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1. 4 2 7 2 3 When an MR SB Servo Amplifier and a General Purpose Servo Amplifier Are USBO Lies sri etna Sora Meade a ane Virtue Sid eb tanto Ed derbi aede apa apad 2 9 2 9 1 Overall COnfIGuration seres oho wae pecori grece ac RR EN 2 9 2 3 2 System configuration precautions leere 2 11 2 4 When the MELSECNET Data Link Is Required 2 14 2 4 1 Overall configuration ove oer red REEL paw daw ee eee 2 14 2 4 2 Precautions in system configuring 2 14 2 5 Peripheral Device Configuration 4 2 15 2 0 SYStEM EQUIDMEN ob Ew EROR tent vd Reda Red ex a era Po Rc a 2 17 GENERAL SPECIFICATIONS 2 0 ccc ccc cece reer nee eeeeeeseeseasees 3 1 3 2 GPUMODULE 1535 4 RS Rd Ex Rc es ee A ee 4 1 4 13 4i IPGMOMnNANCE LS nt AU den DT nes 4 1 42 PUNCHIONS LIST uu ioa EP OON eu CR era les ICE C eet Rees 4 5 43 Handling vk IEPESR EE Ge V WOES de ROC AR hee AY EOE ew C a c RUE o o Na eg add 4 8 43 1 Handing INSUUCHONG voie y sen arr ie Besa Res ose 4 8 4 3 2 Part identification and setting of ATZ3CPU 4 9 4 3 3 Part identification and setting of A73CPUP21 R21 4 11 POSITIONING UNITS 4 3 eise hue any ront Che cadet le ROSA PA ee Ed aa 5 1 5 30 51 Manding PrecautiOns oec benc E ERRARE eme beat Oe ee ee RM I Sa 5 1 5 2 A70SF Servo Amplifier Interface Un
2. Input module Ss Type AXIE Type FASNMCA 11 Output module Type AVNET ype _A6 B Special function module d c Link module Control range of the SCPU Fig 2 1 Overall Configuration Established When an MR SB Servo Amplifier Is Used IB NA 66232 A 2 SYSTEM CONFIGURATION _SCPU extension base 1 The unit shown in Fig 2 1 can be mounted on the A74B The mounting position should be as indicated in Fig 2 1 2 1 SCPU extension connector for connecting to the 3 2 The MR SB system is divided in half with 4 axes in half The system is connected to the A70SF _ 4 3 The A70MDF and the AY42 are optional equipment A7OMDF Necessary for monitoring testing and servo program preparation with the AGMD AY42 Necessary for limit switch output STOP stop signal RLS lower limit Limit switch output Monitor display unit A6MD FLS upper limit DOG CHANGE near zero point dog velocity position switching EMG emergency stop signal IB NA 66232 A 2 SYSTEM CONFIGURATION MELSEC 4 2 1 2 System configuration precautions Take the following precautions when configuring the system in which the MR SB servo amplifier is to be used 1 2 3 4 5 6 Limitations on the Base Unit Load the A73CPU onto
3. Type AC B Type General Livre Monitor display unit purpose sevo amplifier STOP stop signal FLS upper limit f RLS lower limit DOG CHANGE near zero point dog velocity position switching EMG emergency stop signal Manual puise generator MPG DRO he AR Servo amplifier 2 TK MR SB PCPU control range 2 10 IB NA 66232 A 2 SYSTEM CONFIGURATION MELSEC 4 2 3 2 System configuration precautions Take the following precautions when establishing the system in which an MR SB and a general purpose servo amplifier are used 1 2 3 4 Limitations on the base unit Load the A73CPU onto the A74B base unit referred to as the A74B in this manual With the A73CPU loaded to the other base units the A32B A35B A38B and A78B the A73CPU will not operate Limitations on units loaded to the A74B The units that can be loaded to the A74B are as listed below Their loading positions are predetermined See Fig 2 3 for the loading positions a Power supply module A61P b CPU module A73CPU c Servo interface unit A7OSF d Monitor display interface unit A7OMDF e Output module limit switch output AY42 Connection between the MR SB and the general purpose servo amplifier 7 a Connect the MR SB
4. Programming mode 10 4 The following peripheral devices can be used ABGPP AGPHP started up by SW GP GPPA AGHGP started up by SWI HGPA A7PU The servo amplifier installation con dition is indicated on the emergen cy stop check screen IB NA 66232 A 10 PRE START UP AND TEST PROCEDURES MELSEC Al Test mode and servo Emergency stop check The EMG indication appears start up emergency when the emergency stop com stop check While the servo ready signal is on check the mand is given to the emergency emergency stop command stop check screen Indicate the axe number error defini tion of the servo amplifier which has See ene AE been found to be faulty on the initial check screen Check on servo amplifier communication Check the preset servo amplifier For display purposes read the servo amplifier er ipid iE cu and servo motor types transferred to the servo amplifier during initial communication with the servo amplifier Check on rotation direction Disengage the motor brake Check the rotation direction of the motor Release the emergency stop a status so that the motor can be d address addition or forward rs Jog opera brought to an emergency stop in the event of an error Upper and lower limit switch check Check that the upper and lower limit switches are property actuated Check the number of revolutions Check that the maximum command s
5. aster y A Optical fiber cable Coaxial cable Remote A ocal VO Second tier station station S NU Optical fiber cable Coaxial cable Remote L m VO station selon 7 station J Fig 2 4 Data Link System 2 4 2 Precautions in system configuring Take the following precautions when configuring a data link system 1 A73CPUP21 R21 independent system This system is connected with a servo amplifier extension base and other equipment in the same manner as independent system see Sections 2 1 through 2 3 2 MELSECNET data link system The A73CPUP21 R21 can be used as the master and local sta tions of the MELSECNET data link system composed of the ACPUP21 R21 and the A7LMS 3 Limitations on X YO through X Y7F X YO through the X Y7F cannot be used in the data link system even when the extension base is not connected for the SCPU 2 SYSTEM CONFIGURATION MELSEC 4 2 5 Peripheral Device Configuration 1 Peripheral device for the PCPU As the peripheral devices of the PCPU the A6GPP A6PHP and A6MD can be used CPU module E RS 422 Cable System ET PU disk intelli Ed Ca disk y AGGP Ca ls wee cable ES Em main Cy id sr sr TEX TEX ogra rammer ial cable Fig 2 5 Peripheral Device Configuration for PCPU IB NA 08232 4 2 SYSTEM CONFIGURATION MELSEC 4 2 Peripheral device for the SCPU All the A series peripheral devices can be used for the SCPU Cable for A
6. _ MITSUBISHI PROGRAMMABLE CONTROLLER MELA User s Mantai type A73CPU MITSUBISHI a ELECTRIC REVISIONS The manual number is given on the bottom left of the back cover INTRODUCTION Thank you for choosing the Mitsubishi MELSEC A Series of General Purpose Programmabie Controllers Please read this manual carefully so that the equipment is used to its optimum A copy of this manual should be forwarded to the end User 1B NA 66232 A CONTENTS INTRODUCTION 434 29 693 113 ERREUR ER DI 3G AERA acr do ce FER CR 1 1 1 6 1 1 General Information on Positioning Control 1 3 1 1 1 When an MR SB servo amplifier is used 1 3 1 1 2 When a general purpose amplifier is used 1 4 12 POSUUINCS 8624 cadets ti bed ie hotline etienne 1 5 1 3 Comparison of the A73CPU SCPU Section and the A3NCPU 1 6 SYSTEM CONFIGURATION 5 5 mr dame 3 9 EROR Se ES orm cn RR Cm at 2 1 2 32 2 1 When an MR SB Servo Amplifier Is Used 2 1 241 1 Overal COnfIGUIallDI iuo REEF ewes ogee news ed CHEER E E es 2 1 2 1 2 System configuration precautions 2 3 2 2 When a General Purpose Servo Amplifier Is Used 2 5 2 2 1 Overall COMIQUIALION es Losses mex es eR EE DEP Ehre pelea bees 2 5 2 2 2 System configuration precautions
7. 55 2 17 N M4x 0 7 x8 X Terminal screw Unit mm in n IB NA 66232 A APPENDICES MELSEC 4 2 Type A66P power supply module M3 x 0 5 x 6 4 2 0 14 Terminal screw 5 0 20 2 0 08 F e e Printed circuit board o D N 240 9 45 M4 mounting screw pitch S Q 6 0 24 106 4 17 15 0 59 4 2 0 17 121 4 76 37 5 1 48 Unit mm in APP 8 IB NA 66232 A APPENDICES 8 Type A68P power supply module M3x0 5x6 4 2 0 17 l l Terminal screw 5 0 20 POWER gt aw Sem og INPUT AC100 200V 240 9 45 M4 mounting screw pitch 250 9 84 15V OUTPUT OV gs KE POWER UNIT 5 0 20 6 0 24 a 12 0 47 106 4 17 15 0 59 e 75 5 2 97 Unit mm in IB NA 66232 A APPENDICES MELSEC 1 4 Base Units 1 4 1 Main base units 1 Type A74B base unit 4 6 mm 0 24 in dia installation holes M5 mounting screw 14 M4 screws Metric screws for moduie installation Hand hold T e e o e Q Base cover 382 15 04 9 0 35 Unit mm in APP 10 IB NA 66232 A APPENDICES MELSEC 4 1 4 2 Extension base units 1 Type A65B base unit 4 6 mm 0 24 in dia 12 4M screws Metric screws installation holes for module installation M5 mounting screw Base cover Hand hold
8. Sampling trace Executes the program one instruction at a time Step run may be executed in either of the two ways By specifying the loop count Perinstruction Online I O module replacement Allows any I O module to be changed with the CPU running power on T STEP RUN 18 NA 66232 4 4 CPU MODULE MELSEC 4 3 Handling 4 3 1 This section gives handling instructions part identification and hardware setting instructions Handling instructions 1 2 3 4 5 Module terminal block installation screws M4 10 8 66 to 14 12 13 Module mounting screws optional M4 8 6 93 to 12 10 39 Do not subject the CPU module and memory cassette to impact or shock Do not remove printed circuit boards from the housing There are no user serviceabie parts on the boards Ensure that no conductive debris can enter the module If it does make sure that it is removed Guard particularly against wire offcuts Tighten the module mounting and terminal screws as specified below To load the module onto the base hook the two lower lugs into the cut out and gently swing the module into place Ensure that the top catch engages To remove press the top catch and swing the module out before unhooking the lower lugs See Section 9 5 IB NA 66232 A 4 CPU MODULE MELSEC 4 4 3 2 Part identification and setting of A73CPU 1 Part identification
9. 250 9 84 Unit mm in 4 6 mm 0 24 in dia installation holes M5 mounting screw Base cover Hand hold gt e gt o uv N 446 17 56 466 18 35 11 6 0 46 Unit mm in APP 11 IB NA 66232 A APPENDICES MELSEC AA 1 5 Memory Cassette A3NMCA pes 110 4 33 31 1 22 79 5 3 13 APP 12 IB NA 66232 A IMPORTANT The components on the printed circuit boards will be damaged by static electricity so avoid handling them directly If it is necessary to handle them take the following precautions 1 Ground human body and work bench 2 Do not touch the conductive areas of the printed circuit board and its electrical parts with any non grounded tools etc IB NA 66232 A HESS PE MITSUBISHI ELECTRIC AUTOMATION INC a sn ge oe 500 CORPORATE WOODS PARKWAY VERNON HILLS ILLINOIS oo These products or technologies are subject to Japanese and or COCOM Strategic restrictions and diversion contrary thereto is prohibited IB NA 66232 A 9003 MEE Printedin Japan Specifications subject to change without notice af
10. 4 JOG operation l For communication between the SCPU and the PCPU ASGPP SW GP ASPHP A73P program Positioning 1 Positioning control based 2 Zero return based on a servo program 3 Servo amplifier control status monitoring Fig 1 1 A73CPU Program and Data Preparation and Process Outline 1 A73CPU Program and Data Preparation a The sequence program used by the SCPU is prepared by an A6GPP A6PHP started up by the SW JGP GPPA The sequence program is stored in the memory cassette loaded in the A73CPU b The servo program and positioning parameters used by the PCPU are prepared by an A6GPP A6PHP or A6MD started up by the SW GP A73P The servo program and positioning parameters are stored in the E2ROM of the A73CPU unit c The servo program designated by a sequence program is used to perform positioning control d The positioning control status can be monitored by an A6GPP A6PHP or A6MD started up by the SW GP A73P IB NA 65232 A 1 INTRODUCTION mE MELSEC 4 e Servo program execution JOG operation and other functions are tested by an A6GPP A6PHP or A6MD started up by the SW GP A73P 2 Reference Manual For information required for the A73CPU operation but is not found in this manual refer to the following manuals a A73CPU Reference Manual IB NA 66233 This manual describes the positioning parameters devices servo program SCPU functions and othe
11. 5 Multiplier selection a The feedback pulse multipliers from the pulse generator PLG are selected This is necessary when the travel distance per pulse is to be changed 6 Through pulse multiplier selection the count value for the number of feedback pulses can be multiplied by 4 2 1 or 1 2 Therefore this selection should be made when the travel distance per pulse needs be multiplied by 1 4 1 2 1 and 2 100 KPPS max pa Phase A feedback pulse i a a ne OR EI Phase B feedback pulse aed We a e Wa Times 4 ILILIL ILL TLTL ALL LI JUL mU mL Times 2 JLm nunc Times 1 SLL OC d Times 1 2 NN Multiplier selection Fig 5 3 Error Counter Counts Obtained by Multiplier Selection c The relationship between multiplier switch positions and the multipliers is indicated below SEETTTT 1 4 9 5 POSITIONING UNITS MELSEC AA 5 4 6 Wiring connections This section describes the precautions to be taken and external wiring connectors to be used when the A70AF is connected to an external device 1 Wiring precautions The wiring precautions for the A7OAF and external devices in cluding the drive unit are as follows a Length of cable connecting the A7OAF to the drive unit The cable connecting the A70AF to the drive unit is generally 1 to 3 m 3 28 to 9 84 ft long However this length varies with drive unit specifications Confirm the specifications of the drive unit used b
12. In this mode the fiber optic cable or coaxial cable line of the entire data link system is checked The reverse loop side on which loopback is performed in the event of an error is checked Reverse loop test mode Station to station test mode main station re Station to station test In this mode the line connecting the two stations is checked Before check ing the station with the smaller station number is designated as the main sta mode subordinate station tion the other is the subordinate station In the self loopback test the hardware containing the transmission and receiv ing circuits is checked on an individual link unit basis Self loopback test mode 2 Fortests other than the seif loopback test see the MELSECNET Data Link System Reference Manual 10 11 IB NA 66232 A 10 PRE START UP AND TEST PROCEDURES MELSEC 4 10 5 1 Self loopback test 1 Self loopback test a The self loopback test is intended to check the link unit hardware containing the transmission and receiving circuits forward and reverse loops on an individual link unit basis b A distinction between normal and faulty conditions is made depending on whether the data sent from the send end can be received within the specified duration at the receive end of the forward and reverse loops Fiber optic cable 2 core Forward ioop data flow Reverse l
13. method Seeing 0 One octave marked indicates a change from the initial frequency to double or half frequency For example any of the changes from 10 Hz to 20 Hz from 20 Hz to 40 Hz from 40 Hz to 20 Hz and 20 Hz to 10 Hz are referred to as one octave Note JIS Japanese Industrial Standard IB NA 66232 A IB NA 66232 A 4 CPU MODULE MELSEC 4 4 CPU MODULE This section describes the performance function part identification and settings and input output interface specifications For details on the performance and functions of the A73CPU see the A73CPU Multi axis Positioning Unit Reference Manual IB NA 68142 4 1 Performance Tables 4 1 and 4 2 detail the performance of the A73CPU PCPU and SCPU Table 4 1 PCPU Performance Specifications List ES Number of control axes 8 axes 2 simultaneous 3 simultaneous and 8 independent Interpolation function Linear interpolation 2 and 3 axes and circular interpolation 2 axes PTP point to point velocity control velocity position control fixed rate feed and Control system constant velocity control Dedicated instruction 13K steps 13312 steps Number of positioning points Set by an AGGPP or AGPHP started up by the AGMD or SWOGHP A73P method PTP Can be switched between absolute and increment methods Method Velocity position control Increment method and fixed rate feed Constant velocity control Absolute a
14. pulse input Pulse multiplication ratio The number of feedback pulse inputs can be multiplied by 4 2 1 and 1 2 Internal current con External supply volt 445 VDC 0 2 A 15 VDC 0 02 A age and current Dimensions mm in 250 H x 3 75 W x 121 D 9 84 x 0 15 x 4 76 Weg wom osan 7 1 x15 VDC are supplied to the A70AF by one of the following methods a With an A68P power supply module referred to as the A68P The A68P can supply 15 VDC to 6 units of the A7OAF see Section 6 Load the A68P on the PCPU extension base unit or the SCPU extension base unit b Without an A68P power supply module To supply the required voltage to the A70AF without an A68P the following power requirements should be met Do tem Specifications O O S 15 VDC 3 14 55 V to 15 45 V Voltage 15 VDC 3 14 55 V to 15 45 Ur NS MC Current for 1 15 15 VDC ATOAF uni e15VDC Ripple voltage 50 T p or less Spike voltage 100 mVp p or less Transient output fluctuations Within the limits of x1 V 5 13 IB NA 66232 A 5 POSITIONING UNITS 5 4 2 Part identification Description For P indicaiing A7OAF RUN and error status For details see Section 5 4 3 Check pin for measuring output voltage Control for adjusting output voltage gain 4 For the adjusting method see Section 5 4 5 Control for output volt
15. tC The functions which are performed by the A6MD connected with the A7OMDF are listed in Table 5 4 Table 5 4 List of A6MD Functions Application MR SB Servo General purpose Amplifier Servo Amplifier Data setting Setting copying checking listing and clearing of mode Fixed parameters Servo parameters Zero return data Jog operation data Parameter blocks Limit switch point setting Programming Servo program read mode Servo program write List of servo programs used Servo program check Servo program sort Servo program copy Axis number batch change Servo program areas Monitor mode ISeelmontr Test mode og operation Jog operation MPG operation Zero return test Error reset Present position data change o Indicates that operation is allowed x Indicates that operation is disallowed A Indicates that operation is partially disallowed IB NA 66232 A 5 POSITIONING UNITS MELSEC 44 5 3 2 Part identification Name SAPPIISRUIOR IB NA 662324 5 POSITIONING UNITS MELSEC 4 5 8 3 External wiring This section describes the precautions to be taken when connecting the A70MDF with the ASMD and cable connecting method 1 Wiring precautions To obtain optimum performance from the A6MD connected to the A7OMDF and make a highly reliable system external wiring that is resistant to noise is indispen
16. 1 2 0000000 00000000000 Oe l Lan Lan d 000000000 000000000000 21 0000 00000000000000000 Rear view A Q le o o O Q o Q Q o o o Q Q Q Q Q Q Q o Q Q Q Q O O O 99000000000000000000000000000000 x Front view 1 Connect the touch key panel and the operation panel with one cable 2 Use a shieided cable Connect the shield to the A7OMDF Recommended cable Shielded cable Maximum cable length 30 m 98 43 ft Connector A7MD PD 1660BG male connector solder type casing P 1660A CA 20 modei num ber A7OMDF Casing male connector FCN 361J064 AU 8 42 IB NA 66232 5 POSITIONING UNITS MELSEC 4 5 4 A7OAF General Purpose Servo Analog Interface Unit The A7OAF is connected to the general purpose servo amplifier The A7OAF and the general purpose servo amplifier are connected on a one to one basis The specifications part identification and settings for the A7OAF are described below 5 4 1 Specifications The A7OAF specifications are listed in Table 5 5 Table 5 5 Specifications pte Specifications OOOO S Number of controlled axes iot command out to 10 VDC can be set in the range 5 to 10 V after adjustment Puise frequency 100 KPPS Positioning feedback Type of encoder connected Open collector TTL differentia output
17. 1 RD 52 3 AC S4 vER ss 8 iF S6 ME 7 T Fu cP Fe 4 2 0 17 121 4 76 79 5 3 13 Unit mm in APP 2 IB NA 68232 A APPENDICES MELSE CA 3 A73CPUP21 4 2 0 17 3 0 12 2 0 08 A73cPu es INDICATOR ET O RUN STOP ES RUN RUN Printed circuit board FT 2 2 P N AUN an SC Blind cap Oo nouuuugutu dc MH RUN O 835 79 5 3 13 121 4 76 Unit mm in APP 3 IB NA 66232 4 APPENDICES MELSE CA 1 2 Positioning Module 1 2 1 A70SF 2 0 08 FES ER 99 9099 rur vv v w N A _ Bi pm mm ND Printed circuit board 250 9 84 on h w eee ese s l iz isla le l h h I o i pa A w EENS B8IGG PRICE PB 166 n tnm M r C Tr ALS STP 006 cou AS ALS STP 006 COM RS ALS STP DOG CCM AS ALS STP DOG COM 106 4 17 25 0 98 Unit mm in APP 4 IB NA 68232 A APPENDICES MELSE CAA 1 2 2 A7OMDF atit eo 9 N Printed circuit board 250 9 84 37 5 1 48 PR POS IB NA 66232 A APPENDICES MELSEC A 1 2 8 A7OAF _ S S E o 4 2 0 17 N M 240 9 45 M4 mounting screw pitch 250 9 84 5 0 20 106 4 17 37 5 1 48 4 2 0 17 119 4 69 Unit mm in APP 6 IB NA 66232 A 1 3 Power Supply Module 1 Type A61P A62P A63P and A65P power supply module 250 9 84
18. For positioning control an M code 0 to 255 can be delivered For velocity switching control an M code can be set at each velocity switching point For constant velocity control an M code can be set at each pass point M code 1 1 axis linear interpolation 2 2 axis linear interpolation 3 3 axis linear interpolation 4 2 axis circular interpolation 4 CPU MODULE MELSEC 4 4 CPU MODULE MELSEC Table 4 3 List of PCPU Functions Continued Backlash compensation process can be performed at each startup The amount of backlash compensation is set on a peripheral device Backlash compensation The difference between the command position data and the actual travel distance can be compensated Effective for all operation Electronic gear Torque limit values 0 to 500 for all positioning jog and other Torque limit operations can be set with the servo program Limit switch output corresponding to the present position data of each axis can be obtained on the basis of the preset data Up to 10 ON OFF switching points can be set for each axis There are 8 output points for each axis Limit switch output Each start and teaching operation can be performed in the Test mode operation peripheral device test state In the test state the PC may be either running or at rest Absolute position detection Compatible with the absolute value
19. IB NA 66232 A 5 POSITIONING UNITS MELSEC 5 2 A70SF Servo Amplifier Interface Unit 5 2 1 Specifications The A70SF servo amplifier interface unit is connected to the MR SB upper and tower limit switch stop command emergency stop com mand near zero point dog velocity position switching command and MPG The A7OSF specifications and part identification is listed below The A7OSF specifications are listed in Table 5 1 Table 5 1 A70SF Specifications Number of Mis eal 2 systems 4 axes system Command Connecting dis 39 m 98 43 ft max system tance y meet _ and lower limit switches Connection to the MR SB Stop command command Connected t E NE Near zero point dog velocity position switch Connection ee command with external Emergency stop command stop command 5 VDC to 24 VDC 4 75 VDC to 26 4 VDC stabi lized power supply to be used 330 mA 1 point 10 mA HIGH level 3 5 VDC or more 1 2 mA or more LOW level 1 5 VDC or less 0 3 mA or less Number of con nections Connection to Rated input HIGH level 4 VDC or more 3 mA or more LOW level 1 5 VDC or less 0 3 mA or less Dimensions mm in 250 H x 75 5 W x 121 D 9 84 x 2 97 x 4 76 Weight kg b inputs Supply voltage A 5 POSITIONING UNITS 5 2 2 Part identification Application 1 SIF RUN LED 1 Lights when the servo amplifier is started LU Remains off whe
