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MELSEC iQ-R Motion Controller User`s Manual

1. a 1 1 Cap CN1B CN1B Servo amplifier Servo amplifier SSCNETII H LINE 2 1 h CN1A 5 CN1A E EE 1 3 1 3 b Cap CN1B i CN1B Li co Servo amplifier Servo amplifier 41 If the CN1A and CN1B connection is incorrect the servo amplifiers cannot communicate 2 R32MTCPU only 2 EQUIPMENT SPECIFICATIONS 2 4 SSCNETIII Cables 41 42 Setting of the axis No and switch of servo amplifier Axis No is used to set the axis numbers of servo amplifiers connected to SSCNETII connector CNLI in the program The following range can be set in the Motion CPU module Axis No is set for each SSCNETII H line in servo network setting Axis No is allocated and set for the setting axis number d01 to d16 of servo amplifier R32MTCPU R16MTCPU I station No When using communication type SSCNETII H Set the station No and axis No of the servo amplifier The station No and axis No of the servo amplifier can each be set individually Match the servo amplifier station No with the control axis number by setting the axis select rotary switch 0 to F and the auxiliary axis No setting switches SW3 SW4 to the appropriate combination The table for setting the station No with the axis select rotary switch and auxiliary axis No settin
2. Gear Bearing Serial absolute synchronous encoder Couplin El El pera J E Radial direction Thrust direction Permitted shaft load Up to 19 6N Up to 9 8N Excessive load is applied to the shaft of serial absolute synchronous encoder by the large mounting errors in eccentricity and angle of deviation As a result it might damage the machine or shorten extremely the life Minimize loads applied to the shaft such that they make within the permitted shaft load range NCAUTION The serial absolute synchronous encoder contains a glass disk and precision mechanism Take care when handling it The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration exceeding the prescribed limits Do not connect the shaft of serial absolute synchronous encoder directly to machine side rotary shaft Always after connecting the shaft of serial absolute synchronous encoder to another bearing once connect the shaft through a flexible coupling Never hit the end of the serial absolute synchronous encoder coupling shaft with a hammer when connecting the coupling to it The large loads applied to serial absolute synchronous encoder will damage it The serial absolute synchronous encoder uses optical parts Mount it in an atmosphere where there are extremely few water drops and little oil and dust In any place where the serial absolute synchronous encoder is exposed
3. 4 follow up Pressure control 03 1 111R 1 37P 4 Optional data monitor transient command 03 1 111R a Optical hub unit connection 03 1 111R 2 Multiple CPU advanced synchronous control 03 1 111R 5 Extension of the number of vision system connections 03 1 111R E Motion dedicated PLC instructions M P CHGA 1 007H E M P CHGAS M P CHGV M P CHGVS M P CHGT Motion dedicated PLC instructions M P BITWR 03 1 007H k D P BITWR Add on function 03 1 111R 2 Add on dedicated function MCFUN 03 1 111R a Servo amplifier MR J4 OB LL compatible 03 1 111R 1 37P Vibration suppression command filter 04 1 115V k Override function 04 1 115V a Test mode expansion 04 1 115V 1 41T E SD memory card compatible label function 04 1 115V 2 1 The operating system software version can be confirmed in MT Developer2 or GX Works3 37 Page 25 Checking operating system software version 2 LLIMELSEC iQ R Motion Controller Programming Manual Common 3 LLIMELSEC iQ R Motion Controller Programming Manual Program Design 4 LLIMELSEC iQ R Motion Controller Programming Manual Positioning Control 5 LLIMELSEC iQ R Motion Controller Programming Manual Advanced Synchronous Control 26 1 SYSTEM CONFIGURATION 1 4 Restrictions by the Software s Version 1 5 Engineering Software Version The engineering software versions that support Motion CPU
