A1SD71-S2,Positioning module (user manual)
Contents
1. 2 Start up procedure Battery connection Module mounting Refer to the I O interface YES HOLD ERR LED ON 4 Clear all buffer memory Clearing all buffer memory turns LED OFF Module must be replaced Please be so good as to return the module to your local Mitsubishi Service or representative explaining the error symptom Data setting S Setting parameter OPR data or positioning data Positioning operation Clear all buffer memory using the peripheral device or sequence program However all data cannot be cleared using peripheral device in the following cases Write 0 using sequence program e Sudden stop deceleration time Positioning mode Even when intending to use only either X or Y axis make sure to write both parameter and OPR data to the unused axis Failure to do so may cause an error when OPR is made 7 Wiring Precautions 1 Where excessive noise may apply to the pulse train signals use shielded twisted paired cables to connect the A1SD71 and a drive unit A1SD71 Servo amplifter Pulse string 45A 18A 1 output i PULSE F 15B 18B 4 Pulse string ven 19A output PULSE R 16B 19B 4 SD or FG 2 24 VDC wiring notes In case that a drive unit has a built in power supply do not use an external power supply with the built in power supply for same circuitry Otherwise a malfunction may occur by wraparound circuit current Wraparound2. Sette is ele Forward feed pulse PULSE F PUDSES errr Lin eee SIGN 25ms 4 direction travel direction travel Internal circuit Reverse Direction feed pulse sign PULSER SIGN PULSE R LFLFLFLFLPU Select the A or B type by parameter setting 4 Names of Each Part The following shows the name of each part T e000000000000 oo0o000000000 A1SD71 S2 Description READY Lights when the A1SD71 ready signal goes ON SERVO X Lights when the READY signal from the servo unit for the X or Y ERD Y _ axis goes OFF X BUSY Lights when the X axis BUSY signal goes ON Y BUSY Lights when the Y axis BUSY signal goes ON X ZERO Lights when the X axis zero return request signal goes ON MPRO Sets memory protect for the setting data and positioning data areas 2 Keyswitches OFF eS memory product for the setting data and positioning data LOCK Prohibits a pulse train output from the A1SD71 3 RS 422 Used for connections with a peripheral device such as an AGGPP A6PHP connector A7PHP A7HGP A7LMS and AD71TU Description Used for connections with a drive units The following shows the pin outs of the attached external wiring connector Install wiring by referring to the I O interface 40 pin connector je The above is top view The pins are numbered from A1 to A20 a
3. method AD71TU or sequence program 15 minutes without battery 25 C RAM memory backup Lithium battery guarantees power failure backup for a total of 300 days Battery guaranteed for five years DEL Select using parameter Modes SR mode H Same mode is applied to g the X and Y axes Positioni Speed control mode ositioning Positioning data Absolute and or incremental method Method Speed positioning control switching mode Incremental method current address is switched to 0 when starting Command method can be selected for each axis from the following four types 1 to 16 252 928 pulse Max 162 m command unit 0 1 to 104m pulse Max 16200 inch command unit 1 x 10 to 0 001 inch pulse Max 16200 degree command unit 1 x 10 to 0 001 degree pulse Command method can be selected for each axis from the following four types Positioning 10 to 200000 pulse sec command unit 10 pulse sec speed 10 to 120000 mm min command unit 10 mm min Positioning 1to 12000 inch min command unit 1 inch min 1to 12000 degree min command unit 1 degree min Positioning units Acceleration and Automatic trapezoidal acceleration and deceleration deceleration Acceleration and deceleration times Backlash 0 to 65535xposition command unit 0 to 255 pulses if compensation unit is pulse The A1SD71 calibrates mechanical errors in the rior positioning control mode and velocity positioning control compens