20. LOADING AND INSTALLATION MELSEC 4 9 6 Wiring 9 6 1 Wiring instructions 1 Wiring of power source a When voltage fluctuations are larger than the specified value use a constant voltage transformer Constant voltage transforme b Use a power supply which generates minimal noise across wire and across PC and ground When excessive noise is generated connect an insulating transformer Pp UO P equipment 1 Lu aod ben a a oe d Insulating transformer insulating transformer c When a power transformer or insulating transformer is employed to reduce the voltage from 200 VAC to 100 VAC use one with a capacity greater than that indicated in the following table AE ER TUE D NE EE TT UN d When wiring separate the PC power source from those for 1 0 equipment and power equipment as shown below n stands for the number of power supply modules Main power PC power Main power PC power source source source source oN FT m wwe woe RECS 00 VAC Te VO power source power y O equipment source T2 VO equipment Somme Main power Main circuit equipment power source As safety measures install a switch for use with online I O module change only to each of the corresponding modules and equipment 9 13 1B NA 66232 A MELSEC A e Note on using 24 VDC output of the A66PC power supply modules 9 LOADING AND INSTALLATION oe To protect the
21. NA 66232 5 POSITIONING UNITS MELSEC 5 4 4 Input output interface with an external device The input output interface between the A70AF and an external device is summarized in Table 5 6 Table 5 6 Input Output Interface Between the A70AF and an External Device Connector oi Signal Pin uw Input Output Division Internal Circuit Designation Application z i Designation Number Internal Circuit Near zero point signal DOG Servo on SVON seed Las C command RN A 2 OV analog GND Phase A feed back pulse ee LE For connecting a SERVO general purpose servo amplifier m tial Phase B feed ifferentia input back pulse s Phase Z feed 6 back puise Analog GND 9 Phase A feed 13 back puise EU Phase B feed 5 n back pulse Phase Z feed 6 back pulse Analog GNO 9 Phase A feed 13 back puise ia og Phase B feed 5 TTL input pack pulse 16 Phase Z feed 6 back pulse Analog GND 9 ov For connecting Terminal block an external power Input maeme power supply PPy For connecting the near zero point dog VVVIVVVI VV IB NA 66232 A 5 POSITIONING UNITS The use of a twisted pair shielded cable as the feedback pulse signal line to the A7OAF is recommended Supply power This signal is used to detect the near zero point 5 to 24 VDC 4 75 to 25 4 VDC stabilized power during zero return Tur
22. When the service life of the battery has expired change the battery using the following procedure Even if the battery is removed the memory is backed by a capacitor for some time However if the changing time exceeds the guaranteed value shown in the following table the contents of the memory may be lost Therefore change the battery as fast as possible Battery change Turn off the PC power supply Open the cover of the memory cassette Table 11 4 Backup Time by Capacitor Capacitor Backup Time Minute Vei Value eo Applied Min Value Typ et a ranma a 80 wea oo 9 Casnmcas o 59 Dew sa rennon a RN omano o 2 mcas es Insert new battery into holder in correct direction and connect lead wires to the connector Connector Ciamp the lead with the lead clamp s The red lead is positive and the blue one negative N Close the cover of memory cassette or CPU memory section Turn on the PC power supply Memory Cas sette Type Remove the old battery from the holder after removing the lead from the lead clamp OFF Monitor M9006 and check on off ON Battery failure LLL Memory cassette Cover 11 4 M 1B NA 66232 A 11 MAINTENANCE AND INSPECTION MELSEC_A 11 4 Replacement of Fuse Even if the fuse does not blow its element may be consumed due to rush current Ther
23. during velocity control Signal for near zero point detec tion during zero return and for velocity to position switching during velocity position switching control Common terminals for FLS RLS STP and DOG Emergency stop signal delivered in the event of an axis abnormality during start up effective only for the MR SB Supply voltage 5 VDC to 24 VDC 4 75 VDC to 26 4 VDC stabi lized power supply to be used HIGH level 3 5 VDC or more 1 2 mA or more LOW level 1 5 VDC or less 0 3 mA or less Rated input voitage 5 5 VDC or less HIGH level 4 VDC or more 3 mA LOW level 1 5 VDC or less 0 3 mA MPG phase A and B connection Puise width 20 44 or more pee Duty ratio 50 Rise and fall time 1 us or less Phase difference iuc EJ 4 Phasen i 5 48 or more 1 The positioning address in creases when phase A is advancing ahead of phase B 2 The positioning address decreases when phase B is advancing ahead of phase A IB NA 6623 5 POSITIONING UNITS MELSEC AA 5 3 A7OMDF Monitor Display Unit This unit is used to connect the A7OMDF It is required when the AGMD is used This section describes the A7OMDF specifications part identification and the connection between the A7OMDF and the A6MD 5 3 1 Specifications The A7OMDF specifications are indicated in Table 5 3 Table 5 3 A7OMDF Specifications weigh mo
24. position data for the MR SB c The MR SB controls the servo motor with the command posi tion data and the position velocity feedback data specified by the PCPU 1 3 IB NA 66232 A 1 INTRODUCTION MELSEC E 1 1 2 When a general purpose amplifier is used The A73CPU is connected to the general purpose amplifier on a one to one basis using the A70AF general purpose servo interface unit referred to as the A7OAF in this manual The velocity command analog voltage is delivered from the A7OAF to the general purpose servo amplifier A73CPU data position Electronic gear Control command Montor aaa Servo motor E General purpose amplifier Velocity Accumulated pulse Control command to servo amplifier Control status monitoring Feedback pulse Input signal from external sources STOP stop signal FLS upper limit signal RLS lower limit signal DOG CHANGE near zero point dog velocity position switching signal Fig 1 3 Outline of Operation Performed When a General Purpose Servo Amplifier is Used 1 Explanation of operation a The SCPU requests the PCPU to start the servo program specified by a sequence program b The PCPU executes the servo program specified by the SCPU c and delivers the command position data to the A7OAF At all times it monitors the monitor data from the A7OAF error counter
25. supplied when not in use programmer port Fit cover supplied when not in use 4 9 IB NA 66232 A 4 CPU MODULE MELSEC 4 2 Settings a Set the 1 0 control switch to direct or refresh mode as indi cated below Switch Setting Input X Output Y D9014 Value See D D Refresh San 1 The 1 0 control switch must be set with power off 2 After the switch has been set the switch status is checked every time the CPU is powered up or reset Direct input refresh output setting is processed as refresh input refresh output No 3 of the above by the CPU 3 The BIN value in special register D9014 can be monitored by the peripheral b For IC and memory cassette settings see Section 9 2 4 10 IB NA 66232 4 4 CPU MODULE Printed 7 NE a Printed circuit circuit board A73CPUR21 Description Lit when data link is normal SD Lit during data sending RD Lit during data receiving Notused Always of Lit at code check error time Lit at data entry delay error OVER time ces Natus j DUE AB IF Lit when ali data are 1 Not used Flickers during nor mal data link o ov N m ee naa X Lit when data receiv Lit at receiving data error ing line is a forward time iX NE QE loop OFF when reverse Lit during communica tion with program mable co
26. we oem LL Bees Displays up to 16 alphanumeric characters 1 LED display May be addressed from the user program using the LED commands and or dis plays self diagnosed error messages RESET Hardware reset Used to reset the CPU after an operation error and to initialize operation The latch memory is not cleared when 2 Reset key switch the CPU is reset LATCH CLEAR Sets all latch area data as defined in parameters to OFF or 0 Valid when the CPU is in STOP status 3 LED display reset Clears the present LED annunciator message The next message in the annun switch ciator queue is then displayed where appropriate Indicates the run status of the CPU On The CPU is in RUN or STEP RUN status no operation errors have occurred the program is being run and the PC is active 4 RUN LED Off The CPU is in STOP PAUSE or STEP RUN status and the program is not being run Flicker Selt disgnosed error has occurred Operation will continue if the error detected has been specified in the parameter setting RUN STOP To start terminate running the PC program RUN STOP switch PAUSE To terminate running the PC program and maintain output status STEP RUN Torun the program step by step scan by scan 9 VO contro switch Used to select direct refresh mode Memory cassette LE loading connector Used to connect the memory cassette to the CPU RS422 connector Peripheral programmer port Fit cover
27. x 79 5 3 13 x 33 1 30 013 0 13 0 13 013 O45 0 15 dini p ee EY 0 29 0 29 AM 0 29 0 29 0 33 0 33 The RAM memory capacity is the total memory capacity of the RAM chips soldered to the pattern on the memory cassette printed circuit board The parameter setting range is the memory area set by parameters to store parameters main programs subprograms comments etc For details of the types of data and order in which it is stored refer to Section 8 2 4 2 pcs for 28 pins 8 1 2 Memory specifications This section describes the specifications of the ROM and RAM memories that can be used in the memory cassette Table 8 2 Memory Specifications IC RAM Read and Memory specifications write possible EP ROM only read is possible Memory capacity yes OK x 3 SX 28 pin IC package 28 pin IC package 28 pin IC package 28 pin IC package When loading memory into the memory cassette two memory ICs of the same specification are always required IB NA 66232 A 8 MEMORIES AND MEMORY CASSETTES MELSEC A 8 1 3 Battery specifications This section describes the specifications of battery used for RAM memory backup and power failure compensation Table 8 3 Battery Specifications Nominal voitage 3 6 VDC Total power failure Depends on memory cassette type as indicated below backup time A3NMCA 0 Min 4100 hours ASNMCA 56 Min 450 hours Wr For IC RAM memory backup and
28. 1 pe ends on the length of the extension cable as icated below Basic base 80 mm 450 mm 17 72 in or less for Type ACO6B cable 3 15 in or more 1050 mm 41 34 in or less for Type AC12B cable 2850 mm 112 20 in or less for Type AC30B cable 2 100 mm 3 94 in or more when the link unit is not used 150 mm 5 91 in or more when 64 5 AWAD a in dia optical fiber cable or cbaxial cable issue 180 mm 7 09 in or more when 8 5 mm 0 33 in optical fiber cable is used Duct max 50 mm 1 97 in Fig 9 2 Serial Mounting Panel etc Fm a ee PC Contactor relay etc aM 100 mm 3 94 in D EBS SS SE BSS nn GO ou A VER D 11 Un 1 1X X un LJ E E M LL D 107300 20 0 1 1 L DLLLLIL D F cs Nos TT E a UN or more Fig 9 3 Minimum Front Fig 9 4 Vertical Mounting Fig 9 5 Horizontal Mounting Clearance Not allowed Not allowed IB NA 66232 A 9 LOADING AND INSTALLATION MELSEC AA 9 5 Installation and Removal of Module This section explains the instailation and removal procedures of the power supply module CPU module 1 O module special function module etc to and from the base module 1 Installation of module The installation procedure is as follows Module fixing hole A Insert the two module fixing projections two into the module fixing hole B in the base unit Module Load the module into the base unit by pushing it in the direc
29. CPU to RUN When DC power is established RA2 turns on Timer TM times out after the DC power reaches 100 The set value of TM should be the period of time from when RA2 switches on to the establishment of 100 DC voltage Set the set value to approximately 0 5 second Switch on the start switch When the magnetic contactor MC comes in the output equipment is powered and may be driven by the program IB NA 66232 A 9 LOADING AND INSTALLATION MELSEC 4 9 1 2 Precautions in using a positioning system employing an MR SB servo amplifier 1 Wiring connections required when a motor with a solenoid brake is used a The motor with a solenoid brake comes to a stop in an emer gency through the application of a dynamic brake Therefore combined use of the solenoid brake is not helpful in reducing coasting distance To ensure safety calculate the coasting distance moved by the motor in the event of failure of the dynamic brake 1 Refer to the figure below when using a brake as a preven tive means against drop of upper and lower axes Remember that this figure is given not for motor protection but for preventing the drop during initialization READY XnF Brake disengage Brake exciting current 0 1 sec or less b Operation circuit for a motor with a solenoid brake The solenoid brake is applied to the motor when the solenoid brake terminal is turned off Inthe A73CPU system the wi
30. Fee ustment mode OQ GAIN Gain setting control switch Zero adjustment Q9 ZERO Zero adjustment control gain adjustment switch Control on the A7OAF front panel Slide switch on the A7OAF side panel Fig 5 1 Zero Adjustment Setting 5 19 IB NA 66232 A 5 POSITIONING UNITS MELSEC 4 a Zero adjustment method 1 Servo lock the servo motor 2 Set slide switches SW7 and SW8 on the A70AF side panel to ON 3 Turn the ZERO control on the front panel until the volt age across the check pin is 0 V 4 After adjustment set the SW7 switch to the AXIS SET TING position and the SW8 switch to the OFF position The TEST LED on the A7OAF front panel remains lit during adjustment mode selec tion 3 Rated velocity command voltage and position loop gain setting a To set the rated velocity command voltage and position loop gain for a generai purpose servo amplifier make the gain adjustment with gain adjustment accumulated pulse switches SW1 through SW3 ATOAF velocity command voltage is divided into 8 ranges as indicated in Table 5 7 Example When a general purpose servo amplifier with a rated velocity command voltage is 5 V is used the rated velocity command voltage can be set to 5 V over ranges 3 through 7 given in Table 5 7 Table 5 7 Rated Velocity Command Voltage Adjustment Range and Gain Adjustment Accumulated Pulse Switch Setting 1 Accumulated Pulse Num
31. LED flickers Hardware error Check the error with peripheral device See Section 12 3 Consult Mitsubishi representative Move the RUN key switch to STOP position RESET the CPU Correct the error See Section 12 3 Move the RUN key switch to RUN position Does RUN LED turn on YES 12 5 IB NA 66232 A ferui astmi e 12 TROUBLESHOOTING MELSEC 4 12 2 5 Flow chart used when output load of output module does not tum on The flow chart below shows the procedure for when the output load of an output module does not turn ON during operation Output load does not turn ON Is indicator LED of output module ON NO Check output state in monitor mode YES For module without fuse is indicator Y is fuse blow E Measure voltage across indicator of output module LED of input module module input and COM ON ON terminal Supply voltage satisfactory Monitor signal off ls voltage of power supply for load applied Check external wiring and external NO input equipment OV Check voltage of output module Check input signal in monitor mode with programmer Check wiring of power supply for load and restore the power Supply voltage satisfactory Check load wiring and load and then restore the power Failure of output module Change output module Change output common fuse Fuse of output common biow per sist
32. MO to 999 The number of Ms Ls Ss 2000 Latch relay L points 1048 L1000 to 1999 set in parameters Step relay S points O Defaults to no value Link relay B points 1024 BO to 3FF Number of points 100 ms timer Setting time 0 1 to 3276 7 sec Timer TO to 199 Specifications 10 ms timer Setting time 0 01 to 327 67 sec T200 to 255 Number of points 100 ms retentive timer Setting time 0 1 to 3276 7 sec Specifications Set in parameters Setting range 1 to 32767 CO to 255 Set in Counter for interrupt program Setting range 1 to 32767 parameters Counters used in interrupt programs Pointer for interruption I points Special relay M points 256 M9000 to 9255 Special register D points 256 D9000 to 9255 Counter Normal counter Device Wd M M IB NA 66232 A 4 CPU MODULE MELSEC Table 4 2 SCPU Performance Specifications List Continued P Comment ssid Max 4032 Specify in batches of 64 points WDT error monitor memory error detection CPU error detection Ser clagnosuetinevons O error detection a error detection etc Operation mode at the time of error Operation mode at the time of error at the time of error STOPYCONTINUE sd STOP RUN output mode hates at time of STOP restored data output after operation ex Indicates items not in the ASNCPU specification
33. Necessary for limit Switch output SCPU extension base s The A70MDF and the AY42 are optional equipment own in Fig 2 2 can be mounted on the A74B The SCPU extension connector for connecting to the PCPU extension connector for connecting to the PCPU extension base A7OMDF Necessary for monitoring testing and servo a program preparation with the AGMD General purpose interface Monitor display unit STOP stop signal FLS upper limit RLS lower limit DOG CHANGE near zero point dog velocity position e switching EMG emergency stop signa Ec sup ow Cable Limit switch output d IB NA 66232 A _ 2 SYSTEM CONFIGURATION MELSEC A 2 2 2 System configuration precautions Take the following precautions when configuring a system with general purpose servo amplifier 1 2 S Limitations on the Base Unit Load the A73CPU onto the A74B base unit referred to as the A74B in this manual With the A73CPU loaded to the other base units the A32B A35B A38B and A78B the A73CPU will not operate Limitations on units loaded to the A74B The units that can be loaded to the A74B are as listed below Their loading positions are predetermined See Fig 2 2 for the loading positions a Power supply module A61P b CPU module A73CPU c Servo interface unit A7OSF d Monit
34. ON 16 64K to 80K 6 of SW1 ON 24 i ELS ASNMCA 80K to 96K 7 of SW1 ON d 96 96K to 112K 8 of SW1 ON 112K to 128K 9 of SW1 ON 128K to 144K 144K to 192K 192K to 320K 10 of SW1 ON 320K to 448K em un UD UD UD GI UD ib QU cts Gm Que Gun AIC AID AD DS OS lp OO OY EOD Oe OD OO Ea aw IB NA 66232 A 8 MEMORIES AND MEMORY CASSETTES MELSEC 4 3 Check the memory cassette areas where programs and data are stored before setting the protected memory ranges The order in which data is stored in the memory cassette is shown in the diagram below The types of data stored are set with the parameters a RAM operation The parameters main program and subprogram are stored in order from the head address of the parameter setting range The comments file register status latch and sampling trace are stored in order from the last address of the parameter setting range b ROM operation The parameters and main program are stored in ROM The subprogram is stored after the head address of the parameter setting range The comments file register status latch and sampling trace are stored in order from the last address of the parameter setting range 8 MEMORIES AND MEMORY CASSETTES MELSEC A RAM operation ROM operation Parameter area ROM mne Cannot bheisd T C setting area KB program program area Microcomputer program area Parameter area T C setting ar
35. Program ming unit with CRT Current Unit For Type Consumption Remarks 5 VDC 24 VDC Consists of the following models ASGPP and printer interface functions SET SWO GPPU User disk 3 5 inch formatted Cable for connection of CPU and ACSOR4 AGGPP 3 m 9 84 ft length Programming unit with LCD functions ISW J HGPA A series system disk Consists of the following models ay Equipped with FOD printer inter S seri i SW GP GPPK K series system disk S general purpose key Plasma Monitor Provided with the A7OMDF ADS7S2 switch units SWO with i x CRT GPPU De User disk 3 5 inch formatted for storing programs SW GP GPPA A series system disk Composite AC10MD Cable for connection of GPP and expanded monitor video cable display 1 m 3 28 ft length Equipped with FDD printer inter SW HGPK Kseries system disk face and memory card interface WO GPPU User disk 3 5 inch formatted For positioning data monitoring servo programming display display 3 m 9 84 ft and LCD rl SWO FDC EMEN Cleaning disk for disk drive Table 2 2 Peripheral Device List Programming unit with CRT SW GP GPPK Consists of the following models sou Handy RN face and memory card interface ren programmer SET SWO GPPU User disk 3 5 inch formatted Programming unit with plasma A6PHP functions Cable for connection of CPU and ACSOR4 AGHGP 3 m 9 84 ft length a
36. Ro RO SUPERAR EUN ERU UP CES eeese Nein aS 10 7 10 4 SOO Diagnosi coo 91 Le M ROC boe baie a ADR ERU ee 10 9 10 5 Sor diagnosis serora a xi wai ed e sae ends aw e ox dd Vx s a t Rana 10 11 10 5 1 Sel oopbacktest oos Se tee bi sie Vp eV RAUS SA YR 10 12 11 MAINTENANCE AND INSPECTION ccc sce e rh hh tmn 11 1 11 6 111 Daily Inspection vx o ossa a A a a A iro 9 6 hee 11 1 Visa Panodic IriSDBclion aise hair CC AAEE EAE 11 2 11 8 Replacement of Battery 4 eee 11 3 11 3 1 Service life OE Daten 2656 vies dissertation scies 11 3 11 3 2 Battery changing procedure leen nne 11 4 11 4 Replacement of Fuse eid rave einen FEES REPERIO PE wee EG ATE XE EG EE 11 5 11 4 4 Replacement of fuse for power supply 11 5 11 4 2 Replacement of fuse for output module 11 6 12 TROUBLESHOOTING 4 4444 secs nee eh hn 12 1 12 11 12 1 Basic TOUDISSNOOUNQ iocos ia oe Dresden tee essieu ce Se oes 12 1 12 2 TIOUDIOSNOOUNG nie o e dale ated Saves ates Wee ER RR SUP 12 2 12 2 1 Troubleshooting flow chats 12 2 12 2 2 Flow chart used when POWER LED has turned off 12 3 12 2 3 Flow chart used when RUN LED has turned off 12 4 12 2 4 Flow chart used when RUN LED flickers 12 5 12 2 5 Flow chart used when output l
37. VOC 0 3 14 55 to 15 45 VDC equivalent 1 1 The load current for the SVON signal is 30 mA maximum Pay careful attention to the load current when it is received by a miniature relay 2 2 When the input impedance of the servo amplifier is too small the analog output level may be lowered by this resistance If this poses problems re adjust the gain with the servo amplifier connected IB NA 6623 5 POSITIONING UNITS MELSEC AA 5 4 5 Settings 1 Encoder output setting Set the output of the encoder with the encoder interface jumper on the A7OAF side panel The jumper has been factory set to the OPEN COLLECTOR OUT PUT setting t eee Shorting Pin Setting Phase Z Phase B Phase A Lol Aol Phase Z Phase B illea A 7718770878 f Lt hA Phase Z Phase B Phase A TL 27887 o AA 2 Velocity command voltage zero adjustment Open collector output Encoder interface jumper TTL output Differential output A7OAF side panel Make velocity command voltage zero adjustment with the slide switch and the zero adjustment control on the A7OAF side panel This voltage has been factory set to 0 Ve However re adjustment is required after a servo motor is con nected which can shift the 0 V If operation is performed with the 0 V shifted the motor may rotate slightly upon power on 9 OUT GNO Check pin on the A7OAF front panel
38. W Further calculations are necessary to work out the power dis sipated by the other equipment in the panel Generally temperature rise in the panel is expressed as T C UA where W power consumption of the entire PC system ob tained as above panel inside surface area m 6 if the panel temperature is controlled by a fan etc 4 if panel air is not circulated Fans heat exchangers or cooling units must be installed if the panel temperature is likely to exceed the specified temperature If using a fan for ventilation beware of effects on the PC from dust drawn in with the air IB NA 66232 A 9 LOADING AND INSTALLATION MELSEC 4 9 4 Mounting the Base Unit 9 4 1 This section describes precautions regarding installation of the main base and extension base units Mounting instructions Explanation is given to the instructions for mounting the PC to a panel etc 1 To improve ventilation or facilitate the replacement of unit pro vide 80 mm 3 15 in or more the clearance around the PC 2 Do not mount the base unit vertically or horizontally to allow ventilation 3 Ensure that the base unit mounting surface is uniform to prevent strain If excessive force is applied to the printed circuit boards this will result in incorrect operation Therefore mount the base unit on a flat surface 4 Avoid mounting the base unit close to vibration source such as large sized magnetic contactors