4. The cables extracted from the control panel contain a high frequency noise component On the outside of the control panel therefore they serve as antennas to emit noise To prevent noise emission use shielded cables for the cables which are connected to the I O modules and intelligent function modules and may be extracted to the outside of the control panel The use of a shielded cable also increases noise resistance The signal lines including common line of the programmable controller which are connected to I O modules intelligent function modules and or extension cables have noise durability in the condition of grounding their shields by using the shielded cables If a shielded cable is not used or not grounded correctly the noise resistance will not meet the specified requirements EGrounding of shield section of shield cable Ground as close to the module as possible Make sure the grounded cables are not exposed to electromagnetic induction from cables that are not grounded Ground the exposed shield section to spacious area on the control panel Shield section A clamp can be used as shown below In this case mask the inner wall surface and clamp when coating the control panel to prevent these from being coated as well co Clamp fitting Exposed bare metal surface Shield cable The method of grounding with a vinyl coated wire soldered onto the shielded section of the shielded cable as shown below is not reco
5. Motion CPU common parameter LLIMELSEC iQ R Motion Controller Programming Manual Common 7 Positioning parameter setting for the Motion CPU module Set the following positioning parameters using MT Developer2 Motion control parameter LAMELSEC Q R Motion Controller Programming Manual Positioning Control 8 write parameters to Motion CPU module Write the parameters set in MT Developer2 to the Motion CPU module LAHelp of MT Developer2 9 Tum ON Multiple CPU system power supply again Turn the Multiple CPU system power supply ON again or reset the Multiple CPU system 4 START UP PROCEDURES 4 1 Start up Adjustment Procedure 53 10 Check external inputs The wiring of the following external inputs can be checked in the monitor of MT Developer2 FLS Upper stroke limit input RLS Lower stroke limit input STOP Stop signal e DOG Proximity dog Serial absolute synchronous encoder Incremental synchronous encoder Manual pulse generator 11 Check O module Check the wiring of I O modules 12 Create sequence programs Create the sequence programs for starting the Motion programs using GX Works3 LLCIMELSEC iQ R CPU Module User s Manual Startup 13 write sequence programs Write the sequence programs created in GX Works3 to the PLC CPU module LLIGX Works3 Operating Manual 14 Create Motion programs Create the Motion programs below using MT Developer2 e Motion SFC program LLIMELSEC iQ R Mot
6. Power supply module 1 0 module Intelligent function module of the R series Motion CPU module R32MTCPU R16MTCPU SSCNETII cable MR J3BUSEIM A B C JL 3 J E ens Servo amplifier MR J3 W LIB Servo amplifier MR J4 W LIB Selected according to the system 1 SYSTEM CONFIGURATION 1 1 1 Motion System Configuration 5 16 Peripheral device configuration Ethernet configuration lt Motion CPU module R32MTCPU R16MTCPU 1 Corresponding Ethernet cables Ethernet cable Personal computer Ethernet cable Connection with HUB Straight cable 10BASE T 100BASE TX Direct connection Straight cable 10BASE T Crossover cable 100BASE TX Compliant with Ethernet standards category 5 or higher Shielded twisted pair cable STP cable llSelection criterion of cable Category 5 or higher Diameter of lead AWG26 or higher Shield Copper braid shield and drain wire or copper braid shield and aluminium layered type shield 1 SYSTEM CONFIGURATION 1 1 Motion System Configuration R32MTCPU R16MTCPU system overall configuration USB Etherne Personal Computer Main base unit PLC CPU
7. 6 5 Troubleshooting by Circumstance When the Motion CPU module is not functioning normally check for the applicable circumstance below and troubleshoot accordingly If the ERROR LED is ON or flickering use the engineering tool to remove the error factor When the READY LED of the Motion CPU module has turned OFF When the READY LED of the Motion CPU module has turned OFF check the following items Check item Corrective action The Motion CPU module is not mounted to the main base unit correctly Mount the Motion CPU module to the main base unit correctly The READY LEDs of other modules are ON The Motion CPU module is detecting a major error Exchange the Motion CPU