4. 972 0 9 863 39 80 MITSUBISHI ELECTRIC EUROPE B V IRELAND Phone 32 0 2 257 02 40 Phone 31 0 20 587 76 00 Fax 972 0 9 885 24 30 Irish Branch Fax 32 0 2 257 02 49 Fax 31 0 20 587 76 05 aT STEE Westgate SCENE INEABH d o o BOSNIA AND HERZEGOVINA Beijer Electronics AS NORWAY Cebaco Center Block A Autostrade DORA Bone Laes oi aise Aleja Lipa 56 Postboks 487 Lebanon Beirut E Ger 0 l y 98890 BA 71000 Sarajevo NO 3002 Drammen Phone 961 0 1 240 430 ax 353 0 Phone 387 0 33 921 164 Phone 47 0 32 2430 00 Fax 961 0 1 240438 MITSUBISHI ELECTRIC EUROPE B V ITALY Fax 387 0 33 524 539 Fax 47 0 32 8485 77 E AKHNATON BULGARIA Fonseca S A PORTUGAL l Zei jus Saneti 4 Andrej Ljapchev Blvd Pb 21 R Jo o Francisco do Casal 87 89 Ph ee dree BG 1756 Sofia PT 3801 997 Aveiro Esgueira AFRICAN REPRESENTATIVE cert crus Phone 359 0 2 817 6044 Phone 351 0 234 303 900 ant Fax 359 0 2 97 4406 1 Fax 351 0 234 303 910 CBI Ltd SOUTH AFRICA MITSUBISHI ELECTRIC EUROPE B V POLAND INEA CR d o o CROATIA Sirius Trading amp Services srl ROMANIA Private Bag 2016 Poland Branch Losinjska 4a Aleea Lacul Morii Nr 3 ZA 1600 Isando Krakowska 50 J ac Phone 27 0 11 977 0770 PL 32 083 Bali HR 10000 Zagreb R0 060841 Bucuresti Sector 6 Fax 4 27 0 11 977 0761 Base 0 12 JM ARD Phone 385 0 1 36 940 01 02 03 Phone 40 0 21 430 40 06 ax 27 0 Tor PR Ue s mc EE CZECH REPUBLIC
5. KAZAKHSTAN German Branch Wiener StraBe 89 99 Paola Hill Mustafina Str 7 2 Gothaer Stra e 8 AT 2500 Baden Malta Paola PLA 1702 KAZ 470046 Karaganda D 40880 Ratingen Phone 43 0 2252 85 55 20 Phone 356 0 21 697 816 Phone 7 7212 50 11 50 Phone 49 0 2102 486 0 Fax 43 0 2252 488 60 Fax 356 0 21 697 817 Fax 7 7212 5011 50 Fax 49 0 2102 486 1120 TEHNIKON BELARUS INTEHSIS stl MOLDOVA MITSUBISHI ELECTRIC EUROPE RN ag d CZECH REP Oktyabrskaya 16 5 Off 703 711 bld Traian 23 1 Czech Branch BY 220030 Minsk MD 2060 Kishinev Avenir Business Park Radlick 714 113a Phone 375 0 17 210 46 26 Phone 373 0 22 66 4242 MIDDLE EAST REPRESENTATIVES CZ 158 00 Praha 5 Fax 375 0 17 210 46 26 Fax 373 0 22 66 4280 TT Phone t420 Tid ESCO DRIVES amp AUTOMATION BELGIUM HIFLEX AUTOM TECHNIEKB V NETHERLANDS 24 Shenkar St Kiryat Arie aX PIU laal Culliganlaan 3 Wolweverstraat 22 1L 49001 Petah Tiqva MITSUBISHI ELECTRIC EUROPE B V FRANCE BE 1831 Diegem NL 2984 CD Ridderkerk Phone 972 0 3 922 1824 French Branch Phone 32 0 2 717 64 30 Phone 31 0 180 46 6004 Fax 972 0 3 924 0761 25 Boulevard des Bouvets Fax 32 0 2 717 6431 Fax 31 0 180 44 23 55 Saar PUE vi eae E Koning amp Hartman bw BELGIUM Koning amp Hartman b v NETHERLANDS 9113 ymanut P 0 B 6272 F car ja o Woluwelaan 31 Haarlerbergweg 21 23 1L 42160 Netanya ax 33 0 BE 1800 Vilvoorde NL 1101 CH Amsterdam Phone
6. a contact error may occur resulting in incorrect input or output Always attach a cover to connectors that are not used If not covered malfunctions may occur Do not directly touch the module s conductive parts or electronic components Doing so could cause malfunction or failure in the module WIRING PRECAUTIONS CAUTION Check the terminal layout and then wire the module correctly Be sure there are no foreign substances such as sawdust or wiring debris inside the module Such debris could cause fires failure or malfunction STARTUP AND MAINTENANCE PRECAUTIONS DANGER Connect the battery correctly Do not charge disassemble heat short circuit solder the battery or throw it into the fire as these may cause injury or fires due to heat generation blowout or ignition