39. Wiring connections for input output signals 1 Avoid bundling the cables with the power line or main circuit line or bringing them close to such lines run the cable at least 20 cm 7 87 in away from the line 2 When the cable must be close to the line separate the duct or run the conduits separately _ 3 When the cable must be bundled with the line use a batch shielded cable and ground it at the PC 4 When running conduits or making wiring connections ground the conduits c w The length of the cable connecting the A70AF to the encoder is generally as follows though it depends on the encoder specifications Check the specifications of the encoder 1 30 m 98 43 ft max for differential output encoder 2 3 m 9 84 ft max for TTL open collector encoder Use a twisted pair shielded cabie for the line connected to the A70AF 5 POSITIONING UNITS MELSEC A d The A7OAF does not need to be grounded since an antinoise means is provided However in cases where excessive noises develop or cable dislocation occurs ground the unit as suggested below 1 When grounding the A70AF perform independent ground ing Class 3 grounding by separating the FG terminal of the power supply module from the same terminal of the A7OAF as illustrated above 2 Use a ground wire with a sectional area of at least 2 mm 14 AWG Use a ground point close to the PC keeping the ground wire as short as possible e Ins
40. and no fuse breakers Install the base unit in another panel or separate the base unit from the vibration source 5 Provide a wiring duct as necessary However if the dimensions from the top and bottom of the PC are less than those shown in Fig 9 1 note the following points a When the duct is located above the PC the height of the duct should be 50 mm 1 97 in or less to allow for sufficient ventilation Set the distance form the top of the PC so that the hook latch at the top of the module can be pushed If the hook latch at the top of the module cannot be pushed the module cannot be replaced b When the duct is located under the PC install the duct so that optical fiber cables or coaxial cables may be connected and also consider the minimum bending radius of the cable 6 All other equipment should be installed at least 100 mm 3 94 in away from the PC to protect it from heat and noise The bases must be installed at least 50 mm 2 in away from any equipment on both sides 9 LOADING AND INSTALLATION MELSEC 4 9 4 2 Installation This section explains the mounting procedure for the main and exten sion base units Indicates the panel top wiring duct or any assembiy Basic base Extension base or prp eee dn s ls j 1 10 in 1 54 in For coaxial data link For optical data link Fig 9 1 Parallel Mounting indicates the panel top wiring duct or any assembly
41. and set ac cumulated pulse switches SW1 SW2 and SW3 for gain adjustment 3 Turn the GAIN setting control on the A70AF front panel until the voltage across the check pin reaches the rated velocity command voltage 4 After adjustment set slide switches SW1 SW2 SW3 and SW7 to their normal positions and set the SW8 switch to OFF 4 Accumulated pulse number setting a The accumulated pulse number setting is to select the maxi mum number of pulses able to be counted on the error counter b When a servo motor is used pulses the number of which is represented by the following formula are generated Speed command PPS Maximum number of pulses PPS Position loop gain sec c Set the accumulated pulse number range to exceed the max imum number of accumulated pulses obtained from the for mula given above using accumulated pulse number switches SW1 and SW2 Accumulated pulse number setting Accumulated puise number switch Accumulated pulse number setting range O to 3700 PLS 10 to 7400 PLS 0 to 11100 PLS 0 to 14800 PLS 5 21 IB NA 66232 A 5 POSITIONING UNITS MELSEC 4 d The output voltage from the A7OAF is as shown in Fig 5 2 depending on the number of accumulated pulses Output voltage When 1is When2is When3is When 4is selected selected selected selected Gain adjustments can be set in the range of 5 to 10 V X X X X 3480 37
42. dissipated as heart i e 3 7 of the output power is used Wpw S isv x5 l 24 v x 24 W where i5v 5 VDC logic circuit current consumption of each module log v current consumption of the output modules with an average number of points switched on Not for 24 V input power supply modules 2 Total 5 VDC power consumption 5 V is supplied to each module via the base plate this powers the logic circuitry Wsv lsvx5 W 3 Total 24 VDC output module power consumption with an average number of points switched on 24 V is supplied to drive output devices Wzav l24v x 24 W 1B NA 66232 A 9 LOADING AND INSTALLATION MELSEC 4 4 Power consumption of output circuits with an average number of points switched on Wout lout X Vdrop X average number of outputs on at one time W where lout output current actual operating current A Vdrop voltage dropped across each output load V 5 Power consumption of input circuits with an average number of points switched on Win lin x E x average number of inputs on at one time W Where lin input current effective value for AC A E input voltage actual operating voltage V 69 Power consumption of the special function module power supply is expressed as Ws lsvx5 le4 v x 24 Il 100 vx 100 W The sum of the above values is the power consumption of the entire PC system W Wow Wsy Woav Wout Win WS
43. hand adjacent module Output Module Left Hand Ad Power Supply input Module a Configuration Max output cur rent for 24 VDC 1 Power supply module 2 A66P 3 Vacant 4 Input module Dummy module 5 Output module Special function module 6 POWER SUPPLY MODULE MELSEC 4 6 1 3 Fuse specifications This section describes the specification of fuses used for the power supply modules and output modules Table 6 2 Fuse Specifications For power For For supply output output A63P AY23 AY22 Applica tion Cartridge Cartridge ee b Oe RC ET ETS ET RUN ETAT current 30 3 External 25 2 Er 8 d 68 dimen 0 20 x ats Mx x i 5 22 0 79 x19 0 75 sions mm in 20 0 79 0 68 x 6 0 24 6 0 24 CM UN x 32 1 26 x 32 1 26 6 2 Handling This section gives handling instruction part identification of PC and hardware setting instructions 6 2 1 Handling instructions This section describes precautions regarding the handling of the power supply module between unpacking and installation 1 The power supply module case terminal and pin connectors are made of plastic Do not subject the power supply module to impact or shock 2 Do not remove printed circuit boards from the housing There are no user serviceable parts on the boards 3 Ensure that no conductive debris can enter the module If it does make sure
44. indicated in Example 1 Resistor i Be Reduce the power supplies from two to one Connect a sneak path prevention diode When the ioad is a relay or similar device it is necessary to connect a reverse voltage absorbing diode to the load Shown by the dotted line in the figure on the left Calculate the CR constant depending on the load 12 10 1B NA 66232 A 12 TROUBLESHOOTING MELSEC 4 Table 12 2 Output Circuit Failures and Corrective Actions Continued Ex e External load malfunction or incorrect Check the external load connection Check voltage across the following ter minals with output Y on If output volt Load does age exceeds 3 V check external load not md nib operate and wiring for short circuits normally due to ex ternal shorting etc AY6OEP AY8OEP AY81EP AY82EP Source driver 12 11 IB NA 68232 A APPENDICES MELSEC A APPENDIX 1 Dimensions 131 CPU Module 1 A73CPU 4 2 0 17 3 0 12 2 0 08 INDICATOR RESET OFF LATCH AE SET FT Hi A T Printed circuit board a iD Y Blind cap 4 2 0 17 121 4 76 79 5 3 13 Unit mm in APP 1 IB N 66232 A APPENDICES MELSE CA 2 A73CPUR21 4 2 0 17 3 0 12 2 CQ INDICATOR OFF RESET Q RUN HO o stop 9 RUN STATION No e x10 3 Printed circuit board e eo 0 N Mp Blind cap So
45. jumper rectly is set to ACPU is turned on Indication of ac The number of The number of cumulated accumulated accumulated pulse status pulees exceeds pulses is below exaggerated the preset num the preset num indication of er ber ber rors Near Near zero Near zero point zero point signal signal is turned point dog DOG status on Pulse status in ON when the OFF when the Encoder phase A phases A B pulse is high at pulse is low at aB Encoder 9 4 4 pins 13 5 and pins 13 5 and ud X 6 indicating en 6 indicating en coder input coder input md 3 levels levels alaan tf READY signal is turned off OOOOOOOOOOOOO0O000 OO ODOOO0QO0O0O0O00O0000 Near zero point signal is turned off Depen ding on ex ternal input IB NA 66232 A 5 POSITIONING UNITS MELSEC 1 Status indi Condition for Condition for Initial Details of LED Section LED Name cated by LED ON OFF Con dition WDT WDT Indication of WDT error WOT error ERR error A7OAF X00 ON when X00 OFF watchdog timer the hardware is when the hardware is nor Selected The axis num axis num ber selected ber with the slide switch is indi 1 fed cated i The initial condition refers to the CPU STOP status reached when the power switch is turned from OFF to ON 5 16 M IB
46. m 9 84 ft cable AC300R4 30 m 98 4 ft length Used to store programs onto ROM and read P ROM A6WU 0 8 A programs from ROM to the CPU writer unit i Connected to the CPU directly or via the ACSOR4 cable RS 422 AC30R4 Cable for connection of CPU and A6WU 3 m 9 84 ft cable AC300R4 30 m 98 4 ft length PE AE IB NA 6623 3 GENERAL SPECIFICATIONS MELSEC AA 3 GENERAL SPECIFICATIONS Table 3 1 shows the general specifications for the A6MD Table 3 1 General Specifications a ON Conforms to 0 075 mm 10 times Vibration resistance JIS C 0911 10 to 55 Hz MEME 0 003 in 1 octave minute 55 to 150 Hz 1g Shock resistance resistance Conforms to JIS C 0912 Conforme to JIS C 0912 10 g x 3 times in 8 directions 00 g x 3 times in 3 directions By noise simulator of 1500 Vpp noise voltage 1 us noise width and 25 to 60 Hz Noise durability noise frequency Dielectric withstand 1500 VAC for 1 minute across AC external terminals and ground voltage 500 VAC for 1 minute across DC external terminals and ground Insulation 5 MQ or larger by 500 VDC insulation resistance tester across AC external terminals resistance and Qo pompes meme ye nm m T 7 RN Grounding Class 3 Class 3 grounding grounding is not required when it is impossible grounding is not required when it is impossible Operating Free of corrosive gases Dust should be minimal Cooling method
47. no procedure 32 32 special points Transmission rate 600 BPS to 19 2 KBPS 1 channel each for RS 232C and RS 422 AJ71C21 Terminal interface unit AJ71C218S1 Multidropped with max 8 slave stations to make bit data transfer AJ71C22 For multidrop link master station 32 32 special points Transmission speed 38 4 KBPS One RS 422 channel AOJ2C25 For multidrop link remote I O station BEBE For multidrop link local station May be used as the computer link or multidrop link master station in an AOJ2CPU system Multidrop data link module and units AOJ2C214 For specifying interrupt program execution AI61 16 interrupt inputs 32 32 special points Interrupt module Setting range input Dummy module AG62 16 32 48 or 64 points may be selected number of points set AG60 Dustproof cover for use in vacant slot 16 16 vacant points Input 100 200 VAC For use in power Output 5 VDC 8A supply siot Input 100 200 VAC Output 5VDC 5A 24 VDC 0 8A For use in power A62P supply slot Input 24 VDC For use in power Output 5 VDC 8A supply siot Input 100 200 VAC For use in power Power supply module Output 5 VDC 2A supply siot 24 VDC 1 5A Input 100 200 VA For use in 1 0 AGGP Output 24 VDC 1 2A slot 16 16 vacant points Can accommodate 8 I O modules Extension base unit A65B Can accommodate 5 1 0 modules ACO6B 600 mm 23 62 in long Extension cab
48. or CON4 RAM 3 When the A3NMCA 2 to 56 is used set switch 1 of SW1 to the appropriate position n The IC type is set to RAM when the memory cassette is s dispatched from the factory 8 6 ee 00000 IB NA 66232 A 8 MEMORIES AND MEMORY CASSETTES 4 IC loading procedure MELSEC A Load the IC correctly according to the procedure below ASNMCA 0 ASNMCA 2 4 8 16 24 40 56 For ROM operation For RAM operation Turn the socket lock Turn the socket lock ing screw to OPEN ing screw to OPEN Remove the IC if any from the socket Fig 8 1 Remove the IC if any from the socket Fig 8 1 Set the jumper to Set the jumper to ROM Fig 8 3 RAM Fig 8 3 Insert the iC match ing the orientation of the notch or broken line as indicated on the socket Fig 8 2 Press the IC into place and turn the socket locking screw to CLOSE Check that the IC is flush with the socket RAM Cover the ROM erase window with masking tape Turn the socket lock ing screw to OPEN Remove the IC if any from the socket Fig 8 1 Set switch 1 of SW1 to ROM Fig 8 3 Insert the IC noting the orientation of the notch as indicated on the socket Fig 8 2 Press the IC into place and turn the socket locking screw to CLOSE Check that the IC is flush with the socket Cover the ROM erase window with masking ta
49. ots me EM ane En 15 OV and 15 V terminals p a For supplying 15 VDC to a unit requiring this voltage via __ i eg L3 external wiring at IU ee Se B FG terminal me Connection terminal connected to the shielding pattern on A OUTPUT ov mu printed circuit board s Vo Ne av i AC170 264V 50 60Hz _ FG a Terminal screw OUTPUT rur hay 20 ne lax s S M3 x 0 5 x6 IB NA 66232 A 6 POWER SUPPLY MODULE MELSEC 44 6 Supply power voltage setting The input voltage of the A61P A62P A65P A66P and A68P power supply modules must be selected by placing a jumper supplied across two terminals as described below Remove the terminal cover from the power supply module Remove the pair of terminal screws 2 or 3 according to the supply voltage range 1 used 2 For the 100 VAC range 3 For the 200 VAC range Install the short clip 4 and fix it with the terminal screw install the short chip in the direction shown in the fig ure at right The figure at right shown an example when the supply line volt age is 100 VAC If the setting differs from the supply line voltage the following occurs Therefore do not mis set Supply Line Voltage 200 VAC Setting to 100 VAC The power supply module Install the short chip is damaged The CPU is to 2 not damaged Setting to 200 VAC No error occurs in the Install the short chip module However the to 3 CPU does
50. power failure compensa Application tion function External dimensions mm in 516 0 63 x 30 1 18 18 NA 66232 A 8 MEMORIES AND MEMORY CASSETTES MELSEC 4 8 2 Handling This section explains the handling instructions from unpacking to installation and also part identification and setting 8 2 1 Handling instructions This section describes precautions regarding the handling of the memory cassette and battery from unpacking to installation 1 Memory cassettes and memories a Do not subject the memory cassette and memories to impact or shock b Do not remove printed circuit boards from the housing There are no user serviceable parts on the boards c Ensure that no conductive debris can enter the module If it does make sure that it is removed Guard particularly against wire offcuts d When loading the memory cassette into the main unit press the memory cassette securely into the housing e When loading the memory into the socket press the memory securely against the socket and lock it with the lever After loading check that the memory is flush with the socket f Never place the memory on metal which may allow current flow or on an object which is charged with static electricity such as wood plastic vinyl fiber cable and paper S Do not touch the legs of the memory Also do not bend the legs g h When mounting the memory be sure to fit the memory the right way ro
51. power i cpp modules do not supply one 1 0 module with 24 VDC from several power supply modules _ connected in parallel If 24 VDC output capacity is insufficient for one power supply module supply 24 VDC from the external 24 VDC power SUPE as shown below 24 VDC External power supply 1 Power supply module 2 1 0 module f Twist the 100 VAC 200 VAC and 24 VDC cables as s closely as possible Connect modules with the shortest possible wire lengths Ec To minimize voltage drop use the thickest max 2 mm 14 E wires poss for the 100 VAC 200 VAC and 24 VDC Cables E Do not bundle the 100 VAC and 24 VDC cables with main cir _ cuit wires or the 1 0 signal wires high voltage large current Also do not wire the above indicated cables close to the aforementioned wires If possible provide more than 100 mm 8 94 in distance between the cables and wires i As a measure against very large surges e g due to lighten ing connect a surge absorber as shown below 1 Ground the surge absorber E1 and the PC E2 separately from each other 2 Select a surge apsorber makina allowances for PENEI voltage rises IB NA 66232 A 9 LOADING AND INSTALLATION MELSEC 4 2 Wiring of 1 0 equipment a Applicable size of the wire which connects to the terminal block connector is 0 75 18 to 2 mm 14 AWG However it is recommended to use wires of 0 75 mm 18 AWG for h
52. prevention diode Figure below Input sig nal does not turn off input module The switch with LED indicator is connected to AX40 and there Input module S 4 MA leakage current 24 VDC The voltage Vrg across terminal and common is obtained by the following expression Vtg 4 mA x 2 4 KO 9 6 V The voltage drop of LED is ignored Since this voltage does not satisfy the OFF voltage of 6 V or lower the input signal does not turn off Therefore connect a resistor as shown below D dl tJ 2 4K 0 Calculate the resistor value R as shown below For an input voltage 6V current must be 24 6 V 3 6 KO 5 mA Resistor R must be selected to give a current 5 mA Hence for resistor R 6 V R gt 5 2 5 mA 6 V 2 5 mA gt R 2 4 KQ gt R For R 2kQ the power capacity must be W applied voltage R or W maximum current 2 x R Resistor R terminal voltage is 24x2 2 4x2 2442 KH 412 3 6 kQ x 24 V x 5 58 V Therefore the power capacity W or resistor R is W 5 58 V 2 kQ 0 015 W Use a safety factor of 3to 5 Resistor should therefore be rated at 0 5 to 1 W A 2 kQ 0 5 to 1 W resistor should therefore be connected across the relevant input terminal and its COM 12 9 IB NA 66232 A a 12 TROUBLESHOOTING MELSEC 12 3 2 Output circuit problems and corrective action This
53. servo amplifier that is capable of handling absolute values enables positioning control in the b The generai purpose servo amplifier is not capable of Some of the A6MD monitor display functions cannot be performed absolute value system positioning control in the absolute value system when a general purpose servo amplifier is connected Example 2 For further details see the A6MD Operating Manual IB NA Monitor mode Servo monitor Testing mode Servo start up Servo diagnosis position loop gain velocity loop gain check 66235 1 Positioning control of a total of up to 8 axes can be performed when the MR SB and the general purpose servo amplifier are used When a general purpose servo amplifier is used connect the near zero point signal to the A7OAF Connect the following external signals to the A70SF a STOP Stop signal D FLS Upper limit switch signal c RLS Lower limit switch signal d DOG CHANGE Used as the velocity position switching The servo amplifier must be grounded Ground LG and FG of the A73CPU system too Make external wiring connections for the following signals to be connected to the A70SF Positioning control is disabled unless the signal is off at high level STOP Stop signal FLS Upper limit switch signal RLS Lower limit switch signal EMG Emergency stop signal for the MR SB only When a general purpose servo amplifier is used EMG eme
54. system when the servo amplifier capable of handiing absolute values is used 1 Torque limit values can be changed only when an MR SB is used When an general purpose servo amplifier is used the set ting of torque limit values is ignored 18 NA 66232 A 4 CPU MODULE MELSEC 4 Table 4 4 List of SCPU Functions Executes the sequence program at the predetermined intervals independently of the scan time Setting allowed between 10 and 1990 ms Retains device data if the PC is switched off or reset of instan taneous power failure occurs 20 ms or longer L B T C D and W can be latched Constant scan LATCH Allows remote run stop from external device e g peripheral external input computer with RUN STOP switch in RUN position Remote RUN STOP Stops operation with the output Y status retained Pause function may be switched on by any of the following ways RUN STOP switch on the front of the CPU Remote pause contact Peripheral PAUSE Stores all device data to the status latch area of the memory cas sette when the status latch condition is switched on The stored data can be monitored by the peripheral Status latch Samples the specified device operating status at predetermined intervals and stores the sampling result in the sampling trace area of the memory cassette The stored data can be monitored by the peripheral
55. the external wiring connectors The unit is supplied with the following connectors 9 pin connector male x 1 For CONT connector 15 pin connector male x 1 For SERVO connector The construction of each connector is illustrated below Protective tube for the 15 pin connector I Screw B Protective Cover A CoverB wire clamp S ee A PA SENG Ss Connecting x Nut area Use the following procedure when assem bling the connector 1 Run the wire through the protective tube for the 15 pin connector only Connecting 4 section 2 Solder the wire to the connecting section Wind here with the protective seal 3 Install the connecting section onto cover A and wind the protective seal around the wire portion that makes contact the wire clamp KE Cover A g 4 Slide the protective tube until it reaches the protective seal for the 15 pin connector only Wire clamp Screw A 5 Install the connecting section to cover A and hold the wire the Screw A protective seal or tube with the wire clamp using screw A 6 Install screw C to cover A y 7 Place cover B onto cover A fasten them with screw B and the nuts IB NA 66232 A 5 POSITIONING UNITS MELSEC 4 4 Connector connection The connector pins are arranged as shown below Make the connections referring to the input and output numbers in Section 3 5 a Cables with a sectional area of up to 0 3 mm 22 AWG m
56. the type of the power supply module installed on the base is correct only the A61P can be installed on the A74B 2 Check for blown fuse Section 6 2 2 3 Check that the supply voltage and the power supply module voltage are correct this check is not applicable to the A63P 4 Check that the polarity of the power cable is not reversed this check is applicable only to the A63P 5 Check that the FG and LG terminals are correctly wired Section 9 6 2 6 Check that the terminals are fully tightened Section 6 2 1 7 Check that the size of the cable wire is correct Section 6 1 1 1 Check that the cables connected to the terminals on the terminal Building Block blocks match the designations of the Input Output signais Module User s Manual 2 Check that the terminal screws are fully tightened 3 Check that the size of the cable wire is suitable 4 Check that the external supply power line is properly connected 24 VOC 15 VDC etc 1 Check that switch positions are correct User s Manual for the special module used 2 Check that the terminals on the terminal blocks match the desig nations of the signals connected 3 Check that the terminal screws are fully tightened 4 Check that the size of the cable wire is correct 5 Check that the external supply power line is correctly connected 24 VDC 15 VDC etc 1 Check that the point number setting switches are Building B
