Troubleshooting Input Circuits; am

5. INSPECTION AND MAINTENANCE 5 − 17 (9) Possible Problems with I/O Modules This section describes possible problems with input and output circuits, and what todo about them.(a) Troubleshooting input circuits Table 5.7 describes problems and corrective actions for input circuits. Table 5.7 Troublesh...

Page 129 -

5. INSPECTION AND MAINTENANCE 5 − 18 Table 5.7 Troubleshooting Input Circuits (cont.) Symptom Cause Corrective Action E x am pl e 5 Input signal does not turn OFF • Sneak path due to use of two power supplies. Input module E E E >E 1 2 1 2 • Use a single power supply. • Connect a diode to prevent...

Page 130 - Table 5.8 Troubleshooting Output Circuits

5. INSPECTION AND MAINTENANCE 5 − 19 (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 E x am pl e 1 Overvoltage applied to load when output turns OFF • If load is int...

Page 131 - Table 5.9 Table of Error Codes

5. INSPECTION AND MAINTENANCE 5 − 20 (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 readin...

Page 135 - APP; APPENDICES; Appendix 1 Cables

APPENDICES APP − 1 APPENDICES Appendix 1 Cables Appendix 1.1 SSCNET Cables Generally use the SSCNET cables of our options. If the length you need is notfound in our options, fabricate the cable on the customer side. (1) Selection The following table indicates the SSCNET cables used with the servoamp...

Page 143 - Specifications

APPENDICES APP − 9 (4) MR-JHSCBL M-L/MR-JHSCBL M-H (a) Explanation of type Type: MR-JHSCBL M- Symbol Cable Length [m] 2 5 10 20 30 2 5 10 20 30 Specifications Symbol L H Standard flexing life Long flexing life (b) Connection diagram When fabricating a cable, use the recommended wire and encoder cabl...

Page 144 - Long flexing life

APPENDICES APP − 10 (5) MR-ENCBL M-H (Long flexing life product) (a) Explanation of type Type: MR-ENCBL M-H Symbol Cable Length [m] 2 5 10 20 30 2 5 10 20 30 Long flexing life (b) Connection diagram When fabricating a cable, use the recommended wire and encoder cablefabricating connector set given o...

Page 147 - CON

APPENDICES APP − 13 (2) A31SHORTCON short-circuit connector (a) A31SHORTCON appearance A31SHORT CON (b) A31SHORTCON internal wiring Signal name Pin No. BA 3 BAL 16 CA 5 CAL 18 BB 2 BBL 15 CB 4 CBL 17 +5V 12 +5V 13 SG 7 +5V 24 +5V 25 SG 8 SG 20 AB 21 FG 1 Connector 17JE-23250-02(D8A) Manufactured by ...

Page 151 - mounting screws

APPENDICES APP − 17 Appendix 2.3 Main Base Unit (1) A172B main base unit 200(7.87)220(8.66) 1 1 0(4. 33) 1 3 0(5. 12) 16.4 (0.65) 28 (1.1) 4 mounting screws (M5 25) Unit = mm(inch) (2) A175B main base unit OUT 4 mounting screws (M5 25) 305(12.02) 325(12.81) 28 16.4 11 0 (4. 33) 13 0 (5. 12) (0.65) (...

Page 157 - Type

APPENDICES APP − 23 Appendix 2.6 Connector (1) Honda Tsushin Kogyo make Unit: mm (inch) 38. 5 (1.5 2 ) HON DA 27.4 (1.08) 32.0 (1.26) 23.0 (0.91) (0.51) 12.2 (0.48) 14.2 (0.56) 13.0 PCR-LS20LA1 38. 5 (1.5 2 ) HON DA 27.4 (1.08) 32.0 (1.26) PCR-LS20LA1 10.4 (0.41) 20. 6 (0.8 1 ) 1.9 (0.07) 1 (0.04) 1...

Page 159 - The figure of processing a disc

APPENDICES APP − 25 Appendix 2.7 Manual Pulse Generator Specifications equi-spaced Packing, t=2.0 16 (0.63) 20 (0.79) 27.0 (1.06) 8.89 (0.35) 7.6 (0.3) ± 0.5 M3 6 3 studs (M4 10),PCD72, equi-spaced 3.6(0.14) 60(2. 3 6 ) ± 0 .5 80(3. 1 5 ) ± 1 50(1. 9 7 ) 70(2. 7 6 ) 72(2. 83) ±0.2 3 4.8(0 to 19)dia....

Page 160 - Keyway Dimensional Diagram; Serial communications (connected to A172SENC)

APPENDICES APP − 26 Appendix 2.8 Serial Absolute Synchronous Encoder Specifications 19.5 (0.77) 102(4.02) 135(5.31) 28(1.1) 33(1.3) B B 68(2.68) 56(2.2) 56 (2 .2 ) 68 (2 .6 8) Shaft cross-section Cross-section B-B Keyway Dimensional Diagram 2(0.08) 5(0.2) 1.15(0.05) 1.15(0.05) 15 (0 .5 9) 1 4 .3 (0....

Page 161 - Printed in Japan

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.

Mitsubishi Electric A173UHCPU - Manual

Table of Contents:

Summary

Other Mitsubishi Electric Models