CAUTION Make sure to switch all phases of the external power supply off before cleaning If you do not switch off the external power supply it will cause malfunctions of the module Do not disassemble or modify the modules Doing so could cause failure malfunction injury or fire e Make sure to switch all phases of the external power supply off before mounting or removing the module If you do not switch off the external power supply it will cause failure or malfunction of the module When performing test operation set the parameter for the speed limit value to a slow setting and prepare for an immediate stop of t
7. Cfi tn n g SERBIA utoCont CS s r o ratt Con ngineering d 0 0 ee Ser us ef RUSSIA Technologick 374 6 Bulevar Svetog Cara Konstantina 80 86 SR BOSA Me amianskaya abe oor 2 708 00 Ostrava Pustkovec SER 18106 Nis Pans RH Phone 420 595 691 150 Phone 4 381 0 18 292 24 4 5 GEN Fax Se 595691 is Fax 381 0 18 292 24 4 5 MITSUBISHI ELECTRIC EUROPE B V SPAIN obrera DENMARK Ped SERBIA td uc MN DK 4000 Roskilde SER 113000 Smederevo DE Song Gg del Vall s Barcelona Phone 45 0 46 75 76 66 Phone 381 0 26 617 163 EE RE Far 45 046 175 5626 Fax 381 0 26 617 163 Fax 34935891579 m jer P Eesti OU ESTONIA SIMAP H i SLOVAKIA MITSUBISHI ELECTRIC EUROPE B V UE eebe oa n UK Brondi PN Phone 372 0 6 51 8140 Phone 421 0 32 743 0472 UK Hatfield Herts ALIO 8XB Far 372 06 1518149 Fax 421 0 32 743 75 20 Phone 44 0 1707 27 61 00 Beijer Electronics OY FINLAND PROCONT spol s r o Pre ov SLOVAKIA Fax 44 0 1707 27 86 95 E i T Kapena t vila resov Me ores CORPORATION JAPAN phone 358 0 207 463 540 Phone 421 0 51 7580611 eee Fax 358 0 207 463 541 Fax 421 0 51 7580 650 8 12 1 chome Harumi Chuo Ku Tokyo 104 6212 UTECO GREECE INEA d o o SLOVENIA Phone 813 622 160 60 5 Mavrogenous Str Stegne11 e Ph ie 13021 I6 900 d eu dst 8100 one one MITSUBISHI ELECTRIC AUTOMATION Inc USA Fay 439 211 1206 999 Fax 386 01 513 8170 500 Corporate Woods Parkway Vernon Hills IL 60061 ME
8. LTRADE Kft HUNGARY Beijer Electronics AB SWEDEN Phone 1 847 478 2100 Fert utca 14 Box 426 Fax 1 847 478 22 53 HU 1107 Budapest SE 20124 Malm Phone 36 0 1 431 9726 Phone 46 0 40 35 86 00 Fax 36 0 1 431 9727 Fax 46 0 40 93 23 01 Beijer Electronics SIA LATVIA Omni Ray AG SWITZERLAND Ritausmas iela 23 Im Sch rli 5 1V 1058 Riga CH 8600 D bendorf Phone 371 0 784 2280 Phone 41 0 44 802 28 80 Fax 371 0 784 2281 Fax 41 0 44 802 28 28 Beijer Electronics UAB LITHUANIA GTS TURKEY MITSUBISHI ELECTRIC Savanoriu Pr 187 LT 02300 Vilnius Phone 370 0 5 232 3101 Fax 370 0 5 232 2980 Bayraktar Bulvari Nutuk Sok No 5 TR 34775 Yukari Dudullu Umraniye ISTANBUL Phone 90 0 216 526 39 90 Fax 90 0 216 526 3995 CSC Automation Ltd UKRAINE 4 B M Raskovoyi St UA 02660 Kiev Phone 380 0 44 494 33 55 Fax 380 0 44 494 33 66 Mitsubishi Electric Europe B V FA European Business Group Gothaer Strafie 8 D 40880 Ratingen Germany FACTORY AUTOMATION Tel 49 0 2102 4860 Fax 49 0 2102 4861120 infogmitsubishi automation com www mitsubishi automation com
9. afa MITSUBISHI ELECTRIC MELSEC A Series Programmable Logic Controller User s Manual Hardware A1SD71 S2 Positioning Module IB NA 66488 MITSUBISHI ELECTRIC NDUSTRIAL AUTOMATION Version B ersion e SAFETY PRECAUTIONS e Be sure to read these instructions before using the product Before using this product read this manual and the relevant manuals introduced in this manual carefully and handle the product correctly with full attention to safety Note that these precautions apply only to this product Refer to the user s manual of the CPU module for the PLC system safety precautions Indicates that incorrect handling may cause hazardous DANGER conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous NCAUTION conditions resulting