57. value and actual position data relative to command position data and controls the command position data for the A7OAF The A7OAF converts the command position data from the PCPU into travel distance and causes the error counter to integrate the travel distance From the integrated value it subtracts the number of feedback pulses arriving from PLG pulse generator The A70AF converts the error counter value D A and delivers the velocity command analog voltage to the servo amplifier The feedback pulse is sent to the A7OAF either directly or via the servo amplifier depending on the type of the servo motor 1 INTRODUCTION MELSEC 4 1 2 Features The A73CPU has the following features 1 Various positioning functions The A73CPU is capable of positioning controis such as 8 axis independent control 2 axis 3 axis linear interpolation control and 2 axis circular interpolation control 2 Bus connection control is enabled when connected to an MR SB servo amplifier a The A73CPU is capable of servo data collection parameter change and monitor diagnosing b High precision positioning is enabled with the velocity com mand issued at a maximum output of 1 Mpps S Dedicated language dependent positioning control Programming is easily performed by describing the positioning operation in the dedicated language Programming is performed with the A6MD monitor display unit or an AGGPP A6PHP started up by the SWOGP A
58. 00 6960 7400 10440 11100 13920 14800 Accumulated An excessive error occurs when the number pulses exceeds that marked with an asterisk Gain adjustments can be set in the range of 5 to 10 V Fig 5 2 Relationship Between the Number of Accumulated Pulses quem Rm Re eK SSS ee SS Sse Se Se SS See eer mc m ae Im n SSeS c m mop ee e emi m mi m and Analog Voltage Output wwe 4m WM o cm wo c dB dA OUR 9p wp dm de m We A 4D GA am een b e d OUR A cm ou ne um A ER Guy Am UA c ne ee o i A P P P WA cm cm um eww im dio RO Po cm wm cm c oe m ub o D KA U am am um ne o d I Example Set the number of accumulated pulses as follows Assume that a Maximum velocity 400 KPPS b Position loop gain 30 sec Then __ Maximum veloci c Accumulated pulses Position loop gain x 590990 30 133333 Therefore selecting the gradient from Fig 5 2 for which th 4h p oam am um um Dm ew wee m moo A GG eB 4 2 C am m ue ue o RR m es A m 8 output voltage is not saturated when the number of accumu lated pulses is 13333 leads to SELECTION SW1 ON SW2 ON e When the number of accumulated pulses exceeds the value marked with an asterisk in Fig 5 2 an excessive error occurs and the following status is developed 1 Output voltage OV 2 Accumulated pulses Setto 0 3 SVON signal OFF 4 ERR LED on the front panel Lit IB NA 66232 5 POSITIONING UNITS MELSEC AA
59. 1 to 3 P1 to P3 and EMG a FLS Upper limit b RLS Lower limit c STOP Stop signal d DOG Near zero point dog velocity position switching signal e P1 through P3 MPG phase A phase B inputs f EMG Emergency stop input IB NA 68232 2 5 POSITIONING UNITS MELSEC 4 5 2 3 Interface with external device The interface between the A70SF and external devices is indicated in Table 5 2 No reference is made to the interface area for connecting the A70SF and an MR SB Table 5 2 Interface Between the A70SF and External Devices Terminal Number Ter Tui Desig 38 Point Terminal Block 20 Point Terminal Block S amp Point Terminal PTT asie 1 Acie 2 Axis af axie a Axio 5 avis 6 axie 7 Axis v Pe Ps Near zero point dog velocity positioning 37 Emergency stop j BEER MPG B LL eee B MPG B PELL EE eee IB NA 66232 A 5 POSITIONING UNITS MELSEC The use of a twisted pair shielded wire for the MPG signal wire is recommended Internal Circuit Specifications Description Supply voltage 5 VDC to 24 VDC 4 75 VDC to 26 4 VDC stabi lized power supply to Signal for detecting the upper stroke limit Signal for detecting the lower stroke limit 3 5 VDC or more 1 2 mA or more LOW level 1 5 VDC or less 0 3 mA or less Signal from external source for stopping each positioning control
60. 2 2 2 RUN LED Check that the LED is On Off or flicker indi See Section on during run cates an error 12 2 3 and 12 2 4 CPU Input LED Check that the LED On when input is on See Section module turns on and off Off when input is off 12 2 5 indicator Any discrepancy from lamps the above indicates an error Output LED Check that the LED On when input is on See Section turns on and off Off when output is off 12 2 5 Any discrepancy from the above indicates an error To change any I O module during PC operation see Section 2 2 8 Online I O module replacement see the A73CPU Reference Manual IB NA 66232 4 11 MAINTENANCE AND INSPECTION MELSEC 4 11 2 Periodic Inspection This section explains the inspection items which are to be check ed every six months to one year If the equipment have been moved or modified or wiring has been changed also make the inspection Table 11 2 Periodic Inspection When PC is used in temperature A Measure with ther mometer and side a panel the Ambient hygrometer temperature in the environ mbient humidity Measure corrosive 10 to 90 RH panel is ambient ment gas temperature There should be no corrosive gases Line voltage check 85 to 132 V 170 to 264 VAC Measure voltage across 100 200 VAC terminal Change supply power Change trans former tap The module should be m
61. 73P multi axis positioning unit software pack age 4 An absolute value system can be configured The use of the MR SB servo amplifier capable of handling ab solute values enables the configuration of the absolute value system 5 Connectable to a general purpose servo amplifier The A7SCPU can be connected not only to an MR SB servo amplifier but also to a general purpose servo amplifier IB NA 66232 A 1 INTRODUCTION MELSEC 1 3 Comparison of the A73CPU SCPU Section and the A3NCPU The A73CPU uses the SCPU for sequence control and the PCPU for positioning control Sequence control is performed by the SCPU in accordance with the same specifications as those for the ASNCPU Table 1 1 Difference Between the A73CPU SCPU Section and the A3NCPU A73CPU tm SCPU Section re A65B A68B A65B A68B meebicventensionuase A55B or A58B not used EN C T A58B Main base sd base A74B A32B A35B A38B A35B A38B Power supply module for main base A61P 1 A61P A62P A63P A65P Mew m o 107 DSFL DSFR Not used DSFLP OSFRP Application changed Number of 1920 points X Y80 to X Y7FF 2048 points X YO to X Y7FF VO points For positioning control 128 points X YO to X Y7F boom For sequence 2048 points internal 2000 points M LO to M L1999 M LO to M L2047 relay latch relay For position For sequence 800 points DO to D799 1024 points DO to D1023 Devices Data register For mn
62. 8 Connection Methods Rotation Direc tion Set by a Connection Remarks Rotation Peripheral Device Direction The motor and the encoder rotate in the same direction Forward rotation Forward rotation The motor and the encoder rotate in the op posite direction to each other The motor and the encoder rotate in the same direction Reverse rotation Reverse rotation The motor and the encoder rotate in op posite directions If the A7OAF is connected to the encoder incorrectly the motor will rotate upon power up causing excessive errors ERR IB NA 66232 A 5 POSITIONING UNITS MELSEC 4 d Table 5 9 indicates the connection between the A70AF and the encoder Table 5 9 Connections Between the A70AF and the Encoder Encoder type Open collector output encoder TTL output encoder Differential output encoder mic PLG eS 25 i I w Se d PLG MM SN75113 a or equivalent Phase A pin 13 Phase B pin 5 Phase A pin 11 Phase B pin 10 Phase Z pin 7 Phase A pin 13 Phase B pin 5 Phase Z pin 6 Phase A pin 11 Phase B pin 10 Phase Z pin 7 r Phase A pin 13 r Phase B pin 5 Phase Z pin 6 Phase A pin 11 Phase B pin 10 Phase Z pin 7 5 28 7 IB NA 6623 5 POSITIONING UNITS MELSEC AA 3 Connection of external wiring connectors This section describes the method of connecting
63. AND INSTALLATION MELSEC 4 3 Emergency stop methods The MR SB is brought to an emergency stop by the methods described below a By an emergency stop command to the A70SF 1 This enables a batch emergency stop for all axes of the MR SB 2 The batch emergency stop for all MR SB axes is affected by turning on low level the A70SF EMR emergency stop terminal After emergency stop operation of the MR SB can be resumed by removing the cause of the problem and turning off high level the EMR terminal to the A70SF and the error detection signal Xn7 b By making emergency stop wiring connections to the MR SB 1 The MR SB axes can be brought to an emergency stop individually 2 This method is the most reliable since the emergency stop is affected by opening the emergency stop contact in the MR SB After emergency stop it is necessary to start up the MR SB again 4 Allowable duration of a momentary power failure a The allowable duration of a momentary power failure is 70 ms However the MR SB may stop control in the event of a momentary power failure since its allowable power failure duration is 15 ms at 200 V In that event the MR SB will require initial startup 9 56 IB NA 66232 A 9 LOADING AND INSTALLATION MELSEC A 9 2 Installation Environment Never install the A73CPU 1 0 module in the following environments 1 Locations where ambient temper
64. B the use of a servo amplifier that is capable of handling absolute values enables positioning control in the ab solute value system 2 SYSTEM CONFIGURATION MELSEC 4 1 Ground the MR BUS M cable connecting the A70SF and the MR SB of the A70SF to increase noise resistance Use the cable clamp supplied with the A7OAF 2 The servo amplifier must be grounded 3 Ground LG and FG of the A73CPU system too Make external wiring connections for the following signals to be connected to the A7OSF Positioning control is disabled unless the signal is off at high level a STOP Stop signal D FLS Upper limit switch signal c RLS Lower limit switch signal d EMG Emergency stop signal 2 4 1B NA 66232 2 SYSTEM CONFIGURATION 2 2 When a General Purpose Servo Amplifier Is Used 2 2 1 Overall configuration Power supply 7 module ACLILIB Input module LType AXDI j A3SNMCA E 4 Output module AYL E Extension base Ae B Special function module Link module Control range of the SCPU Fig 2 2 Overall Configuration Established When a General Purpose Servo Amplifier is Used IB NA 66232 A 2 SYSTEM CONFIGURATION 2 3 4 1 The unit shown mo mounting position should be as indicated in Fig 2 2 d s ve 3 e AY42
65. Connector 1 for the MR SB Connector 2 for the MR SB MCP AMP CABLE t vi UE uN l MR SB axis number EZ a switch setting ee e des ensi Aa number Lo in 1 3 R axis nium er rn s pere ere e Axis number Axis number setting switch L ce wow we a EEEE es gt L MR SB axis number setting switch Fig 10 1 MR SB Axis Number Setting 10 7 1B NA 66232 A 10 PRE START UP AND TEST PROCEDURES MELSEC 2 General purpose Servo Amplifier The general purpose servo amplifier is connected to the A70AF on a one to one basis When the axis number is set use slide switches 5 to 7 on the AT7TOAF so that axes 1 to 8 can be set The axis number can be set without regard to the loading order of the A70AF The axis number set by the general purpose servo amplifier should not be the same as that set by the general purpose servo amplifier connected to the same connector If the same axis number is set that axis will not function Axis Number Setting EET IMMER DOOLA COCDOCIEEICIC COCO ECICICICS 3 When an MR SB and a general purpose servo amplifier are used together When an MR SB and a general purpose servo amplifier are used together a total of 8 axes can be used and axes 1 to 8 can be selected through axis number setting The axis number set by the MR SB should not be the same as that set by the general purpose servo amplifier If the same axis number is set the fol
66. ED for indicating 5 VDC power Power fuse and fuse holder nput power is fixed by the fuse 4A cartridge fuse for AC i holder Spare fuse for power supply Spare fuse for power supply installed to the rear side of ter minal cover Terminal block For details see below Located under the terminal cover ep Cover for protection of terminal block Remove during wiring Install after wiring Module fixing screw mounting hole Allows fixing the module with ascrewinaddiiontothe T module fixing hook For M4 screw me Terminal details Power input terminals _ blown if the positive and negative terminals are reversed LG terminal x Grounding of power filter Has half the input potential x FG terminal Connection terminal connected to the shielding pattern on printed circuit board l Terminal screw IB NA 66232 A 6 POWER SUPPLY MODULE 4 Part identification of A66P module e H i ae Module fixing hook Hook for fixing the module to the base unit POWER LED LED for indicating 5 VDC power Power fuse and fuse holder 4A cartridge fuse for AC input power is fixed by the fuse holder Terminal block fixing screw Screw for installing and fixing the terminal block to the module Terminal block e d 7 A 7 v WM For de
67. ERES bes E EE VERRE 8 5 8 2 4 Memory protect switch setting 8 8 8 2 5 Battery installation 2 0 0 cece eee teen een teen Ih 8 11 IB NA 68232 A 9 LOADING AND INSTALLATION cece ce ccc ehh hh 9 1 9 20 9 1 Consideration for Safety ii doe SA T ie rre sinistre 9 1 9 1 1 Consideration for safety 9 1 9 1 2 Precautions in using a positioning system employing an MR SB servo AMONO MPO eae denses cena PET 9 3 9 2 installation Environment 2444444 so ca rh tod KRAUS 9 6 9 3 PC Generated Heat Calculation 9 7 9 4 Mounting the Base Unit sn cid sine CH UE pee ES ester RUE S 9 9 941 Mounting instructions cielos uc yr eERRHEGEH RE ESCEERE ERREUR E SUO 9 9 942 Installation ni dinde ARA VR ARYGSRA ERO IPEPCCEANTAOXWYC CTS 9 10 9 5 Installation and Removal of Module 9 11 SD WII EPP ee ER A PH eS 9 13 9 6 1 Wiring instructions sessesesasosesasesoresossssosos ere 9 13 9 6 2 Wiring to terminals 25 co wi Bi bE RIAA TSAR RSS 9 17 9 7 Grounding the A70SF MR SB Cable with Cable Clamps 9 19 10 PRE START UP AND TEST PROCEDURES 4 10 1 10 13 10 1 Checks Before Test SANT di oce e ce C eh Rc V OE 10 1 10 2 SEIVO SIGITHUD aussen rere CI ex A RO CROIRE S RORIS RON ca 10 3 10 9 Axis Number SOUING oooor iis
68. ES ES ot Cable clamp B Cable clamp A 1B NA 66232 A mm 9 20 9 LOADING AND INSTALLATION MELSEC 4 Cable clamp A Cable clamp B M3 x 0 5 screws 0 12 x 0 02 24 holes 20 16 4 5 2 holes 90 16 0 08 NAE 20 5 0 20 35 0 138 45 1 77 25 5 1 m 130 5 12 Fig 9 7 Cable Clamp IB NA 66232 A 10 PRE START UP AND TEST PROCEDURES MELSEC AA 10 PRE START UP AND TEST PROCEDURES 10 1 Checks Before Test Start Checks before testing are listed in Table 10 1 Table 10 1 Checks Before Test Start CPU module Power supply module input output module Special function module Dummy module AG62 1 Check that the memory cassette is securely loaded in the CPU Section 8 2 1 2 Check that the memory capacity matches the memory cassette Section 8 1 1 capacity 3 Check that RAM ROM selection is correct Section 8 2 3 4 Check that EP ROM or IC RAM is securely loaded in the ROM sock et when the ASNMCA 0 or EP ROM is used 5 Check that the two EP ROMs and IC RAMs loaded are of the same Section 8 1 2 type 6 Check that the memory protect switch is set to OFF Section 8 2 4 7 Check that the lead wire connector of the memory cassette battery Section 8 2 5 A6BAT is securely connected to the pin connector on the printed circuit board 8 Check if the battery is low on voltage nominal value 3 16 V Section 11 3 1 Check that
69. NCPUP 1 Program capacity For local station AOJ2CPUP23 Program capacity 2 25 Number of inputs outputs Number of inputs outputs Number of inputs outputs Number of inputs outputs 14K steps 512 1024 points for S1 6K steps 256 7K steps 336 2 SYSTEM CONFIGURATION MELSEC 4 Current System Applicable System E T Data e LEE 26 Link computer Remarks 5 24 VDC EB E ni Only one module may be used with one local station 3 72 A 1 55 A Ee 2 26 IB NA 6623 2 SYSTEM CONFIGURATION Table 2 1 List of Equipment Continued Te Occupied Points AJ72P25 For remote I O station Data AOJ2CPUP25 For remote I O station link Optical data link module AJ71P22 For tier 3 master station in three tier system 32 32 special points Communicates data with the computer in the fixed format Transmission speed 300 BPS to 19 2 KBPS 32 32 special points AJ71C24 S3 One RS 232C one RS 422 channels AJ71C24 Computer link module Allows max 8 multitaskings of GPC BASIC 48 programs for data transfer between the PC and First half computer and control status monitoring 16 vacant points Data communication with the computer in free Second half format Two RS 232C two RS 422 channels 32 special points Intelligent communica tion module AD51S3 Link unit used for data transmission based on either BASIC function terminal interface or
70. OIIO sum iawn syed e LOG we a eet Gas S0 atu nitate aod Rese ee 6 4 6 2 1 Handling instructions 00 ccc ccc cece nnn 6 4 622 Part Jgenilicatllor ud ERE Oe EFE NURY SC ns darts du 6 5 BASE UNIT AND EXTENSION CABLE lesse hh has 7 1 7 6 7 1 Base Unit and Extension Cable Specifications 7 1 7 1 1 Specifications of the base units D et Tile EXONSIONDCADIe aside i c oe eat a e ec re ee 7 1 Tee Mandlig tuos esca et ett dicem ndis d acd aie wore artes do ea eS gates 7 2 2 Manding Instructions 5215 uera d EUH Lama Ub aides 7 2 7 2 2 Pattigentlicauol 13 neers dd end E ek Ope ad dd we eR rbd 7 3 7 2 3 Extension stage number setting on the SCPU extension base 7 5 7 2 4 Extension stage number setting on the POPU extension base 7 6 MEMORIES AND MEMORY CASSETTES 8 1 8 12 Si SDECIICALIONS ood oops esas olen eae ui douane desdits dei dir loue 8 1 8 1 1 Memory cassette specifications 8 1 8 1 2 Memory specifications 8 1 8 1 9 Battery specifications ovo p eke edn re dt ae RE E AREA Ae 8 2 82 Handing ciis edo hort aoee eh ear ee Sina baer ees we ETE LE 8 3 amp 21 Handling instructis osx RE REA TW Er PU RA SNES li se 8 3 B22 Partidenulcauon xxu 2 becuse des Shae ee EAE A 8 4 8 2 3 Memory IC installation veru
71. Overvoltage protection 24 VDC Applicable wire size wire size 0 75 to 2 mm 18 to 14 AWG Applicable solderless B V1 25 3 V1 25 YS3A V1 25 4 V1 25 YS4A V2 S4 V2 YS4A SENA AAA EM EM 42 kg cm 10 39 Ib mkeem Os bim 7 kg cm 6 06 Ib in External dimensions 250 9 yv Ey ASF AS 250 9 84 x 55 2 17 x 121 4 76 375 1 48 mm in eed e US X 151 4 2b x 731 m Sb em kg Ib 0 98 2 16 0 94 2 07 0 8 1 76 0 94 2 07 0 75 1 65 0 9 1 98 iswabis instantaneous power failure time pni number of slots occupied in the A66P and the A68P are as follows a 1 in the A66P b 2 in the A68P IB NA 66232 A 6 POWER SUPPLY MODULE MELSEC A POINT 1 Overcurrent protection a The overcurrent protection device shuts off the 5 V 24 VDC circuit and stops the system if the current flowing in the circuit exceeds the specified value If a current larger than specified is allowed to flow through the 15 VDC circuit the overcurrent protection device will be actuated to open the circuit and the following conditions will exist 1 Both 15 VDC and 15 VDC will be turned off when overcurrent is present on the 15 VDC side 2 15 VDC is turned off and 15 VDC will be delivered when overcurrent is present on the 15 VDC side 3 The LED indicator on the power supply unit goes out or dims due to reduced voltage supply c When this device is activated the power s
72. age zero return For the adjusting method see Section 5 4 5 Drive unit connector qnm For signal designation related for each pin see Section 4 4 15 VDC power supply terminal for the A7OAF Ground terminal AH See Section 5 4 5 for details on the number of accumulated pulses pulse multiplication ratio adjustment mode and switch setting method Encoder output setting for phases A B and Z See Section 5 4 5 for the setting method IB NA 66232 A 5 POSITIONING UNITS MELSEC 44 5 4 3 LED indication This section describes the LEDs on the front of the A7OAF that indicate the RUN status and error status 1 Status Indi vene for Condition for Initial Details of LED Section LED Name cated by LED OFF Con dition POLE Error Indication of Negative O or positive counter error counter polarity polarity status indication of Al error counter points count vaiues OFF in binary digits indication range Error counter value 2 Lo jeleleloicio ie ON e indicates ON 3 16384 or less 4 16383 or more PC PC ready Operation Y10 is Y10 remains off RDY ready status synchronously turned on and SV Servo Servo ready RDY ready READY signal status off READY signal BUSY BUSY BUSY signal M2000 is M2000 is ON OFF status turned on turned off CPU jumpers The ACPU Set to A7OCPU are set incor A7OCPU
73. andling convenience b Separate the input and output lines c 1 0 signal wires must be at least 100 mm 3 94 in away from high voltage and large current main circuit wires d When the I O signal wires cannot be separated from the main circuit wires and power wires ground the equipment on the PC side with batch shielded cables Under some conditions it may be preferable to ground it on the other side shielded cable e If wiring has been done with piping ground the piping f Separate the 24 VDC 1 0 cables from the 100 VAC and 200 VAC cables g If wiring requires over 200 mm 7 87 in or longer distance trouble can be caused by leakage currents due to line capacity Take corrective action as described in Section 7 4 1B NA 66232 A 9 LOADING AND INSTALLATION MELSEC A 3 Grounding a The A series PC has good noise resistance Therefore the PC may be used without grounding except when there is excessive noise However follow b to e described below b Ground the PC as independently as possible Class 3 grounding should be used grounding resistance 100 or less c When independent grounding is impossible use the joint grounding method as shown in the figure below 2 e Class 3 grounding Class 3 grounding or 1 Independent grounding Best 2 Joint grounding Good 3 Joint grounding pe d Use 2 mm 14 AWG or thicker grounding wire Grounding point s
74. arrangement in the pin housing and solder the wires Reassemble the connector plug 1 Bundle the wires so that they can be accommodated under the cable clamp 2 install the fixing screws and insert them into the mating cover 3 Install the mating cover from the pin housing 4 Tighten the screws If there are not enough wires to be secured under the cover cable clamp wind tape around the bundled wires for easier clamping Cable clamp Soidering Pin housing The shape of the connector and the number of screws differ from one interface section to another Pin arrangement differs from one connector to another IB NA 66232 A 5 POSITIONING UNITS MELSEC AA 3 Wiring connections for the plasma display of the A70MDF and the A6MD Pin number on the A amp MD Pin number on the A7OMDF A8MD interface pin assignment att A7OMDF interface pin assignment 7 7 CP POOOP TA 1 Make the same wiring connections for the ASMD and the A7OMDF 2 Use a shielded cable Connect the shield to the A7OMDF Recommended cable Twisted pair shielded cable Maximum cable length 30 m 98 43 ft Connector model num 17JE 23015 02 DA8 Casing male connector solder type ber 5 11 IB NA 66232 A 5 POSITIONING UNITS MELSEC 4 4 Wiring connections for touch key panel and operation panel A70MDF interface pin assignment A6MD interface pin assignment
75. ass point The repeating command FOR NEXT enables repeating of the same control Con stant velocity contro Zero return Jog operation is enabled while the jog start signal Yn2 Yn3 remains on Simultaneous start of the jog operation chosen for each axis be tween forward and reverse rotations for up to 8 axes is enabled Pulse input with the MPG enables positioning in accordance with the number of input pulses It is possible to perform up to 3 axis independent and 3 axis simul taneous MPG operation The zero return start command enables zero return The present position data obtained at the time of stop is corrected to the zero point The zero return method can be selected from the near zero point dog counting and data setting types Up to 3 servo programs for positioning control zero return and Simultaneous start other functions can be started simultaneously Velocity can be changed during positioning control and Jog opera Velocity change tion However velocity changes are not allowed during circular interpolation and zero return Control For positioning control based on velocity and positioning the change preset travel distance can be changed during velocity controlled Trevercistance enangs operation after the input of the position switching input signal CHANGE Present position data change The present position data can be changed during stop