module After exchanging the power supply module and turning ON the power supply again the READY LED turns ON Also check power supply module on the extension base unit by exchanging it An error is occurring in the original power supply module Exchange the power supply module After exchanging the power supply module and turning ON the power supply again the READY LED does not turn ON Also check power supply module on the extension base unit by exchanging it An error is occurring in a module other than the power supply module Mount each module one at a time turning ON the power supply each time an additional module is mounted The module that was mounted last when the READY LED no longer turns ON is the module where th
8. to prevent SSCNETIT cable from putting its own weight on SSCNETII connector liPutting in the duct When putting in a duct leave space for installing the module llBundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted When bundling the cable fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizing If using adhesive tape for bundling the cable fire resistant acetate cloth adhesive tape 570F Teraoka Seisakusho Co Ltd is recommended T unit Motion T module an Panel gt gt Cable Bundle material Cord loose Recommended product slack NK clamp SP type NIX INC 2 EQUIPMENT SPECIFICATIONS 4 2 4 SSCNETIII Cables 5 46 Point P Be sure to connect SSCNETIII cable with the above connector If the connection is mistaken between the Motion CPU module and servo amplifier cannot be communicated Forced removal of the SSCNETII cable from the Motion CPU module will damage the Motion CPU modules and SSCNETII cables After removal of the SSCNETII cable be sure to put a cap on the SSCNETTII connector Otherwise adhesion of dirt deteriorates in characteristic and it may cause malfunctions Do not remove the SSCNETII cable while turning on the power supply of Multiple CPU system and servo amplifier
9. 2 2 0 07 0 090 003 2 240 07 0 09 0 003 0 09 0 008 9X9 10 16 4 40 1 ai 0 40 0 17 0 004 0 240 008 0 30 0 02 1 This temperature range for use is the value for optical cable cord only 2 Dimension of connector fiber insert location The distance of two cords is changed by how to bend it APPENDICES APPENDIX 71 Appendix 1 Cables Point f the end face of cord tip for the SSCNETII cable is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol Do not add impossible power to the connector of the SSCNETII cable When incinerating the SSCNETTI cable optical fiber hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of the SSCNETII cable optical fiber request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas IBMR J3BUSLIM Model explanation Type MR J3BUSLIM Symbol Cable type None Standard cord for inside panel A Standard cable for outside panel B Long distance cable Symbol Cable length m ft 015 0 15 0 49 03 0 3 0 98 05 0 5 1 64 1 1 3 28 3 3 9 84 5 5 16 40 10 10 32 81 20 20 65 62 30 30 9
10. 9 MITSUBISHI ELECTRIC Mitsubishi Programmable Controller series MELSEC iQ R Motion Controller User s Manual R16MTCPU R32MTCPU SAFETY PRECAUTIONS Read these precautions before using this product Before using this product please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly The precautions given in this manual are concerned with this product only Refer to the user s manual of the CPU module to use for a description of the PLC system safety precautions In this manual the safety precautions are classified into two levels J N WARNING and ZN caution A WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury A CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in minor or moderate injury or property damage Under some circumstances failure to observe the precautions given under N CAUTION may lead to serious consequences Observe the precautions of both levels because they are important for personal and system safety Make sure that the end users read this manual and then keep the manual in a safe place for future reference Design Precautions NWARNING O Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the progra