in minor or moderate injury or property damage pn pen pn ren Note that failure to observe the CAUTION level instructions may also lead to serious results according to the circumstances Be sure to observe the instructions of both levels to ensure personal safety Please keep this manual in accessible place and be sure to forward it to the end user DESIGN PRECAUTIONS DANGER Configure a safety circuit so that the safety of the overall system is maintained even when an external power error or PLC error occurs An accident may occur by a false output or a malfunction 1 Outside of the PLC construct mecha
10. ation eee switching mode With zero address change function Zero return direction and speed can be selected Jog operation function Jog operation by jog start signal input M function M code output Internal current 5 VDC 0 8A consumption External supply voltagel 4 75 to 26 4 V max 50 mA current 64 to 50000 ms 130 H x69 5 W x93 6 D 5 12x2 74x3 69 Weight kg Ib 0 38 0 84 O allocation for the 2 slots are as follows First half slot 16 vacant points Second half slot 32 special function module points Refer to the user s manual of the PLC CPU for the general specifications 3 Input Output Interface Internal circuit Drive unit ready READY Stop signal STOP signal Description 5 to 24 VDC external supply 1 LOW indicates the servo drive unit is ready and feed pulses are receivable 2 The A1SD71 checks the drive unit ready signal prior to start If not ready the A1SD71 turns a zero return rquest ON 3 Arrange for drive unit errors e g a control power error to set this signal HIGH 4 Switching the signal to HIGH during positioning stops the operation Resetting the signal will not restart the operation 1 Low to stop positioning Signal duration 20 msec or more 2 A1SD71 stops positioning by using this signal and switches the start signal OFF HIGH When switching from HIGH to LOW positioning is not started 1 Used to de
11. circuit E1 Built in power supply E1 gt E2 Even if the pulse output of A1SD71 is OFF the power supply flows in a servo unit pulse input line 8 External Dimensions 130 5 12 71 6 2 82 22 0 87 6 5 93 6 3 69 0 26 Ooooooooooooo OoOoooooooocoooo A1SD71 S2 69 50 2 74 Unit mm inch Warranty Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi machine damage or lost profits caused by faults in the Mitsubishi products damage secondary damage accident compensation caused by special factors unpredictable by Mitsubishi damages to products other than Mitsubishi products and to other duties A For safe use e This product has been manufactured as a general purpose part for general industries and has not been designed or manufactured to be incorporated in a device or system used in purposes related to human life e Before using the product for special purposes such as nuclear power electric power aerospace medicine or passenger movement vehicles consult with Mitsubishi e This product has been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe functions in the system Country Region Sales office Te
12. he module should a dangerous condition occur during operation verification USAGE PRECAUTIONS NCAUTION Note that the all parameter settings are controlled based on the initial values if parameter setting is not made or a parameter error set value is out of the range occurs DISPOSAL PRECAUTIONS CAUTION e When disposing of this product treat it as industrial waste Manual The following table lists the manuals relevant to this product You can order them as necessary Relevant manual Model code Positioning module type AD71 S1 S2 S7 A1SD71 S2 S7 IB 66563 User s Manual 13JE98 Detailed Manual Model code Teaching unit for positioning module type AD71TU IB 66067 Operating Manual 13J706 