76. ature is outside the range 0 to 55 C 2 Locations where ambient humidity is outside the range of 10 and 90 RH 3 Locations where dew condensation takes place due to sudden temperature changes 4 Locations where there are corrosive gasses or combustible gas ses 5 Locations where there is a high level of conductive powder such as dust and iron filings oil mist salt and organic solvent 6 Locations exposed to the direct rays of the sun 7 Locations where a strong power field or magnetic field is generated 8 Locations where vibration and shock are directly transmitted to the main unit TAA Qu 9 LOADING AND INSTALLATION MELSEC 4 9 3 PC Generated Heat Caiculation The ambient temperature around the PC installed in a panel must be kept below 55 C 131 F To provide adequate cooling for the control box the average current consumption heat generation for all equip ment and instruments inside the panel must be calculated The average current consumption for the A73CPU and the resulting temperature rise are calculated as follows Average power consumption Power is consumed by the following PC areas sv 5 VOC line Special Output functio module module Relay transistor Output current OUT x Vdrop power lout LOAD AC E 1 Power supply module power consumption Approximately 7096 of the power supply module current is con verted into power with the remaining 3096
77. ay be used Thicker cables will not fit under the cable clamp b Make the connections by soldering Strip properly the cable so that short will not be caused by the element wires or solder hairs It is recommended to slip an insulating tube on each soldered connection 9 pin connector Applicable to the CONT connector 15 pin connector Pin arrangement as viewed from Applicable to the the cable connection side SERVO connector 5 30 18 NA 66232 6 POWER SUPPLY MODULE MELSEC AA 6 POWER SUPPLY MODULE 6 1 Power Supply Module Specifications 6 1 1 Power supply module specifications Table 6 1 Power Supply Module Specifications ETE Base loading position Power supply module pum slot TES module M slot E 10 E 10 100 120 VAC 10 100 120 VAC 1 85 to 132 VAC 24 VDC 30 85 to 132 VAC input voltage P g 10 15 6 to 31 2 10 200 240 VAC fsa VDC 200 240 VAC ES 170 to 264 VAC 170 to 264 VAC Input frequency 50 60 Hz 5 50 60 Hz 5 Max input apparent 20 within 8 ms 100 eee 20 A within 8 ms svoe 8A 5A 8A 2A ated output 24 VDC osa 15A 124 current 15 VDC pa A avo O U a 5 VDC 8 8 A or 5 5 A or 8 5 A or 2 2 A or zi higher higher higher higher 1 2A or 2 3 A or 1 7 A or Overcurrent 24 VDC 15 415 VDC 1 64 1 64A se oa a te T7 2 5 5 to 6 5 V 55t065V 5 5t06 5V 5 5t06 5V
78. ber and Position M Adin meena ee acament for Loop Gain by Setting Accumulated Pulse Number eee ee ee ee a I a REND ONE w ttez ore or or Gy feo aa to Pp see pw poe p Emm Dm pe cem o opum D mS SEE pp eme oe on po Dum ER SEE amp sotro on or or D do e e szesz on or on fey o GS d sowo on on or GM y e Cm g sses on on on Qo ew Ge Gm The number of accumulated pulses for delivering the rated velocity command voltage is given above The position loop gain value obtained at a maximum velocity of 400 kpps is written in parentheses below When the maximum velocity is not 400 kpps calculate the position loop gain using the formula shown in 4 b on page 5 21 Dego O IB NA 66232 A 5 POSITIONING UNITS MELSEC A Example 5 V power is delivered at 1429 PLS when the gain adjustment accumulated pulse switch is set to 3 the gain value is adjusted to 5 V and the accumulated pulse number switch is set to X1 The position loop gain will be 280 sec at a maximum speed of 400 kpps b The unit has been factory set so that it delivers 10 V when the number of accumulated pulses reaches 13920 PLS c Gain adjustment method 1 Set slide switches SW7 and SW8 to OFF and ON respectively 2 Refer to the rated velocity command voltage adjustment range and the position loop gain settings
79. ck 1 Set the number of the servo amplifier axis to be used 2 Select the add on card Power on Set the A73CPU RUN keyswitch to STOP and turn on the A73CPU 10 3 4 For the A74B loading unit and position see Sections 2 1 through 2 3 For installation of the unit see Section 9 5 See Section 10 3 IB NA 66232 A 10 PRE START UP AND TEST PROCEDURES MELSEC A Check on external input to the A7OSF 1 Check the wiring connections of the fol lowing external inputs by monitoring the peripheral devices or LED indicators on the A70SF a STOP stop command b FLS upper limit switch input c RLS upper limit switch input d DOG CHANGE dog velocity position switching command e EMG emergency stop command 0 MPG input Postioning parameter eating 1 Set the following positioning parameters with a peripheral device a Fixed parameters b Servo parameters c Parameter blocks d Zero return data e Jog operation data Preparation of servo program Prepare the servo program with a peripheral device Preparation of sequence program se Prepare the sequence program with a peripheral device Turn on the servo power supply Turn on the servo amplifier and the servo motor Test mode Check on the installation condition of the me Servo start up check on servo amplifier emergency stop Check that the servo amplifier used is in stalled as required
80. count types Absolute value system Data set MPG operation function Up to 3 units can be connected 3 axes unit controllable M code output function provided pee AR 8 points per axis Up to 10 ON OFF set points selectable Absolute value system Provided optional Zero return function 1B NA 66232 A 4 CPU MODULE MELSEC Table 4 2 SCPU Performance Specifications List Um m Control system Control system Repeated operation using stored program 1 0 control method Refresh direct mode selected Language dedicated to sequence control Combined use of relay symbol type logic symbolic language and Sequence Action Program language Basic instruction instruction E instruc tion Processing speed sequence instruc Direct mode 1 0to 2 3 tion 4 sec step Refresh mcd 1 0 WOponts WOponts b 1920 X Y80 to 7FF Watch dog timer WDT msec 10 to 2000 Memory capacity i Up to the capacity of the memory cassette loaded Main sequence program Main microcomputer program 30 K steps max Up to 58 K bytes 29 K steps can be set for the main microcom puter program Programming language Number of in structions Program capacity Sub sequence program Sub microcomputer program 30 K steps max Up to 58 K bytes 29 K steps can be set for the main microcom puter program Internal relay M points 1000
81. der the terminal cover Terminal cover Cover for protection of terminal block Remove during wiring Instali after wiring MOL Uo LA Module fixing screw mounting hole module fixing hook For M4 screw Power input terminals Power input terminals to which AC power of 100 VAC or 200 VAC is connected 200 VAC as described below When 100 VAC is input con nect together the SHORT AC 100V terminals with the at AC100 200 the SHORT AC 200V terminals with the attached short chip ee SHORT AC100V LG terminal SHORT AC200V Grounding of power filter Has half the input potential Terminal screw MELSEC IB NA 66232 A __6 POWER SUPPLY MODULE 2 Part identification of AG2P A65P module Module fixing hook ns n Hook for fixing the module to the base unit POWER LED NEZ LED for indicating 5 VDC power Power fuse and fuse holder 4 A cartridge fuse for AC input power is fixed by the fuse holder Spare fuse for power supply Spare fuse for power supply installed to the rear side of ter minal cover INPUT ACBS 132V ACtT70 26aV 50 60HMz OUTPUT OC 6v 5A DC 24V 0 84 Terminal block For details see below Located under the terminal cover Terminal cover Cover for protection of terminal block Remove during wir
82. dicated for the MELDAS S1 servo driver Pulse chain output 2 axes independent simul taneous 2 axes linear interpolation AD71 32 32 special points AD71S1 32 32 special points For positioning control and velocity control Positioning Pulse chain output 2 axes independent simul AD71S2 taneous 2 axes linear interpolation 32 32 special points The stepping motor may be used in conjunc tion with the AD76 o 48 For positioning control First half AD72 Analog voltage output 0 to 10 VDC 16 vacant points 2 axes independent simultaneous 2 axes linear interpolation Second haif 32 special points AD76 Driver for the stepping motor Used in conjunc 16 16 vacant points tion with the AD71 or the AD71S2 Absolute detection system Resolution Each rotation of the resolver 4096 divisions Response speed 6 ms or less Special func tion module First fait 32 special points Second half 16 vacant points Position detection module A61LS Binary 24 bits 1 2 phase input reversible counter 50 kpps 2 channels 32 32 special points High speed counter Binary 24 bits 1 2 phase input reversible counter 1 phase 10 kpps 2 phases 7 kpps 2 channels A68AD 32 32 special points AB converter ASSAD ADS nag m A 32 sp points A68ADS2 NS GAN PUL v enanss 32 32 s
83. e recorded replayed on max 60 channels 1 2 4 or 8 seconds may be selected per chan nei Total recording time 64 seconds A11VC 16 points output For master or local station Sequence function Program capacity Number of inputs outputs Positioning function Program capacity 13K steps Positioning point about 400 points axis varying with each program 30K steps 2048 A73CPUR21 For master or local station Program capacity Number of inputs outputs A3MCPUR21 ASHCPUR21 ASNCPUR21 For master or local station Program capacity Number of inputs outputs 14K steps 512 1024 points for S1 A2NCPU S1 R21 For master or local station Program capacity A1NCPUR21 Number of inputs outputs For local station Program capacity 7K steps Number of inputs outputs 336 AOJ2CPUR23 AJ72R25 AOJ2CPUR25 For remote i O station For remote I O station For tier 3 master station in three tier system AJ71R22 32 32 special points For master or local station Sequence function Program capacity 30K steps Number of inputs outputs 2048 Positioning function Program capacity 13K steps Positioning point about 400 points axis Varying with each program A73CPUP21 For master or local station Program capacity A3MCPUP21 A3HCPUP21 A3NCPUP21 For master or local station A2NPU S1 P21 Program capacity For master or local station AT
84. ea T C setting area dis Subsequence Main PONS sequence Sub Microcomputer program program ares programs Program area Microcomputer Pl address program area storage area Parameter T C setting area eperetion eut setting Subsequence g range program area Sub Microcomputer programs program area Pl address Unused Could be used as extension file registers Operation resuit storage area RAM area Could be used as extension file registers Sampling trace area me trace area Status Data area latch File File register area area File register area File register area x 1 Unused Unused Could be used as extension file registers Couid be used as extension file registers 1 Can be used as extension file registers if the SWOGHP UTLPC FN1 utility package is used POINT 1 Do not protect the memory before executing sampling trace or status latch This prevents data from being stored in memory 2 Turn OFF switch 10 of SW1 when using the SWOGHP UTLPC FN1 utility package or the SWOGHP MBASC software pack age 8 10 iB NA 66232 A A The connector of battery is disconnected before shipment When power failure compensation is required connect by the following procedure ur uiui dd Ej MELSEC 8 MEMORIES AND MEMORY CASSETTES 8 2 5 Battery installation _ Open the cover of the memory cassette Connector Cable clamp Check that the battery is loaded proper
85. eck that the total length of extension cables is 6 6 m 21 65 ft or Sections 2 1 less through 2 3 Extension cable 10 2 IB NA 66232 A 10 PRE START UP AND TEST PROCEDURES MELSEC 4 10 2 Servo Start up This section describes the servo start up procedure to be followed by the A73CPU and peripheral devices Confirmation or setting mode for peripheral devices 1 The nameplate cannot be seen when the motor is installed on the machine Take note of the motor model number on the nameplate before motor installation 2 Before initially turning on the servo amplifier or servo motor check its performance separately This precaution should be taken to prevent unexpected machine failure or accident 3 The confirmation or setting mode for peripheral devices ap plies when the MR SB is used Confirmation or setting cannot be affected in modes marked with an asterisk when a general purpose servo amplifier is used Servo start up procedure A73CPU and servo power off Check that the A73CPU and the servo are off Check wiring and unit installation 1 Check the loading position and status of each unit 2 Check the loading status of the connector 3 Check terminal screws 4 Check the ground wires from the servo amplifier and other devices 5 Check motor wiring connections U V and W 6 Check regeneration option wiring Card setting che
86. ed in items 1 and 2 are lit i The hardware is faulty i The cable was disconnected during testing ii The cable was broken during testing 10 13 IB NA 66232 A M a 11 MAINTENANCE AND INSPECTION _ MELSEC A 11 MAINTENANCE AND INSPECTION This section describes items for daily and periodic maintenance and inspection in order to maintain the programmable controller in the normal and best conditions 11 1 Daily Inspection Table 11 1 shows the inspection items which are to be checked daily Table 11 1 a E EN ME Check Check tem Check Point Point Judgmm e Corrective Action Action ef unit mounting condi Check for loose mount The base unit should Retighten screws tions ing screws and cover be securely mounted Mounting conditions of VO Check if the module is The hook should be Securely engage module etc disengaged or the securely engaged and the hook hook is securely the module should be engaged positively mounted Check for loose ter Screws should not be Retighten terminal minal screws loose screws Check distance be Proper clearance Correct tween solderless ter should be provided be Connecting conditions minais tween solderless ter minals Check connectors of Connections should Retighten connec extension cable not be loose tor mounting screws POWER LED Check that the LED is On Off indicates an See Section on error 1
87. efore it is recommended to change the fuse peri odically 11 4 1 Replacement of fuse for power supply The fuse changing procedure is explained Fuse change Turn off the PC power supply Remove the fuse holder of power supply module by turning it with a flat biade E screwdriver Power supply module Remove the fuse from the fuse holder Load the spare fuse which is supplied at the rear side of terminal cover in the power supply module to the fuse holder Load the fuse holder to the power supp ly module Turn on the PC power supply Fuse holder Does the POWER LED turn on bs YES Complete Refer to Section 12 2 2 Flow chart used when POWER LED has turned off SSS A T IB NA 66232 A 11 MAINTENANCE AND INSPECTION _ MELSEC AA 11 4 2 Replacement of fuse for output module Turn off the external power of output side Turn off the PC power supply Remove the output module from the base unit Fuse Remove the fuse from the fuse socket Load a new fuse such as the attached spare fuse to the fuse socket install the output module to the base unit Turn on the external power of output side Turn on the PC power supply Fuse socket Output module Example AY22 Move the RUN STOP switch of CPU to the RUN position ON Check ON bits with special registers Monitor M9000 to check ON OFF D9100 to D9107 and check the cor r
88. ently Check rush current under the mek satin a i ce al ON current mum load simultaneous ON condi loads to within the specifications tion OK If the input signal or load is not switched off see Section 12 4 12 6 IB NA 66232 A 12 TROUBLESHOOTING MELSEC AA 12 2 6 Malfunction in program down load to PC The flow chart below shows the procedure for when a program cannot be written to the CPU YES Can program be written RESET the CPU Can program be written Switch off memory protect M PRO off Can program be written RUN key switch ON or OFF ts memory type RAM or ROM Change to RAM memory Pie is RAM correctly loaded Load RAM correctly NN Can program be written ls RAM ROM switch jumper correctly set Can program be written Change the memory RAM EEPROM or memory cassette Can program be written NO Consult Mitsubishi representative 12 7 IB NA 56232 A 12 TROUBLESHOOTING MELSEC 4 12 3 1 0 Connection Troubleshooting This section explains possible problems with 1 0 circuits 12 3 1 Input wiring troubleshooting This section describes possible problems with the input circuit and corrective actions Table 12 1 input Circuit Troubles and Corrective Actions Ex Leakage current of input switch Connect an appropriate register which such as drive by non contact switch will make the voltage acr
89. ents of the program and power failure compensation are not lost immediately However if the ON state is overlooked the PC contents may be lost Special auxiliary relays M9006 and M9007 are switched on to indicate that the battery life has reduced to the time minimum indicated in Table 11 3 and it must be replaced if continued power failure RAM and or data back up is required The following sections gives the battery service life and the battery changing procedure 11 3 1 Service life of battery This service life of the battery depends on the capacity of the memory Table 11 3 shows service life according to memory Table 11 3 Battery Life Battery Life Battery Life Total power failure time Hr Guaranteed Value Actually RES Value After M9006 M9007 Memory Cassette Type Min Typ has turned on mma o9 cem o ome o9 099 o omma 09e o9 o mee om o9 o O mos PE REN RN The actually applied value indicates atypical value and the guaranteed value indicates the minimum value Preventive maintenance is as described below 1 Even if the total power failure time is less than the guaranteed value in the above table change the battery after four to five years 2 When the total power failure time has exceeded the guaranteed value in the above table and M9006 has turned on change the battery 11 3 IB NA 66232 4 11 MAINTENANCE AND INSPECTION MELSEC 4 11 3 2 Battery changing procedure
90. er A system design circuit example based on the above concept is shown on the following page IB NA 66232 A 9 LOADING AND INSTALLATION MELSEC A Power Power ALAC AC CR Input switched when power supply established Run stop circuit Battery low alarm A Output module run monitor relay MC MC E switched off when stop signal given emergency stop or limit stop a aae um interlock circuit as necessary Add an external interelock for reversible rotations and parts which could lead to injury or machine damage The start up procedure is as follows For AC Switch on power Set CPU to RUN Switch on the start switch When the magnetic contactor MC comes in output equipment is powered and may be driven from the program 1 2 3 4 1 2 3 4 S 6 RA1 switched on by M9039 x Power to output equipment pm bn Mixed AC and DC Transformer Transformer SE RH supply M9039 i Yn E Set time for DC interlocked with RA1 XM power supply to run monitor relay TM TM 7 be established MC NOMIOM NO 10 Start SW tn Program MC Stop SW Voltage relay is recommended Output module C On when run D UE by M9039 Ia an CO Output module e MC hes Power to output equipment switched off when stop signal given emergency stop or limit stop For AC DC Switch on power Set
91. er than ground if LG terminals and FG terminals are connected without grounding the wires the PC may be susceptible to noise Also since the LG ter mina has half the potential of the input voltage the operator may get an electric shock if he touches it 3 Make sure that the power to the main base A74B and exten sion base A65B A68B power supply modules the A68P power supply modules and the A6MD remains the same 4 Ground terminal FG of the AGMD IB NA 66232 A 9 LOADING AND INSTALLATION MELSEC 4 9 7 Grounding the A70SF MR SB Cable with Cable Clamps The cable MR BUS M connecting the A70SA with the MR SB must be grounded with the cable clamp supplied with the A7OSF provided on the A70SF side Using the cable clamp ground the cable according to the procedure described below Install the cable clamp A under the A7OSF js Fix the cabie clamp A with 2 M4 screws Strip the cable portion that makes contact with Strip the cable portion about 35 mm 1 38 in coming the clamp so that the cable shield is exposed into contact with the cable clamp Shield About 35 mm 1 38 in instali the cabie clamp B to the cable clamp A using the M3 screws supplied Press the shield against the cable clamp A by installing the cable clamp B and fasten the clamp with screws Complete A61P A73CPU A 70SF MR BUS M for axes 1 through 4 MR BUS JM for axes 5 through 8 eF
92. esponding output modules OFF Complete 11 6 B NA 68232 A 12 TROUBLESHOOTING MELSEC AA 12 TROUBLESHOOTING This section describes various procedures for establishing the nature of any faults and corrective action 12 1 Basic Troubleshooting System reliability depends not only on reliable equipment but also on short down time in the event of faults The basic points to be kept in mind in troubleshooting are the following three 1 Visual checks Check the following points a Machine motions in stop and operating statuses b ON or OFF of power c Status of 1 0 equipment d Conditions of wiring I O wires cables e Display states of various indicators such as POWER LED RUN LED and I O LED f States of various setting switches such as extension base and power failure compensation After checking a to f connect the peripheral device and check the running status of PC and the contents of program 2 Trouble check Observe any changes in the error condition with the following procedure a Set the RUN key switch to the STOP position b Perform reset by the RESET key switch c Turn the power on and off 3 Narrow down the possible causes of the trouble Deduce where the fault lies i e a Inside or outside of PC b 1 0 module or another module c Sequence program 12 1 IB NA 66232 A ana mana e ene mem 12 TROUBLESHOOTING MELSEC A 12 2 Trouble
93. hould be as near to the PC as possible to minimize the distance of the grounding cable e Should incorrect operation occur due to grounding discon nect one or both of the LG and FG terminals of the base unit from the ground 9 LOADING AND INSTALLATION MELSEC 4 9 6 2 Wiring to terminals This section explains the wiring of power lines and grounding lines to the CPU module and power supply module DI y i m a 4 For transformer selection see Section 9 6 1 c ca t om c Main base A74B A 3CPU A O0SF LOC OC a D wt ee t U i i LI i 24 VDC supply to I O modules i t A6MO Y l t t 4 t LI Extension cable 0 4 ge VA eae ae Extension base A68B Ground 9 17 IB NA 66232 A 9 LOADING AND INSTALLATION MELSEC 4 Extension base A88B A O0MOF A OAF DETTES CSD OO OO Extension cable i Ground For plasma display 2 For touch panel operation panel 1 Use the thickest possible max 2 mm 14 AWG wires for the 100 V 200 VAC and 24 VDC power cables Be sure to twist these wires starting at the connection terminals To prevent shortcircuit should any screws become loose use solderless terminals with insulation sleeves When the LG terminals and FG terminals are connected be sure to ground the wires Do not connect the LG terminals and FG terminals to anything oth