11. Point Do not turn Multiple system power supply OFF while the clear is processing f Multiple CPU system power supply is turned OFF during clearing of standard ROM accessing the standard ROM may no longer be possible Execute a drive format from MT Developer2 or perform a built in memory clear again When an error is detected during the processing of a built in memory clear ERR is displayed on the dot matrix LED and the ERROR LED flickers Perform a built in memory clear again The contents cleared in the standard ROM are every program parameter event history and data for digital oscilloscope Refer to the following for details of each file LLIMELSEC iQ R Motion Controller Programming Manual Common The contents cleared in the backup RAM are latch device data absolute postioning data current value history and scroll monitor 2 EQUIPMENT SPECIFICATIONS 2 2 Motion CPU Module 35 36 Specifications This section describes the Motion CPU specifications Module specifications Number of control axes Up to 32 axes Up to 16 axes SSCNET communication Communication method SSCNETII H SSCNETII Number of lines 2 lines 2 1line 2 Distance between SSCNETI H 100 328 08 stations maximum SSCNETII 50 164 04 m ft Combined cable length SSCNETII H 1600 5249 30 maximum m ft SSCNETII 800 2624 70 Number of SSCNETIII H head module connection stat
12. 0 222ms 1 to 2 axes 0 444ms 3 to 8 axes 0 888ms 9 to 16 axes Interpolation functions Linear interpolation Up to 4 axes Circular interpolation 2 axes Helical interpolation 3 axes Control modes PTP Point to Point control Speed control Speed position switching control Fixed pitch feed Continuous trajectory control Position follow up control Speed control with fixed position stop High speed oscillation control Speed torque control Pressure control E Advanced synchronous control Acceleration deceleration control Compensation Trapezoidal acceleration deceleration S curve acceleration deceleration Advanced S curve acceleration deceleration Backlash compensation Electronic gear Phase compensation Programming language Motion SFC Dedicated instruction Servo program capacity 32k steps Number of positioning points 6400 points Positioning data can be designated indirectly Peripheral I F PERIPHERAL I F Home position return function JOG operation function Proximity dog type 2 types Count type 3 types Data set type 2 types Dog cradle type Stopper type 2 types Limit switch combined type Scale home position signal detection type Dogless home position signal reference type Home position return re try function provided home position shift function provided Provided Manual pulse generator operation function Possible to connect 3 modules
13. B 1192 168 3 29 Basic1 01 Basic 1 0 2 Basic 1 0 3 Basic 1 0 4 4 Create File Checking with MT Developer2 installation screen Check on the installation screen BICPU information screen Check on the CPU information screen O Help gt CPU information CPU Ini Connected Motion Controller CPU Type R32MTCPU CPUNo GPU F W Version RMTFW 01 4 Operating system Serial Number D101110100200011 lt software version Production information of Motion CPU module llDevice Check with the special register Operating system software version SD740 to SD747 Refer to for details on special registers LLIMELSEC iQ R Motion Controller Programming Manual Common 1 SYSTEM CONFIGURATION 2 1 3 Checking Production Information and Operating System Software Version 5 1 4 Restrictions by the Software s Version There are restrictions in the function that can be used by the version of the operating system software and engineering software The combination of each version and a function is shown below There is no restriction by the version Label access from external device 02 1 105K 2 File transmission at boot 03 1 111R 2 Event history 03 1 111R E ABS direction in degrees 03 1 141R Clutch smoothing slippage method Linear Input value 03 1 111R