Positioning module type AD71 SWO AD71PE Operating IB 66099 Manual 139707 1 Outline This manual provides the specifications part names and UO interfaces for A1SD71 S2 positioning module hereinafter referred to as A1SD71 After unpacking A1SD71 confirm that all products shown below are included A1SD71 S2 positioning module External wiring connector Model Connector FCN 361J040 AU Connector cover FCN 360C040 B FUJITSU COMPONENT LIMITED 2 Performance Specifications The performance specifications of the A1SD71 are shown below Number of I O points 48 points number of occupied slots 2 400 points pea axis Setting Input from A6GPP A6PHP A7PHP A7HGP A7LMS
13. itsubishi Electric Europe B V Spanish Bangkpongpang Yannawa Branch Bangkok 10120 Carretera de Rubi 76 80 Tel 66 2 682 6522 08190 Sant Cugat del Valles Indonesia P T Autoteknindo SUMBER MAKMUR Barcelona Spain Jl Muara Karang Selatan Block A Utara Tel 34 93 565 3131 No 1 Kav No 11 Kawasan Industri France Mitsubishi Electric Europe B V French Pergudangan Jakarta Utara 14440 Branch Tel 62 21 663 0833 India Messung Systems Put td GENEE Electronic Sadan NO 111 Unit No15 Nanton rds shales M I D C BHOSARI PUNE 41 1026 TEL 33 1 5568 5568 Tel 91 20 712 2807 South Africa Circuit Breaker Industries LTD Australia Mitsubishi Electric Australia Pty Ltd Tripswitch Drive Elandsfontein Gauteng 348 Victoria Road PostalBag No 2 South Africa Rydalmere N S W 2116 Australia Tel 27 11 928 2000 Tel 61 2 9684 7777 aMITSUBISHI ELECTRIC CORPORATION HEAD OFFICE 1 8 12 OFFICE TOWER Z 14F HARUMI CHUO KU 104 6212 JAPAN NAGOYA WORKS 1 14 YADA MINAMI5 HIGASHI KU NAGOYA JAPAN Specifications subject to change without notice Printed in Japan on recycled paper MITSUBISHI ELECTRIC HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES EURASIAN REPRESENTATIVES MITSUBISHI ELECTRIC EUROPE B V EUROPE GEVA AUSTRIA ALFATRADE Ltd MALTA Kazpromautomatics Ltd
14. l Country Region Sales office Tel U S A Mitsubishi Electric Automation Inc Hong Kong Ryoden Automation Ltd 500 Corporate Woods Parkway Vernon 10th Floor Manulife Tower 169 Electric Hills IL 60061 Road North Point HongKong Tel 1 847 478 2100 Tel 852 2887 8870 Brazil MELCO TEC Rep Com e Assessoria China Ryoden Automation Shanghai Ltd Tecnica Ltda 3F Block5 Building Automation AV Paulista 1471 Conj 308 Instrumentation Plaza 103 Cao Bao Rd Sao Paulo City Sao Paulo State Shanghai 200233 China Brazil Tel 86 21 6475 3228 Tel 55 11 283 2423 Taiwan Setsuyo Enterprise Co Ltd Germany Mitsubishi Electric Europe B V German 6F No 105 Wu Kung 3rd RD Wu Ku Branch Hsiang Taipei Hsine Taiwan Gothaer Strasse 8 D 40880 Ratingen Tel 886 2 2299 2499 GERMANY Korea HAN NEUNG TECHNO CO LTD Tel 49 2102 486 0 1F Dong Seo Game Channel Bldg U K Mitsubishi Electric Europe B V UK 660 11 Deungchon dong Kangsec ku Branch Seoul Korea Travellers Lane Hatfield Herts AL10 Tel 82 2 3660 9552 8XB UK Singapore Mitsubishi Electric Asia Pte Ltd Tel 44 1707 276100 307 ALEXANDRA ROAD 05 01 02 Italy Mitsubishi Electric Europe B V Italian MITSUBISHI ELECTRIC BUILDING Branch SINGAPORE 159943 Centro Dir Colleoni Pal Perseo Ingr 2 Tel 65 6473 2308 Via Paracelso 12 20041 Agrate B Thailand F A Tech Co Ltd u Milano Italy 898 28 29 30 S V City Building Office Tel 39 039 6053344 Tower 2 Floor 17 18 Rama 3 Road Spain M