94. in this manual or a general purpose servo amplifier is used When an MR SB servo amplifier is used The A73CPU and the MR SB are connected by a digital bus RS 485 via the servo interface unit referred to as the A70SF in this manual This connection enables MR SB status monitoring and servo diagnosis position loop gain velocity loop gain check in addition to high speed and high precision positioning control MR SB servo amplifier Command data position gear Control command Monitor data Accumulated pulse Servo motor control 1 Position control 2 Velocity control amplifier Control command tc command to servo Control status monitoring Input signal from external sources STOP stop signal FLS upper limit signal 3 Current control 4 inverter RLS lower limit signal DOG CHANGE near zero point dog velocity position switching signal EMG emergency signal Fig 1 2 Outline of the Operation Performed When an MR SB Is Used 1 Explanation of Operation a The SCPU requests the PCPU to start the servo program specified by a sequence program b The PCPU executes the servo program specified by the SCPU and causes the A70SF to output the command position data to the MR SB via the digital bus At all times it monitors the monitor data from the MR SB error counter value actual position data relative to command posi tion data error information etc and controls the command
95. ing Install after wiring Module fixing screw mounting hole D Allows fixing the module with a screw in addition to the module fixing hook For M4 SeN Terminal details Power input terminals _ Power input terminals to which AC power of 100 VAC or 200 PARE NE VAC is connected ed Applied voltage select terminals Terminals for selecting applied voltage Use 100 VAC or _ 200 VAC as described below When 100 VAC is input con A c necttogether the SHORT AC 100V terminals with the at peor tached short chip When 200 VAC is input connect together 2 the SHORT ud 200V terminals with the attached short chip LG terminal rusa stort aco a Grounding power filter Has half the input potential own ac d FG terminal Ic LG Connection t terminal connected to the shielding pattern on tonem HO FG printed circuit board we AD amp csv 24 VDC 24 GDC terminals ef ed uP ut 169 ocac For supply to output module which requires 24 V inside the module Supplied to the module via external wiring Terminal screw ieu c M4 x0 7 x6 IB NA 66232 A 6 POWER SUPPLY MODULE Terminal cover is Power input terminals for 24 VDC The power fuse will be 8 Part identification of A63P module Module fixing hook Hook for fixing the module to the base unit POWER LED L
96. ing the negative voltage When feedback pulse phases A and B are reversed both the command pulses and the feedback pulses are counted resulting in excessive errors in the number of accumulated pulses In that event control will be discon tinued Feedback pulse with phase A advancing by 90 Feedback pulse with phase B advancing by 90 Phase A PhaeA TJT LI LIJI LI b Command pulse and feedback pulse counting processes are changed in the following cases 1 Setting rotation direction by a peripheral device Rotation direction of the motor and the positive and negative counting processes are changed 2 The rotation direction of the motor and the encoder are different The feedback pulse phases are reversed since the en coder rotates in reverse when the motor is rotating IB NA 66232 5 POSITIONING UNITS MELSEC A4 c Table 5 indicates the rotation direction set by a peripheral device and the connection method that depends on the dif ference in the motor and the encoder rotation direction Table 5 8 indicates the case when the motor rotates forward at the positive voltage applied to the servo amplifier while the motor and the encoder are rotating as illustrated below Assume that encoder feed back pulse phase A advances O e ahead of phase B by 90 when it is rotating forward Forward Reverse Forward Reverse direction direction direction direction Servo moto Table 5
97. ion L Local station R Remote station o Indicates that it is usable ER E d Applicable System ER E d E ZT Data Link Optical Data Link Computer Remarks svoe Javo manu e fM a NS E c ENS be arranged separately ele aked RE Cable clamp sup plied IT Ex two memory sockets A3NMCA 0 can be loaded with IC RAM or EP ROM memory ASNMCA 2 to 56 can be loaded with only EP ROM memory 0 06 A 06 0 06 A EEE ona oea ona oxen oen 2 18 IB NA 66232 4 2 SYSTEM CONFIGURATION MELSEC AA Table 2 1 List of Equipment Continued 16 points 12 24 VDC source loading Occupied Points VO assignment oC NG IB NA 66232 A 2 SYSTEM CONFIGURATION MELSEC A Current um a st baal EE oe a e Ja a e a EU The maximum parameter setting range of the memory cassette A3NMCA 16 is 96K bytes For details see Section 8 1 1 The unused memory area of this memory cassette may be used as extension file registers by using the SW GHP UTLP FN1 The maximum parameter setting range of the memory casset tes ASNMCA 24 40 and 56 is 144K bytes For details see Section 8 1 1 a A memory area of more than 114 KB can be used as an extension file register using the SW GHP UTLP FN1 3 Any conventional dt cassette AS3MCA without N can be used IB NA 66232 2 SYSTEM CONFIGURATION MELSE CA Tabie 2 1 Li
98. it 5 2 52 1 JSpeciicallolts ooo p de e nS QE RR MEAS OP oS aha aids 5 2 522 TParttigdenificallol i vae cae a OOo CO eC de va eae eR RUE BAR NT 5 3 5 2 3 Interface with external device 5 5 5 3 A7OMDF Monitor Display Unit 0 ccc ec cece 4 5 7 Sg SDECIICAUIONS ooo aee E EE La anew da et NIHU Pad 5 7 5 92 PartidenuncalioD ics csiee vor UU REI UAR eS Eu s bct mede ACIER aeons 5 8 IB NA 66232 A Soc Edena WINN uo oa P ne COPA ET aa eek Dae deae abba Ced Bd ads 5 9 5 4 A7OAF General Purpose Servo Analog Interface Unit 5 13 5 4 1 SOGCHICAIONS ok octo NORIS Vie A R a eee duce bu eee 5 13 S42 Part IOONIICAION usi ac heel ae has ce FFAS Ee Gases 68 5 14 5 49 LEUMEN c 5 ad tre S CHEN CAE Reap ox t a a oi d cd 5 15 5 4 4 input output interface with an external device 5 17 DAS SOUS uxo dites ini aile ali buts ied aai on 5 19 5 46 WINING connections vss vesc oor qon P CE BUR TIUS a eines 5 24 POWER SUPPLY MODULE sin Gee PR ties eee ce TRENT T Sa e arido 6 1 6 10 6 1 Power Supply Module Specifications 6 1 6 1 1 Power supply module specifications 6 1 6 1 2 Selection of power supply module 6 3 0 1 9 FUSE SPECIICAUONS s ss air sus tes didier Moe OUR Rebate ae ge 6 4 B 2 PSD
99. le AC12B 1200 mm 47 24 in long ie use between ase unit AC30B 3000 mm 118 11 in long C2 2 SSS S00 IB NA 66232 A 2 SYSTEM CONFIGURATION MELSEC 4 Current System Applicable System Consumption E Coaxial Data Link LENS UTR Link Computer Remarks ree pe a pa mn Etre E Only one module 1 9A may be used with one local station Up to two of any modules may be used with one CPU When the AJ71C21 S1 is used in the se quence mode 0 8 A selected by the pro gram mode switch no limitations are 0 8 A placed on the num ber of the units used Only one module may be used with one CPU With 16 simulation EN a a power EN a module 2 28 iB NA 68232 2 SYSTEM CONFIGURATION MELSEC AA Table 2 1 List of Equipment Continued A6SW16 16 points simulation switch Simulation ated switch Simulation awin EE 32 points simulation switch Fuse for AY22 HP 70K Plug type 7 Fuse for AY23 HP 32 Plug type 3 2 A Fuse for Fuse for AY60 MP 32 Plug type 3 2 A Fuse for dad RER GTH 4 Cartridge type 4 A Occupied Points I O assignment IB NA 66232 A 2 SYSTEM CONFIGURATION MELSEC A Current System Applicabie System Consumption Used inde Coaxial Te Link ene ZEE Link Computer Remarks Used with an input module IB NA 6623 2 SYSTEM CONFIGURATION MELSEC Intelligent GPP
100. ling the base unit between unpacking and installation 1 The base unit terminal and pin connectors are made of plastic Do not drop nor give intense shocks to the unit 2 Do not remove printed circuit boards from the housing There are no user serviceable parts on the boards 3 Ensure that no conductive debris can enter the module If it does make sure that it is removed Guard particularly against wire offcuts 4 Tighten the module mounting screws if required and terminal screws as specified below Tightening Torque kg cm Ib in Module terminal block installation screws M4 10 8 66 to 14 12 13 Module mounting screws optional M4 8 6 93 to 12 10 39 7 BASE UNIT AND EXTENSION CABLE 7 2 2 Part identification This section describes the parts of the base unit 1 Main base unit A74B Guide hole for base installation Pear shaped hole for mounting this base unit to the panel of etc For M5 screw Extension connector for the SCPU This connector is connected to the SCPU extension base unit for signal transmission purposes The exten sion cable ACT B is used to make the connection Module fixing hole Cut out to accept projection and hook at rear of modules contro box Module connectors For loading the A61P A73CPU A7OSF A7OMDF and AY42 Load the blind cap or blank cover AG60 or dummy module AG62 to vacant connectors in order to
101. lock correctly set Input Output Module User s Manual 10 1 IB NA 88232 A 10 PRE START UP AND TEST PROCEDURES MELSEC A Main base unit 1 Check that the type of the main base unit used is correct the Sections 2 1 A73CPU can only be loaded on the A74B through 2 3 2 Check that the unit loaded is correct 2 Check that the unit loaded is correct that the unit loaded is correct 3 Check that the loading order is correct 4 Check that the unit is securely loaded Section 9 5 1 Check that the extension base unit is correct only the A65B A68B Sections 2 1 can be connected to the A74B through 2 3 2 Check that the unit loaded is correct Section 2 6 3 Check if the total number of input output points on the input output module and the special function module exceeds the number of input output points of the CPU module Sections 7 2 3 and 7 2 4 Extension base unit 4 Extension stage number setting a Check that the number is set b Check that the same number is set c Check that one base unit is used to affect two or more settings 5 Check that the unit is securely loaded R 1 Check that the extension cable connector is correctly connected to Section 7 1 2 the base unit connector 2 Check that the extension cable connector is correctly positioned Section 7 2 2 3 Ch
102. lowing condition will exist a The axis number which is set at the same time by two MR SB amplifiers or by two A7OAF interfaces will not function b When the axis number set by the MR SB is the same as that set by the general purpose servo amplifier the servo amplifier that has been set with parameters will function 10 8 IB NA 66232 A 10 PRE START UP AND TEST PROCEDURES MELSE CA 10 4 Servo Diagnosis The term servo diagnosis means checking at the peripheral device whether the velocity and position loop gain values are optimum to the load connected to the servo motor Servo diagnosis can only be performed when the MR SB servo amplifier is in use 1 Velocity loop gain check a During velocity loop gain check the responsibility and stability of the servo motor are diagnosed by checking the settling time response time and the amount of overshoot which are measured when the motor rotates 1 6 turns in response to the number of revolutions 200 rpm command from the A73CPU Number of revolutions Amount of over shoot Setting time nu 1 The amount of overshoot is determined by the following equation Amount of overshoot um numberof revolutions 200 x 100 96 2 Here settling time means the time taken for the number of revolutions to reach 200 rpm 10 rpm Fig 10 2 Velocity Loop Gain Check LS IB NA 66232 A 10 PRE START UP AND TEST PROCEDURES MELSEC A 2 P
103. ly Insert the connector which is installed to the battery into the connector CON on the printed circuit board making sure of correct direction i i t I i i Le n Complete The connector of the battery has been disconnected in order to prevent discharging of the battery during transportation and storage Couple the connector before use IB NA 66232 A MEMO IB NA 68232 A 9 LOADING AND INSTALLATION MELSEC 4 9 9 1 9 1 1 LOADING AND INSTALLATION This section describes the loading and installation procedures and instructions for maximum reliability of the system Consideration for Safety Consideration for safety When the power of system is turned on or off process output may not temporarily perform normal operation due to the difference between the delay time and rise time of the power supply of programmable controller main unit and the external power supply especially DC for the process Also at the time of an error of the external power supply output process may possibly make an erroneous operation In order to prevent the aforementioned erroneous operations from resulting in an erroneous operation of the entire system and also for safety reasons constitute circuits such as emergency stop circuit protection circuit and interlock circuit that prevent machine damage and or accident due to erroneous operation outside the program mable controll
104. module correctly the base Does POWER LED turn on Overcurrent or overvoltage protection device activated 1 Eliminate the excess current 2 Switch the input power off then on Does POWER LED turn on Consult Mitsubishi representative 12 3 IB NA 66232 A __12 TROUBLESHOOTING MELSE CA 12 2 3 Flow chart used when RUN LED has turned off The flow chart below shows the procedure for when the RUN LED turns off during operation RUN LED has turned off is an error indicated on the peripheral device YES Take corrective action according to the error code list NO RUN LED turns on RESET the CPU 1 Due to failure of PC parts of bad contact 2 Due to excessive noise RUN LED remains off In case of 1 In case of 2 Consult Mitsubishi representative RUN LED does not turn on Move the RUN STOP switch on CPU module to STOP and write END to address 0 with the peripheral device Move the RUN STOP switch to RUN RUN LED turns on Check program with programmer Connect noise suppression circuit and correct the program such as CR to noise source IB NA 66232 A 12 TROUBLESHOOTING MELSEC 4 12 2 4 Flow chart used when RUN LED flickers The flow chart below shows the procedure for when the RUN LED flickers when the power is turned on when operation is started or during operation RUN
105. n the servo amplifier i is not started with the power switch set at OFF or on other occasions 2 SD RD LED em A7OSA and MR SB transmission status LED indicator LK unu c la SD sending T gt p RD receiving SIF1 corresponds to connector 1 ie the MR SB and SIF2 corresponds to connector 2 for the MR SB SCPU WDT LED 1 Lights when an error is detected rough eof diagnosis 4 MPG LED Indicator Indicates the status of input from MPGs 1 through 3 P1 through P3 The LED that corresponds to the phase phase A phase B receiving the input from the MPG lights 5 MR SB connector 1 Connector for A7OSF axes 1 to 4 and the MR SB An MCP AMP cable CAM1 1 is used to connect the A7OSF and the MR SB 6 MR SB servo amplifier con Connector for A70SF axes 5 to 8 and the MR SB nector 2 An MCP AMP cable CAM11 is used to connect the A70SF and the MR SB SIF ERR LED 1 Lights when a servo amplifier error is detected EMG LED 1 Indicates the emergency stop signal input status 2 Remains lit while the emergency stop input remains on 1B NA 66232 A 5 POSITIONING UNITS MELSEC Al Input LED 1 Indicates the FLS RLS STP and DOG input status of each axis a FLS Upper limit b RLS Lower limit c STOP Stop signal d DOG Near zero point dog velocity position switching signal Input terminal block Terminal block for inputting FLS RLS STP and DOG of each axis MPG
106. nd increment methods mixed Program About 400 points axis varies with the program Indirect designation of positioning data enabled The command unit is selected for each axis from the following units Non absolute value system absolute value Non absolute value system Absolute value system value Absolute value system Control Command unit unit Setting Maximum 1 196596000 to 196596000 to 196596000 FT cora R Ei a to 196596000 31 degree 2 1 360 degrees 0 to 0to35999999 puse pulse 4294957296 96596000 to 196596000 0 01 to 6000000 00 mm min 0 001 to 600000 000 inches min 0 001 to 600000 000 degrees min 1 to 1000000 pulses sec Automatic trapezoidal acceleration and deceleration deceleration Acceleration time 1 to 65535 ms process Deceleration time 1 to 65535 ms Electronic 0 to 65535 x position command unit the unit is converted to pulses O to 255 pul Com gear ses pensa tion Backlash Actual travel distance error compensation function relative to the command data Position command Position ing Velocity command Acceleration IB NA 66232 A 4 CPU MODULE MELSEC Table 4 1 PCPU Performance Specifications List Continued Non absolute value system Switched between near zero point dog and
107. nd testing Cable for connection of CPU and length program ming A6GPP Equipped with ROM writer FDD Cable for connection of CPU and AC3OR4 AGPHP 3 m 9 84 ft length j displa Program f ming Plasma Jp unit with handy a ete programmer W GP GPPA IA series system disk isplay Plasma display operation key touch key and Connectable to the A7OMDF and the AD57S2 A6GPP A6HGP A6PHP 30 m 98 4 AC30R4 sei ro RS 422 acm cable A 2 SYSTEM CONFIGURATION mE MELSEC AA Unit For program ming unit with CRT ming unit Program Table 2 2 Peripheral Device List Continued Current one Type Consumption Remarks 5 VDC 24 VDC Software TU Servo programming and monitoring darc a Data storage and printout Ro Usable for the A6GPP ASPHP A6PRE Printer ASPRE For print out of program ladder diagrams and lists RS 232C AC30R2 Cable for connection of AGGPP AGHGP A6HGP and cable printer 3 m 9 84 ft length Printer K6PR Y Paper for KGPRE 9 inch Available in units of paper aper for 9inch Available in units of 2000 K6PR K i Ink ribbon K6PR R Pe fe Replacement ink ribbon for AGPRE Connected to the CPU directly or via cable to read Program A7PU 03 and write programs Equipped with MT function ming unit The A7PU is supplied with a cable for connection of the A7PU and audio cassette recorder RS 422 ACSOR4 Cable for connection of CPU and A7PU 3
108. ned on when the near zero supply to be used point dog is detected HIGH level 3 5 VDC or more 1 2 mA or more LOW level 1 5 VDC or less 0 3 mA or less Supply power 5 to 24 VDC 4 75 to 25 4 VDC stabilized power supply to be used HIGH level 3 5 VDC or more 1 2 mA or more LOW level 1 5 VDC or less 0 3 mA or less Output format Open collector system OFF signal is delivered when an error is exaggerated Max voltage drop in ON 1 0 V or less or generated during hardware self diagnosis Load voltage 4 75 to 26 4 VDC Leakage current in OFF 0 1 mA or less Load current 30 mA max Turned on when the servo drive unit is normal and ready to receive the feed pulse Output voltage 0 to 10 VDC 10 mA The number of accumulated pulses is D A converted and delivered as an analog amount Pulse frequency 100 KPPS or less Connected to the encoder pulse output Use an RS 422 differential receiver Use a SN75113 driver or equivalent Pulse frequency 100 Kpps or less Internally pulled up to 12 V when the collector is open Pulse rise time 1 usec or less Pulse fall time 1 usec or less Connected to the encoder pulse output HIGH level 4 V or more LOW level 1 V or more Pulse frequency 100 Kpps or more Connected to the encoder pulse output HIGH level 2 8 V or more LOW level 0 8 V or more 15 VDC 0 3 714 55 to 415 45 VDC 200 mA Use the A68P power supply unit or a stabilized 15
109. not operate No setting The short chip is not installed No error occurs in the module However the CPU does not operate IB NA 66232 7 BASE UNIT AND EXTENSION CABLE MELSEC 4 7 BASE UNIT AND EXTENSION CABLE 7 1 Base Unit and Extension Cable Specifications This section describes the specifications of the main and extension base units and the extension cable used in this system 7 1 1 Specifications of the base units 7 1 2 Extension cable Table 7 1 Base Unit Specifications Loaded 1 0 4 can be loaded 5 can be loaded Installation hole size External dimen 382 15 04 x 250 352 13 86 x 250 480 18 90 x 250 sions mm PTE 9 84 x 29 1 14 9 84 x 29 1 14 9 84 x 29 1 14 weightage 565 14 08 6 mm 0 24 in dia pear shaped hole for M5 screw Table 7 2 Extension Cable Specifications Resistance value of 5 VDC supply 0 028 line Q at 55 C Application For connection between main base and extension base and between extension bases Weight kg ib 0 34 0 75 0 52 1 14 1 06 2 33 The A55B or A58B extension base unit cannot be connected to the A74B 7 4 B NA 66232 A 7 BASE UNIT AND EXTENSION CABLE MELSEC A 7 2 Handling This section describes handling instruction PC part identification and hardware setting instructions 7 2 4 Handling instructions This section describes precautions regarding hand
110. ntroller CPU CPU R W Lit at forward loop receiving error time Not used Always off Q O O O QO O O lo of O Or O O O O Oo O O O O ue OO oO Oo O O JO OF Lit at reverse loop receiving error time Not used Always off 10 Displays the number Displays the number of of tens of station num a of station number in ber in BCD ABT Not used Always off STATION NO Station number setting switches Set station numbers OO to 64 Set the number of tens of station number to X10 Set the number of units of station number to X1 When the station is used as a master station set 00 When the station is used as a local station set 01 to 64 IB NA 66232 A TM S Mn a RR TNI NEN UNS or e ee PE re ene reg Cee E I Ny I DT fe de LL EE 4 CPU MODULE MELSEC A Mode select switch By switching mode the following functions are available m Automatic return set during normal opera tion Automatic return not set during normal operation 2 Offline Disconnect host station s Test mode 1 Forward looptest 4 Test mode 2 Reverse oopte s Test mode 3 Station to station test main station 6 Test mode 4 Station te station test subordinate station Ls jNetwed SS es Neued 7A net ore B Netusable cer Ntued Optical fiber cable connector Connect the cable as
111. o the MR SB servo amplifier and fetching signals upper and lower limit switch input stop signal etc from external sources 2 A7OMDF Interface unit to be connected to the A6MD monitor display unit 3 A7OAF Interface unit to be connected with the general pur pose servo amplifier 4 AYa2 For delivering limit switch output For the specifications see the Building Block Input Output Module User s Manual Handling Precautions This section describes the precautions to be taken when the positioning unit see Sections 5 2 through 5 4 is unpacked and in stalled 1 Do not subject the module memory cassette terminal block connector and pin connector to impact or shock 2 Do not remove printed circuit boards from the housing There are no user serviceable parts on the boards 3 Ensure that no conductive debris can enter the module If it does make sure that it is removed Guard particularly against wire offcuts 4 Tighten the module mounting and terminal screws as specified below Tightening Torque kg cm ib in Module terminal block installation screws M4 10 8 66 to 14 12 13 Module mounting screws optional M4 8 6 93 to 12 10 39 5 To load the module ont the base hook the tow lower lugs into the cut out and gently swing the module into place Ensure that the top catch engages To remove press the top catch and swing the module out before unhooking the lower lugs See Section 9 5
112. oad of output module does not turn on 12 6 12 2 6 Malfunction in program down load to PC 12 7 IB NA 66232 A 12 3 1 0 Connection Troubleshooting mE 12 8 12 3 1 input wiring troubleshooting 12 8 12 3 2 Output circuit problems and corrective action 12 10 APPENDICES ed den nids raie RS diet at vanes APP 1 APP 12 APPENDIX 1 Dimensions 1 122 His PRESA RUE RUP NTI ir EONU NERO CI APP 1 IB NA 66232 A 1 INTRODUCTION MELSE CA 1 INTRODUCTION This instruction manual describes the items related to the hardware such as system configuration components handling precautions and related units required for positioning control with the A73CPU P21 R21 multi axis controller unit The A73CPU is the CPU incorporating a positioning control CPU referred to as the PCPU in this manual and a sequence control CPU referred to as the SCPU in this manual a The PCPU monitors positioning control based on the servo program and the control status of the servo amplifier b The SCPU performs sequence control the same as the ASNCPU servo program start up manual pulse generator MPG operation enabling JOG operation etc Peripheral device Program and data A73CPU Control function aee PPA A6PHP GPPA cil 1 Sequence contro 2 Servo program start up 3 MPG operation enabling