15. nd from B1 to B20 Connector Lead holder Lead Red Blue 5 Handling Guideline This chapter provides guidelines for handling A1SD71 1 Since the case of the module is made of resin do not drop or apply strong impact 2 Make sure not to let conductive material such as wire chips or drill swarf get inside the module If found inside remove them 3 Make sure to power off the PLC before mounting removing the module to from the base 4 Power off the PLC and drive unit before connecting removing the drive unit connector Check the connector orientation and then insert the drive unit connector straight into the corresponding connectors Tighten the connector using two fixing screws completely to ensure the connection If not intending to connect the drive unit make sure to attach the connector cover to A1SD71 in advance 5 Always make sure A1SD71 is not in BUSY status before connecting peripheral devices Check the connector orientation and then insert the drive unit connector straight into the corresponding connectors Tighten the connector using two fixing screws completely to ensure the connection If not intending to connect the drive unit make sure to attach the connector cover to A1SD71 in advance 6 Start up Procedure This chapter provides an outline of start up procedure for A1SD71 For more information refer to the user s manual for AD71 S1 S2 S7 A1SD71 S2 S7 positioning module
16. nical damage preventing interlock circuits such as emergency stop positioning upper and lower limit switches 2 During zero return operation the module is controlled by two data zero return direction and zero return speed and speed begins to decelerate when the near point dog turns on If the zero return direction is set incorrectly the module may continue to operate without decelerating To prevent damage to the module in such cases configure an interlock circuit outside the PLC NCAUTION e Do not bunch the control wires or communication cables with the main circuit or power wires or install them close to each other They should be installed 100 mm 3 9 inch or more from each other Not doing so could result in noise that would cause malfunction INSTALLATION PRECAUTIONS NCAUTION Use the PLC in an environment that meets the general specifications contained in this manual Using this PLC in an environment outside the range of the general specifications could result in electric shook fire malfunction and damage to or deterioration of the product Insert the tabs at the bottom of the module into the mounting holes in the base module and tighten the screws using the specified torque If the module is not properly installed it may result in malfunctions failure or fallout Securely connect a drive unit connector and peripheral connector to the corresponding connector of the module If not attached properly
17. tect near point DOG during zero return 2 In case of zero phase method of zero returning a zero point will be a position where the first zero signal of resolver is given after the DOG is turned OFF 1 Selects the control switching signal enable disable 2 LOW sets enable 1 Used as the control switching command in the velocity positioning control switching mode 2 LOW switches control 1 Used as the zero signal at zero return The zero phase grid signal of the pulse encoder is normally used LOW at zero 2 Used when the zero return method uses stopper stop and zero return complete is extemally input I O Output Internal circuit Internal circuit gt lt gt lt number ge X TY Signal Description axis axis 1 LOW while positioning 2 ON LOW during feed pulse output and dwell Used as a brake release signal for servos with mechanical brakes Feed pulse is output after this signal goes ON Start START Given before and after zero return Resets deviations in the servo error counter 12A 14A 20ms 20ms Error 1st time 2st time Lost o counter OLEAR LO To clear Before feed After feed CLEAR pulse output pulse output 12B 14B 5 to 24 VDC external supply 17B and 20B for 5 to 12 VDC 17A and 20A for 24 VDC A type B type Forward and reverse feed pulse The operation direction follows the direction sign SIGN
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