113. olute vaiue system Extension base connectable to the A74B a Either the A65B or the A68B can be connected to the A74B b Up to the following number of extension base stages can be connected to the A74B For the PCPU Only one stage of this base can be connected for load ing the A7OAF interface unit for the general purpose servo amplifier Units other than the A70AF cannot be used for the PCPU extension base Set the extension stage number setting switch to 1 For the setting method see Section 7 2 4 Some of the ASMD monitor display functions cannot be performed when a general purpose servo amplifier is connected Example Monitor mode Servo monitor Testing mode Servo start up Servo diagnosis position loop gain velocity loop gain check For further details see the A6MD Operating Manual IB NA 66235 IMPORTANT As long as 15 VDC remains at the A7OAF terminal block the analog voltage velocity command to the servo amplifier can be delivered even when the PC power is turned off When the A73CPU is turned off the A7OAF SVON signal see Section 5 4 3 is turned off When the servo amplifier of which control can be stopped in response to the SVON signal is used always connect the SVON signal from the servo amplifier to the A7OAF When the servo amplifier of which control cannot be stopped in response to the SVON signal is to be used take the following precautions When the PC is
114. oop data flow Coaxial cable Forward ioop data flow Reverse loop data flow Fig 10 4 Self loopback Test 2 Testing method The self loopback test procedure is given below Start Connect the fiber optic cable coaxial cable as shown in Fig 10 1 1 8 Set the A73CPU switch to STOP Set the mode select switch to 7 Self loopback test is selected Cond H loopback test Conduct self loopback test o about 7 sec after reset Determine self loopback test results based on LED indication 10 12 IB NA 66232 A 10 PRE START UP AND TEST PROCEDURES MELSEC A 3 Judgment on test results The test results are indicated by the LEDs on the A73CPUP21 R21 front panel a When the results are normal The CRC OVER AB IF TIME DATA and UNDER LEDs suc cessively turn on and off b When the results are abnormal The LED indicating the error in question lights and the test is discontinued 1 When the F LOOP R LOOP and TIME LEDs are lit i The forward loop cable is broken ii The forward loop send side and receive side are not connected iii The forward loop send side is connected with the reverse loop send side and the reverse loop receive side is connected with the forward loop receive side 2 When the F LOOP R LOOP and DATA LEDs are lit i The reverse loop cable is broken ii The reverse loop send side and receive side are not connected 3 When the ERROR LEDs other than those mention
115. or display interface unit A70MDF e Output module limit switch output AY42 General purpose servo amplifier connections On a one to one basis connect the general purpose servo amplifier to the A7OAF which is loaded on the extension base unit A65B or A68B connected to the PCPU extension connector The general purpose servo amplifier is capable of controlling up to 8 axes When the A7OAF is used it is necessary to supply 15 VDC from the external power source 1 When a general purpose servo amplifier is used connect the near zero point signal to the A70AF Connect the following external signals to the A7OSF a STOP Stop signal b FLS Upper limit switch signal c RLS Lower limit switch signal d DOG CHANGE Used as the velocity position switching Make external wiring connections for the following signals to be connected to the A70SF Positioning control is disabled unless the signal is off at high level a STOP Stop signal b FLS Upper limit switch signal c RLS Lower limit switch signal When a general purpose servo amplifier is used EMG emer gency stop signal from the A7OSF is ignored Request general purpose servo amplifier emergency stop from the general purpose servo amplifier IB NA 66232 A 2 SYSTEM CONFIGURATION MELSEC 4 4 5 6 Absolute system disallowed The general purpose servo amplifier is not capable of positioning control in the abs
116. osition loop gain check During the position loop gain check the responsibility and stability ofthe servo motor are diagnosed by checking the amount of undershoot feedback in response to the positioning command from the A73CPU settling time response time and vibration width number of pulses accumulated in the error counter Positioning command from the A73CPU Value feedback from the servo motor Number of Amount of undershoot l revolutions Value feedback from the moter t i Vibration width The amount of undershoot is determined by the following equation Max number of revolutions in reverse from stop Amount of undershoot 100 Here settling time means the elapsed time in ms from the moment the command value reaches zero to the moment the motor comes to a stop The vibration width indicates the number of accumulated pulses Fig 10 3 Position Loop Gain Check 10 10 IB NA 66232 A 10 PRE START UP AND TEST PROCEDURES MELSEC AA 10 5 Self diagnosis 1 In self diagnosis the A73CPUP21 R21 hardware fiber optic cable and coaxial cable are checked for broken wires Any of the following checks can be selected by changing the mode select switch position Switch In this mode the fiber optic cable or coaxial cable line of the entire data link system is checked The forward loop side on which normal linking is per formed is checked Forward loop test mode
117. oss terminals of input module lower than OFF voltage value AC input AC input Input sig nee C nal does Input Input module not turn off Leakage current P i module Power supply It is recommended to use 0 1 to 0 47 uF 47 to 12 Q 1 2 W for the constant of CR Drive by a limit switch with neon lamp Same as Example 1 Or make up another independent dis AC input play circuit Input sig nal does not turn off Power supply Leakage current due to line capacity of Same as Example 1 wiring cable Line capacity C of twisted However leakage current is not pair wire is approx 100 PF m 39 37 in generated when power supply is lo cated on the input equipment side as shown below AC input AC input Input sig Leakage current nal does not turn off Input Input module module Power supply Drive by switch with LED indicator Connect a resistor which will make the voltage across input unit terminal and common higher than OFF voltage as shown below DC input sink Input sig OC input sink cna nal does Resistor not turn off Input module Leakage current Input module The calculation example of connected resistor value is shown on the following page 12 8 IB NA 66232 A 12 TROUBLESHOOTING MELSEC 4 Table 12 1 Input Circuit Troubles and Corrective Actions Continued Ex in Sneak path due to the use of two power Use only one power supply supplies Connect a sneak path
118. ounted securely and positively Retighten screws For CPU I O and power supply modules check ail connections Looseness play Mount ing con ditions There should be Remove and clean Try to move the unit no dust or foreign material in the Visual check vicinity of the P C Retighten Connectors Retighten should not be loose Visual check Proper clearance Correct should be provided between solderless ter minals Loose connector Visual check specified service life Battery Check battery status by monitoring spe cial auxiliary relays M9006 and M9007 Replace battery if necessary is exceeded Fuse Check fuses Preventive main Change the fuse peri tenance odically due to rush current Adhesion of dust or foreign material Loose terminal screws Distances be tween solderless terminals Connect ing con ditions Connectors should not be loose Retighten connector mounting screws Preventive main tenance If battery capacity reduction is not indi cated change the battery when 11 2 IB NA 66232 A 11 MAINTENANCE AND INSPECTION _ MELSEC 4 11 3 Replacement of Battery M9006 or M9007 turns on when the voltage of battery for program backup and power failure compensation reduces Even if this special relay turns on the cont
119. pe When creating sub sequence program write to the ASMCPU from the peripheral device For ROM operation For RAM operation Turn the socket lock ing screw to OPEN Remove the IC if any from the socket Fig 8 1 Set switch 1 of SW1 to RAM Fig 8 3 Because the addresses to store the subsequence program change if the main sequence program is stored in ROM For detail refer to Section 8 2 4 IB NA 66232 A 8 MEMORIES AND MEMORY CASSETTES MELSEC 8 2 4 sey pe switch setting The RAM memory may be protected by switching the memory protect Switch ON See below This protects the memory from accidental program changes When changes to the PC program are to be made switch the memory protect switch OFF 1 The switch layout varies depending on the memory cassette type as shown Dew The memory protect switch is set OFF when the memory cassette is aparte from the factory ASNMCA 0 A3NMCA 2 4 A3NMCA 8 16 24 40 56 Memory Memory protect protect switch switch ON Memory protect setting jumper 2 The memory ranges protected by each switch are shown below Memory Protect Range Byte number A3SNMCA 0 Jumper set to A3NMCA 0 ON of CON2 ad PURA 56 Setting Applicable Memory Cassette 0 to 16K 2 of SW1 ON we EE ASNMCA 16K to 32K 3 of SW1 ON 8 32Kto 48K 40ofSW1 ON L ASNMCA 48K to 64K 5 of SW1
120. pecial points 4 to 20 mA O to 10 V ASEDA Analog output 2 channels D A converter 4 to 20 mA 0 to 20 mA 1 to 5 V Oto SV 0 to AGeDAST 10 V Analog output 2 channels AD618S1 32 32 special points 32 32 special points 48 First half A D D A 4 to 20 mA O to 10 V converter aii Analog I O 4 channels 16 vacant points Second half 32 special points ADS7 CRT display semigraphic ADS7S1 ADSI foo enone selectable 64 64 specia points AD57 S2 AED of plasma display A6MD semi 64 64 special points ADS8B LCD LOD display semigraphic semigraphic LCD display semigraphic 64 64 64 64 special points points Display Control 2 23 IB NA 66232 A 2 SYSTEM CONFIGURATION MELSEC A Current System PETER System Consumption inde Coaxial SEE Link RES TE Link Per ES 5VDC 24VDC 1 2 Pendent M l Mu ae 7 A Ul P TER EA m Rate tet et tee IB NA 66232 2 SYSTEM CONFIGURATION MELSEC A Module Memory card Centronics Special interface func tion module Voice output Coaxial data link Data link module Optical data link Table 2 1 List of Equipment Continued Occupied Points 1 0 assignment Type Description AD59 32K bytes memory battery backed May be connected with any printer conforming to Centronics Standards 32 32 special points ADS59S1 Messages can b
121. peed is lower than the rated number of motor revolu tions Test mode Velocity loop gain check Servo diagnosis qutd idi gain Check that the velocity loop gain set by servo check parameters is the optimum Test mode Check on position loop gain Servo diagnosis posi Rm tion loop gain check ce lapin gan set Dy sevo Test mode Servo start up initial check Test mode Servo start up type check Test mode Servo start up rotation direction check Test mode Servo start up upper and lower limit switch check Test mode Servo start up number of revolutions check 10 5 IB NA 66232 A 10 PRE START UP AND TEST PROCEDURES MELSEC 4 1 Perform the following check while operat ing the machine through peripheral device Jog operation or MPG operation a Check that the machine is operating normally check for excessive vibra tion hunting or other abnormalities b Check that the stroke is limited proper ly c Check that the machine comes to an emergency stop 1 Perform zero return and the following checks e Zero retum direction b Zero return data c Position of near zero point dog Check the servo program Check the program run by causing amp peripheral device to execute the servo pro gram Check the sequence program Set the A73CPU RUN keyswitch to RUN and check that poeitioning control is pe
122. points output module IB NA 66232 A 2 SYSTEM CONFIGURATION MELSEC 4 Current Consumption 0 12 0 15 A ETS CES fossa TIN 0 12 O 13A 0 12 0 14 A CNET 0 23 0 27 A 0 23 0 27 System Applicable System used Ea Coaxial Data Link rue Data E n Remarks rz indicates source loading The other modules are of sink loading The short and over heat protection functionsof the AYGOEP AY8OEP AY81EP AY82EP are as follows Short protection function Protects the tran sistor from overcurrent due to external wiring short etc Overheat protection function Protects the tran sistor from abnormally high temperature due to any external factor I O are processed with scanning made in groups of 8 points independently of the CPU module IB NA 66232 A 2 SYSTEM CONFIGURATION MELSEC Table 2 1 List of Equipment Continued er Occupied Points For single axis velocity control and velocity position control Analog voltage output 0 to 10 VDC The analog input type general purpose servo amplifier may be used Single axis positioning module AD70 32 32 special points For positioning control Pulse chain output 2 axes independent simul taneous 2 axes linear interpolation The stepping motor may be used in conjunction with the AD76 For positioning control De
123. position 224 points D800 to D1023 Special For position MN Special For position E Number of instructions Application instruction 109 DO to D799 D800 to D1023 are not latched even Latch range 2 DO to D1023 when they are set in the latching range The A62P or the A65P cannot be used because their 5 VDC current capacity is too low This range refers to that in which latching is enabled when latch range setting is affected by parameters With the A73CPU the application of the DSFRP and DSFLP instructions is changed as follows 1 The DSFRP instruction is a servo program start request instruction 2 The DSFLP instruction is an actual position data and velocity change instruction 126 1B NA 66232 MELSEC A 2 SYSTEM CONFIGURATION 2 SYSTEM CONFIGURATION The system configuration required to use the A73CPU falls into 4 categories JN AM LOS M a When an MR SB servo amplifier is used b When a general purpose servo amplifier is used c When both the MR SB and the general purpose servo amplifier are used D d As the data link system This section describes the overall configuration of this system operat ing precautions and components 7 x 2 1 When an MR SB Servo Amplifier Is Used 2 1 1 Overall configuration Power supply _ module LType Ae P AC B P
124. prevent the entry of dust Extension connector for the PCPU Base cover Protecting cover for the PCPU extension connec tor When an extension is to be made remove this cover with a screwdriver This connector is connected to the PCPU extension base for signal trans mission purposes The extension cable AC B is used for connec tion Module fixing screw The module can be fixed with a screw in addition to the module fixing hook Screw size M4 X 0 7 screw MELSEC A 73 mo IB NA 66232 A 7 BASE UNIT AND EXTENSION CABLE MELSEC 4 2 Extension base unit A65B A68B Stage number setting switch Switch for setting the stage number of extension base Located under the base cover For the stage number setting proce dure refer to Section 7 2 3 Module fixing hole Cut out to accept projection and hook at rear of modules Module connectors Connectors where the power supply module CPU module O modules special function modules are loaded Load the blind cap or blank cover AG60 or dummy module AG62 to vacant connectors in order to prevent the entry of dust Guide hole for base installation Pear shaped hole for mounting this base unit to the panel of con trol box etc For M5 screw Connector for extension cable Connector for sending and receiv ing signals to and from the exten sion base unit Connect the ex
125. r gency stop signal from the A7OSF is ignored Request general purpose servo amplifier emergency stop from the general purpose servo amplifier SS IB NA 6823 2 SYSTEM CONFIGURATION MELSEC 44 IMPORTANT As long as 15 VDC remains at the A70AF terminal block the analog voltage velocity command to the servo amplifier can be delivered even when the PC power is turned off When the A73CPU is turned off the A7OAF SVON signal see Section 5 4 3 is turned off When the servo amplifier of which control can be stopped in response to the SVON signal is used always connect the SVON signal from the servo amplifier to the A7OAF When the servo amplifier of which control cannot be stopped in response to the SVON signal is to be used take the following precautions When the PC is to be turned off make sure that the analog volt age is 0 V the motor is at rest Before turning off the PC set up an external circuit which turns off the 15 VDC supply at the same time 1B NA 66232 A 2 SYSTEM CONFIGURATION MELSEC 44 2 4 When the MELSECNET Data Link Is Required 2 4 1 Overall configuration This section describes the configuration required for the MELSECNET data link For connection between the servo amplifier and the extension base see Sections 2 1 through 2 3 1 The A73CPUP21 R21 for the MELSECNET data link can be used for the master and local stations see the hatched circles in Fig 2 4
126. r factors required for positioning control b A6MD Monitor Display Unit User s Manual IB NA 66234 This manual describes the hardware related information on the appearance installation connecting cable preparation etc c A6MD Monitor Display Unit Operating Manual IB NA 66235 ae This manual describes positioning parameter and servo pro gram preparation testing and monitoring with the A6GPP A6PHP This manual describes positioning parameter and servo pro gram preparation floppy disk storage printout monitoring and testing with the AGGPP A6PHP d AGGPP AG6PHP for the SWSGP GPPA Operating Manual IB NA 66212 This manual describes sequence program comment and other data preparation floppy disk storage printout monitor ing and testing with the AGGPP A6PHP e ACPU Program Manual IB NA 66147 sr This manual describes sequence programs devices and Other things related to perform sequence control and servo program start up f Building Block Input Output Module User s Manual iB NA 66140 This manual describes the specifications and dimensions of the input output modules used for sequence control and limit switch output IB NA 662 1 INTRODUCTION MELSEC 44 1 1 General Information on Positioning Control 1 1 1 A73CPU This section outlines the positioning control performed by the A73CPU when the MR SB servo amplifier referred to as the MR SB
127. rformed normally by the servo program Monitor mode Check during automatic operation Check a sequence of operations while caus ing amp n actual external input to execute the se quence program Peak torque check Check that acceleration deceleration torque is lower than the maximum torque Monitor mode Axis monitor Check the effective torque Check that the continuous effective load torque has reached the rated torque mode nitor Mon Axis itor mo 18 NA 66232 A 10 PRE START UP AND TEST PROCEDURES MELSE CA 10 3 Axis Number Setting The A73CPU is capable of controlling a total of 8 axes for an MR SB and a general purpose servo amplifier During positioning control all the axes are controlled on an axis number basis The method of setting the axis number for the MR SB and the general purpose servo amplifier is described below 1 MR SB Connect 2 MR SB systems each consisting of 4 axes to the A7OSF When the axis number switch is set from 0 to 3 in either system the MR SB switch setting represents axes 1 to 4 or axes 5 to 8 when the A7OSF connector is connected The axis number can be set without regard to the connecting order of servo amplifiers However the axis number set for one MR SB amplifier should not be the same as those set for another MR SB amplifier connected to the same connector If the same axis number is set that axis will not function
128. ring connections required for the solenoid brake to be actuated are as follows Detection of failing power supply to the MR SB W Thermal protect Detection of failing power supply to the A73CPU Operation command from the A73CPU RA1 Yn IB NA 66232 A 9 LOADING AND INSTALLATION MELSEC 4A 2 Operation sequence program of the A73CPU solenoid brake When an A73CPU sequence program is used turn off the solenoid brake output by turning off the servo error detection signal Xn8 or servo ready signal XnF Make sure that the solenoid brake output is turned off 200 ms after the servo is found normal Xn8 OFF and XnF ON vo MO is turned on when the servo error detection signal X8n ON or the servo ready signal XnF is turned off T200 is turned on 200 ms after the servo error signal is turned off and after servo ready signal is turned on vn Y80 is turned on when HO is turned off and when TO is turned on Servo error detection Servo ready Flag for servo error or servo ready turn off detection Timer for measuring the 200 ms that have elapsed after the servo is returned to normal Solenoid brake operation command T200 is a 10 ms timer It is subject to error produced by scan time of the sequence program The error is within the limits of 2 scans 1 scan Disengage the solenoid brake and adjust the settings so that the servo is free of errors IB NA 66232 A 9 LOADING
129. s IB NA 66232 4 2 Functions List Tables 4 3 and 4 4 detail the functions of the A73CPU PCPU and SCPU Table 4 3 PCPU Functions List Function ete 98 98 Function Outing Position Positioning control at velocity 1 ing Switched between absolute and increment modes Fixed Setting the travel enabies infinitely repeated positioning control for rate feed the fixed distance Velocity control Velocity position control Once a start command is received operation is controlled at the designated velocity until a stop command is received Once a start command is received operation starts at the control led velocity The set travel is controlled in relation to position starting from the instant the external position switching input signal CHANGE is received from the external source Changing of the set travel distance and restart after interruption can be accomplished while the velocity is being controlled Position ing Velocity switch ing con trol Once a start command is received positioning proceeds while the operating velocity is being adjusted to the preset rate at the predetermined points Once a start command is received positioning proceeds at the constant velocity until the end point is reached while the preset position control randomly selected from circular linear and other forms of control is being performed toward the predetermined p
130. sable Precautions in making external wiring connections between the A70MDF and the A6MD are as follows a Do not bring the A6MD and the A70MDF connecting cable close to the whole circuit line high voltage wire or load wire from units other than the A73CPU or the PC CPU Do not bundle the connecting cable with line or wire If this instruction is not followed the cable will be subject to excessive noise surges or induction b Run external AC and A6MD power cables separately to mini mize the effect of surges or induction from the AC side c After connecting all interfaces tighten the fixing screws d Use shielded cable for connections Ground each shielded cable to A70MDF FG terminal 5 POSITIONING UNITS MELSEC 4 2 Cable connections This section describes the method of connecting the cable be tween the A70MDF and the A6MD to the connector plug Disassemble the connector plug 1 Loosen the screw to remove it 2 Remove the cover from the connection side Be careful not to lose the screws or nuts Connect the wire 1 Use a wire with a sectional area of 0 3 mm 22 AWG or less A wire with a sectional area larger than that can not be secured under the cable clamp Carefully check the connecting pin number since the pin arrangement differs from one connector plug to another During soldering be careful not to short the terminals with wires or solder hairs 2 Check the pin
131. section described possible problems with the output circuit and When out put is off excessive voltage is applied to load Load does not turn off Triac output When load is C R type timer time constant fluctuates Triac out put Load does not turn off For direct cur rent corrective actions to be taken Table 12 2 Output Circuit Failures and Corrective Actions Load is half wave rectified inside seen in some solenoids AY22 AY23 When the polarity of power supply is as shown by 1 C is charged When the polarity is as shown by 2 voltage charged in C plus line voltage are ap plied across D1 Max voltage in ap prox 2 2 E Leakage current due to built in noise suppression AY22 AY23 Sneak path due to the use of two power supplies AY40 41 42 When Et lt E2 sneak path occurs Connect a resistor of several ten kQ to several hundred kQ across the load if a resistor is used in this way it does not pose problem to output element but may sometimes cause the diode which is built in the load to deteriorate resuit ing in burning etc Resistor Connect C and R across the load When wiring distance from output card load is long there may be a leakage cur rent due to the line capacity Resistor After driving the relay drive the C R type timer by the same contact Some timers have half wave rectified in ternai circuits Therefore take precautions as
132. shooting This section explains the procedure for determining the cause of problems and the errors and corrective actions for error codes 12 2 1 Troubleshooting flow chats Details for fault finding may be found as follows Occurrence of error POWE To Section 12 2 2 Flow chart used when R LEDOM POWER LED has turned off To Section 12 2 3 Flow chart used when T FERONI RUN LED has turned off To Section 12 2 4 Flow chart used when Is RUN LED flickering RUN LED flickers To Section 12 2 5 Flow chart used when output load of output module does not turn on VO module does not operate properly To change any I O module in online mode see the A73CPU Reference Manual IB NA 66233 To Section 12 2 6 Flow chart used when program cannot be written Program cannot be written m iB NA 66232 A 12 TROUBLESHOOTING MELSEC E 12 2 2 Flow chart used when POWER LED has turned off The flow chart below shows the procedure for when the POWER LED turns off during operation or when the power is turned on POWER LED has turned oft NO Is power supply operating Correct power supply Y Does POWER LED turn on ES Set supply voltage to within rated vott age range ls line voltage 85 to 132 VAC or 170 to 264 VAC Does POWER LED turn on i tse sonr LED turn on ls the power supply module fixed to Fix the power supply
133. shown below Master station Equipment No 1 Equipment No 2 IN Connect to OUT of preceding station OUT Connect to IN of next station Coaxial cable connector Connect the cable as shown below Master station Equipment No 1 Equipment No 2 IN sending Connect to OUT receiving of preceding station IN receiving Connect to OUT sending of preceding station OUT sending Connect to IN receiving of succeeding station OUT receiving Connect to IN sending of succeeding station IB NA 66232 A 4 CPU MODULE MELSEC A 1 Section to Section Setting a The following three items can be set for the A73CPUP21 R21 in the data link system 1 Station Number Setting with the Station Number Setting Switch When a given station is to be used as a master station set the switch to 00 When a given station is to be used as a local station select the station number between 01 and 64 2 Mode Setting with the Mode Select Switch Select the appropriate operation and self diagnosis test states 3 Link Parameter Setting on the GPP HGP PHP Set the link parameters on the A73CPUP21 R21 which is in use in the two tier master station and the two tier local station provided with the AJ71P22 R22 4 13 IB NA 66232 A MEMO IB NA 66232 A 5 POSITIONING UNITS MELSEC AA 5 5 1 POSITIONING UNITS The positioning units are those required for positioning control by the A73CPU 1 A7OSF For connecting t
134. st of Equipment Continued Occupied Points AY10 16 ee relay contact 16 points output 16 points 12 24 VDC transistor for inde AY40A pendent contact output 0 3 16 points output AY41 32 points 12 24 VDC transistor for 0 1 32 points output Output module 64 points 12 24 VDC transistor for 0 1 A 64 points output ei R 12 24 VDC transistor for 0 5 A with 16 points output AYS1 Le 12 24 VDC transistor for 0 5 A with 32 points output AY60 oe 12 24 48 VDC transistor for 2 A with 16 points output AYGOE 1 oa 12 24 48 VDC transistor for 2 A with 16 points output 16 points 12 24 VDC transistor for 2 A with AYGOEP 1 short and overheat protection functions 16 points output am ee RT EMO 16 points 5 12 VDC for TTL CMOS 16 points output AY a22 points 32 points 5 12 VDC fer TTL CMOS VDC for TTL CMOS 32 points output AY80 4 idee VDC transistor for 0 5 A 16 points 12 24 VDC transistor 0 8 A with short AYBOEP 1 and overheat a functions 16 points output lAY amp 1 1 1 32 82 points 12 24 VDC transistor for0 5A 12 24 VDC transistor for 0 5 A 32 points 32 points output 32 points 12 24 VDC transistor for 0 8 A with AYSTEP 1 short and overheat protection functions 32 points output 64 points 12 24 VDC transistor for 0 1 A with AYSeEP 1 short and overheat protection functions 64 points output Dynamic combined 1 0 64 inputs 64 outputs A42XY i Dynamic scanning mode 64
135. tails see below Located under the terminal cover Module fixing screw mounting hole u B Ke E Allows fixing the module with a screw in addition to the S m module fixing hook For M4 en Terminal details Power input terminals Power input terminals to which AC power of 100 VAC or 200 a E VAC is connected Applied voltage select terminals Terminals for selecting applied voltage Use 100 VAC or 200 VAC as described below When 100 VAC is input con nect together the SHORT AC 100V terminals with the at f tached short chip When 200 VAC is input connect together the SHORT AC 200V terminals with the attached short chip LG terminal Grounding of power filter Has half the input potential Power ON terminal 2 D Contact terminal which conducts at normal 24 VDC output when power input turns on AC85 132V AC170 264V 50 60Hz OUTPUT DC24V 1 2A FG terminal Connection terminal connected to the shielding pattern on printed circuit board 24 VDC 24 GDC terminals For supply to output module which requires 24 V inside the module Supplied to the unit via external wiring Terminal screw M3x0 5x6 IB NA 66232 A 6 POWER SUPPLY MODULE 5 Part identification of A68P module Module fixing hook Hook for fixing the module to the base unit m j POWERLED uA LED for indicating 5 VDC po
136. tall surge suppressors to the AC relay AC bulb and the AC solenoid brake near the drive unit amplifier Install diodes to the DC relay and DC bulb in parallel with the relays and other parts For more details see the drive unit manual Surge suppressor Surge suppressor a Installation to AC relay AC bulb etc b Installation to DC relay etc Fig 5 4 Typical Installation of Surge Suppressors f Always connect the A70AF and drive unit SVON signal Do not turn the signal on and off externally 20 e M IB NA 68232 A 5 POSITIONING UNITS MELSE CA 2 Encoder connecting precautions This section describes the precautions to be taken when connect ing the encoder a The A70AF uses an up and down error counter Addition and subtraction processes are switched between them through comparison of feedback puise phases 1 When a feedback pulse in which phase A is advancing ahead of phase B by 90 is received the command pulse count is subtracted This subtraction is required when the positive command pulse is to be counted when the motor is rotating forward with the velocity command being the positive voltage 2 When a feedback pulse in which phase B is advancing ahead of phase A by 90 is received the command pulse count is added This addition is required when the negative command pulse is to be counted when the motor is rotating in reverse with the velocity command be
137. tension cable AC B Base cover Cover for protection of connector for extension cable When con nection is made with another ex tension base it is necessary to remove the area enclosed by a groove at the OUT character por tion above the base cover with a too such as nippers Module fixing screw The module can be fixed with a screw in addition to the module fixing hook Screw size M4 X 0 7 screw It is necessary to set the shaded portion before installing the base and starting opera tion iB NA 66232 A 7 BASE UNIT AND EXTENSION CABLE MELSEC AA 7 2 8 Extension stage number setting on the SCPU extension base When the extension base unit is connected to the SCPU extension connector it is necessary to set the extension stage number for each extension base unit Remove the base cover from the extension base unit Make selection from 1 to 7 on the connector COM3 at the bottom left of base unit and in sert the connector pin to the set stage number install the base cover to the ex tension base unit Stage number setting connector Complete Extension Base Unit Stage Number Setting Extension Stage Number Setting 1st end 3rd 4th Sth 6th 7th stage stage stage stage stage stage stage a HO L 8 nga Hoo lg Set the stage number setting connector CON3 to a number from 1 to 7 which matches the number of extension stages If the same number has been set
138. tery leads to the connector CON1 Battery lead connector Before shipment the wires are disconnected to prevent battery re Set the protect range of the IC RAM contents With protect ON writing to the RAM is disabled Requires setting before using the memory cassette IB NA 66232 A 8 MEMORIES AND MEMORY CASSETTES MELSEC 4 8 2 3 Memory IC installation This section describes the procedure to load RAM and ROM in the memory cassette and to set the iC type 1 Holding the IC 2 Hold the IC as shown in Fig 8 1 when loading it into the memory cassette Touching the memory leads can result in memory damage due to static electricity or poor electrical Fig 8 1 Holding the IC contact due to bent pins Loading the IC Be sure to load the IC in the correct direction The memory may be destroyed if the power supply is turned on with the IC mounted incorrectly To load the IC note the orientation of the notch ROM RAM or broken line RAM as indicated on the socket IC RAM CN somme Fig 8 2 IC Loading Direction IB NA 66232 A 8 MEMORIES AND MEMORY CASSETTES MELSEC n Setting the IC type Set the jumper or switch to RAM or ROM in accordance with the E used ASNMCA O O ASNMCA2 4 ASNMCA S 16 24 40 EW EOM Fig 8 3 Setting the IC Type 1 Load the IC after setting its type 2 When the A3NMCA 0 is used s t the jumper to CONS ROM
139. that it is removed 4 Tighten the module mounting screws if required and terminal screws as specified below Sues fignening Torque prem bin 5 To load the module onto the base hook the tow lower lugs into the cut out and gently swing the module into place Ensure that the top catch engages To remove press the top catch and swing the module out before unhooking the lower lugs See Section 9 5 4 IB NA 66232 A 6 POWER 6 2 2 Part FG terminal SUPPLY MODULE Allows fixing the module with a screw in additiontothe Terminaldetals Applied voltage select terminals Terminals for selecting applied voltage Use 100 VAC or tached short chip When 200 VAC is input connect together Connection terminal connected to the shielding pattern on d printed circuit board m Pr identification This section describes the parts of the power supply module 1 Part identification of A61P module Module fixing hook CE Hook for fixing the module to the base unit POWER LED LED for indicating 5 VDC power Power fuse and fuse holder 4 A cartridge fuse for AC input power is fixed by the fuse E hoider x oe Spare fuse for power supply Spare fuse for power supply installed to the rear side of ter S minal cover A a t Terminal block For details see below Located un
140. the A74B base unit referred to as the A74B in this manual With the A73CPU loaded to the other base units the A32B A35B A38B and A78B the A73CPU will not operate Limitations on units loaded to the A74B The units that can be loaded to the A74B are as listed below Their loading positions are predetermined See Fig 2 1 for the loading positions a Power supply module A61P b CPU moduie A73CPU c Servo interface unit A7OSF d Monitor display interface unit A7OMDF e Output module limit switch output AY42 MR SB connection The eight MR SB axes 4 axes each for 2 systems can be con nected to the A70SF loaded to the A74B Extension base unit connected to the A74B a The A65B or the A68B can be connected to the A74B Do not use the A55B or the A58B b The following number of extension base stages can be con nected to the A74B For the SCPU Up to 7 stages for 1920 points can be connected under the control of an SCPU sequence program All the input output modules of the A series and the special function modules can be loaded to the extension base for control purposes It is necessary to set the number of stages with the ex tension stage number setting switch For the setting method see Section 7 2 3 Limitations on the use of extension cables Up to 6 6 m 21 65 ft total length of extension cables can be used for the extension base Absolute value system For the MR S
141. tion of arrow Check if the hook of module is securely inserted in the module fixing hole A in the base unit Two module fixing projections Complete Module fixing JE hole B Base unit Module 1 To fix the module be sure to insert the module fixing projection into the module fixing hole B If the module is forcibly fixed without insertion the pins in the module connector may be bent or damaged 2 When the base unit is used at locations where there are especially large vibration and or shock screw the module to the base Applicable screw size is M4 0 16 x 0 7 0 03 x 12 mm 0 47 in See the figure at right Kisdui mou S EDEN M4 0 16 X 0 7 0 03 X 12 0 47 IB NA 66232 A 9 LOADING AND INSTALLATION MELSEC AA 2 Removal of module The removal procedure is as follows Hold the module with both hands and push down the hook latch at the top of module Base unit 4 Module fixing While pushing down the hook latch pull the hole A module toward you l Lift upwards and remove the module fixing projections from the module fixing hole B Module connector ZA Module fixing hole B To remove the module be sure to disengage the hook from the module fixing hole A and then remove the module fixing projec tions from the module fixing hole B If the module is forcibly removed the hook or module fixing projections will be damaged 9 12 IB NA 66232 A 9
142. to be turned off make sure that the analog volt age is 0 V the motor is at rest Before turning off the PC set up an external circuit which turns off the 15 VDC supply at the same time 2 3 When an MR SB Servo Amplifier and a General Purpose Servo Amplifier Are Used 2 SYSTEM CONFIGURATION 2 3 1 Overall configuration Power supply module Input module mee T ann Output module iTveel AYDD AC L B Special function module Link module ECT AGBAT Control range of the SCPU Fig 2 3 Overall Configuration Established When an MR SB Servo Amplifier and a General Purpose Amplifier Are Used 2 9 IB NA 66232 A _2 SYSTEM CONFIGURATION PoNT The unit shown in Fig 2 3 can be mounted on the A74B The mounting position should be as indicated in Fig 2 3 2 1 SCPU extension connector for connecting to the SCPU extension base 3 2 Divide the MR SB into 2 systems each having 4 axes before connecting it to the A7OSF 4 3 PCPU extension connector for connecting to the PCPU extension base 5 4 The A70MDF and the AY42 are optional equipment A7OMDF Necessary for monitoring testing and servo program preparation with the AGMD AY42 Necessary for limit switch output General purpose interfac ae Limit switch output 4
143. to the A70SF loaded on the A74B b On a one to one basis connect the general purpose servo amplifier to the A70AF which is loaded on the extension base unit A65B or A68B connected to the PCPU extension con nector When using the A70AF supply 15 VDC from the external source c A total of up to 8 axes can be controlled by the MR SB and the general purpose servo amplifier Extension base unit connected to the A74B a The A65B or the A68B can be connected to the A74B Do not use the A55B or the A58B b The following number of extension base stages can be con nected to the A74B 1 For the SCPU Up to 7 stages for 1920 points can be connected under the control of an SCPU sequence program All the input output modules of the A series and the special function modules can be loaded to the extension base for control purposes It is necessary to set the number of stages with the ex tension stage number setting switch For the setting method see Section 7 2 3 2 11 IB NA 66232 4 2 SYSTEM CONFIGURATION MELSEC 4 2 For the PCPU Only one stage can be connected for loading the A70AF interface unit for the general purpose servo amplifier Units other than the A7OAF cannot be loaded on the exten sion base for the PCPU Set the extension stage number setting switch to 1 For the setting method see Section 7 2 4 5 Absolute value system 6 a For the MR SB the use of a
144. to two or more extension base units or no stage number has been set mis input or mis output will resuit IB NA 66232 A 7 BASE UNIT AND EXTENSION CABLE MELSEC 7 2 4 Extension stage number setting on the PCPU extension base When the extension base unit is connected to the PCPU extension connector it is necessary to set the extension stage number for each extension base unit Remove the base cover from the extension base unit Make selection from 1 to 7 on the connector COM3 at the bottom left of base unit and in sertthe connector pin to the set stage number Install the base cover to the ex tension base unit Stage number setting connector Complete IB NA 66232 A 8 MEMORIES AND MEMORY CASSETTES MELSEC A 8 MEMORIES AND MEMORY CASSETTES 8 1 Specifications This section describes the specifications of memories and memory cassettes which can be used with the A73CPU 8 1 1 Memory cassette specifications This section describes the specifications of memory cassettes to be used Table 8 1 Memory Cassette Specifications Mem Pe Acao ancre AGNMCA anmone ASMMCATE ASMHCATM AONUCA4O ANIMAS RAM memory capacity None in 16K 32K 64K 128K 192K 320K 448K Parameter setting range stalled 16K 32K 64K 96K 144K 144K 144K Number of ROM loading sockets Type of loadable ROM 4KROM 8KROM 16KROM Type of loadable RAM 4KRAM ia dimensions mm 110 4 33
145. udio Qe audio cassette cassette J 1 recorder ACSOWU A6WU cablefor P ROM ABWU writer unit ASHGP handy graphic programmer AC30R2 b S SWO GPPU user disk SWO FDC cleaning disk AC10MD composite mumi CRT video cable A3NMCA memory cassette ABGPP intelligent GPP Fig 2 6 Peripheral Device Configuration for SCPU iB NA 662324 SYSTEM CONFIGURATION MELSEC A 2 6 System Equipment Table 2 1 List of Equipment Occupied Points Sequence function Program capacity 30K steps I O points 2048 T 256 C 256 D 1024 M L S 2048 A73CPU Due Positioning function er moduls Program capacity 13K steps Positioning point about 400 points axis varying with each program A73CPUR21 For coaxial data link Master local selectable A73CPUP21 For optical data link Master local selectable dee ADOBE For connecting the MR SB servo amplifier DEEP General purpose ATOAF For connecting the general purpose servo PCPU servo inter amplifier special face pur pose unit Monitor dis play interface unit Unit for limit Dr 64 point 12 24 VDC transistor output unit A70MDF For connecting the AGMD deen base CCR deen 4 input output modules loadable know 22K bytes max 18K step 2 17 IB NA 68232 A 2 SYSTEM CONFIGURATION MELSEC A 1 Positioning control 2 Sequence control M Master stat
146. und as indicated on the socket If reversely in Stalled the memory will be damaged i Do not touch the CPU memory cassette connector Touching the connector may result in improper contact IMPORTANT Before installing or removing the memory cassette to or from the CPU or GPP be sure to turn off the power If installation or removal is performed with the power on the contents of the memory cassette will be damaged 2 Battery a Do not short circuit the battery b Do not disassemble the battery c Do not throw the battery into flames d Do not heat the battery e Do not solder the poles of the battery IB NA 66232 A 8 MEMORIES AND MEMORY CASSETTES MELSEC 8 2 2 Part identification P This section describes the parts of the memory cassette pu A3NMCA 2 4 8 16 24 40 56 i t bsec pe Odd address Description Connects the memory cassette to the CPU eu Battery AGBAT RAM backup and power failure compensation IC socket with locking facility for IC RAM EP ROM Identical types of memories must be loaded into the two sockets When ROMs are used the odd address ROM must be loaded into SOC1 and the even address ROM into SOC2 IC socket with locking facility for EP ROM only identical types of memories must be loaded into the two sockets The odd address ROM must be loaded into SOC1 and the even address ROM into SOC2 Program memory sockets Connect the bat
147. upply module LED is switched off or dimly lit In this case remove any cause if overcurrent and start up the system Overvoltage protection The overvoltage protection device shuts off the 5 VDC circuit and stops the system if 5 5 to 6 5 V voltage is applied to the circuit When this device is activated the power supply module LED is switched off In this case switch off then on the input power to restart the system The power supply module must be changed if the system is not booted and the LED remains off Allowable instantaneous power failure time The A73CPU allowable instantaneous power failure time varies according to the type of power supply module In the case of the A63P module the allowable instantaneous power failure time is defined from when the 24 VDC stabilized primary supp ly is cut off until the 24 VDC voltage drops to the defined voltage 15 6 VDC IB NA 66232 A ee MM 6 POWER SUPPLY MODULE MELSEC 4 6 1 2 Selection of power supply module Select the power supply module according to the total current con sumption of I O modules special function modules and peripheral device supplied by that power supply module 1 Notes on use of the A66P a The A66P gives optimum power output when a vacant slot exists on either side of it It must be located without an O module to the right preferably with a vacant slot to the left b The A66P output current 24 VDC depends on the left
148. wer Power fuse and fuse holder zr 4 A cartridge fuse for AC input power is fixed by the fuse is E holder EM um E SHORT ACIQV E a reek aue e SHORT ac ms Terminal block fixing screw m petens E Screw for installing and fixing the terminal block to the RE d NM H module beh mia euro SEI Terminal block aie E For details see below Located under the terminal cover gt i Module fixing screw mounting hole Un le vob Allows fixing the module with a screw in addition to the I MEME module fixing hook For M4 screw 2 D NEUE oed 21 12 Terminal details CR Power input terminals mE Md OE Power input terminals to which AC power of 100 VAC or 200 UN E VAC is connected ON UNA TE Nap einen M Applied voltage select terminals _ a 7 aa f N Terminals for selecting applied voltage Use 100 VAC or er D 200 VAC as described below When 100 VAC is input con ate NN nect together the SHORT AC 100V terminals with the at tached short chip When 200 VAC is input connect together B gt SHORT aciov Y the SHORT AC 200V terminals with the attached short chip el al imamer aa ma porum e LG terminal TIME p NOM Grounding of power filter Has half the input potential z Power ON terminal Contact terminal which conducts at normal 15 VDC output s when power input turns on a ihe

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