14. To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment certain measures may be necessary Please refer to one of the following manuals LLIMELSEC iQ R Module Configuration Manual LLlISafety Guidelines This manual is included with the base unit The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives Additional measures To ensure that this product maintains EMC and Low Voltage Directives please refer to the following manual LLIMELSEC iQ R Motion Controller User s Manual 10 CONTENTS SAFETY PRECAUTIONS 22 bra dei je beecbeheeea bel iodebe des be de cd a pl bene d 1 CONDITIONS OF USE FOR THE PRODUCT sssssssee hm 9 INTRODUCTION ine cm 9 COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES occcccccccoccc 10 RELEVANT MANUALS ac 222 ese rita A Phe big ERE RUE Chek ees OS de gh eg Ras 13 TERMS TT 14 CHAPTER 1 SYSTEM CONFIGURATION 15 1 1 Motion System Configuration 0 cc ccc eee hh hh 15 Equipment configuration in system 0 0 ee 15 Peripheral device configuration ico ne irrita ry e e rede wp dee Fe dudes Leelee 16 R32MTCPU R16MTCPU system overall configuration 0 0 0 0 ee 17 Function explanation of the Motion CPU modules oococococcccc ees hn 18 Restrictions on Motion systems codec bed eene pese aeo Ee eodd e dos us UR PE d ed oko eR dus 18 1 2 S
15. composite transistor output sink type output 32 points module Analogue input R60AD4 Voltage current input 4ch 0 22 module R60ADV8 Voltage input 8ch 0 23 R60ADI8 Current input 8ch 0 22 R60AD8 G Voltage current input 8ch channel isolated 0 33 R60AD16 G Voltage current input 16ch channel isolated 0 52 Analogue R60DA4 Voltage current output 4ch 0 16 output module Regpavs Voltage output 8ch 0 16 R60DAI8 Current output 8ch 0 16 R60DA8 G Voltage current output 8ch channel isolated 0 18 R60DA16 G Voltage current output 16ch channel isolated 0 25 High speed RD62P2 DC input sink output type 2ch 0 11 counter module RD62P2E DC input source type 2ch 0 20 RD62D2 Differential input sink output type 2ch 0 17 Temperature R60TD8 G Thermocouple B R S K E J T N input 8ch channel isolated 0 36 input module amp conpg G RTD Pt100 JPt100 Ni100 Pt50 input 8ch channel isolated 0 35 Refer to the MELSEC iQ R series manuals for each module 1 5VDC internal current consumption of shared equipment with PLC might be changed Be sure to refer to the manuals for each module MR J4 series servo amplifier MR J4 LIB Refer to the LLIservo amplifier instruction manuals MR J4 LIB RJ MR J4 LIB LL MR J4W LIB For 2 axis type 3 axis type MR J3 series servo amplifier MR J3 LIB MR J3W LIB For 2 axis type MR J3 LIB RJ006 For fully closed control MR J3 LIB RJ004 For linear servo motor MR J3
16. 2 II t 44 CHAPTER3 INSTALLATION AND WIRING 47 3 1 Mounting Environment cic oso zx Rh kn yu a RC o os ee e 47 3 2 Module Installation 9223 br En xx mr RR O ab ia A ela cui blc od de 47 Mounting position sies ee esc n cR e cxen seb e ek p RR Cx ea YR Reach Kc Pa dp ce e rg roce caer eres 47 Installation of the base UNI ooo sized E Reb RRRER bed cake EEG RE ERR ange wale 47 Installation and removal of module n sansan annarra eee 47 3 3 Installation and Removal of SD Memory Card 0000 cece eee I n 48 3 4 Mounting of Serial Absolute Synchronous Encoder 000 cece eee eee eee 50 3 5 LIB PI EEDTIUUIDUUTTIETUTTMUTUT 51 Power supply clreuib s sessa asaras Rh ER ma RERO eR CE RR ei ed Cee ace Robe ot Rbk aed olio 51 11 Safety Circuit reasda pe Sey pul oad we a d d RA A ee awe Ga ROP Ron Kb aed aes 51 CHAPTER 4 START UP PROCEDURES 53 4 1 Start up Adjustment Procedure cue a RE RR EE Non iex REHRU Euro om eee UR Rs 53 CHAPTER 5 INSPECTION AND MAINTENANCE 56 5 1 Daily Inspecti n oec Re ERR OR e neds othe ee bee cde ERE SENS 56 5 2 Periodic lnspection 2l RE REIR Ex CENTRE I ERE EER EN eee ewer ees 57 5 3 B PUN 58 CHAPTER6 TROUBLESHOOTING 59 6 1 Troubleshooting Basics o ooooooccncnocnnn een nh hm nt 59 6 2 Troubleshooting Procedure 30 ke eR E Tie ERE EE a 60 6 3 Checking LED Display 2 26 e RE RR A AA E cd EE 61 Checking LED display of the Motion CPU module cococccocccococ urr
17. 50 50m 164 04ft 2 5VDCinternal current consumption of shared equipment with PLC might be changed Be sure to refer to the MELSEC iQ R MELSEC L series PLC Manuals 3 Be sure to use the power supply module within the range of power supply capacity 4 Please contact your nearest Mitsubishi sales representative for the cable of less than 30m 98 43ft 1 SYSTEM CONFIGURATION 1 2 System Configuration Equipment 21 can be controlled by Motion CPU Input module RX10 AC input input 16 points 0 11 RX40C7 DC input plus common minus common shared type input 16 points 0 11 RX41C4 DC input plus common minus common shared type input 32 points 0 15 RX42C4 DC input plus common minus common shared type input 64 points 0 18 RX40PC6H DC input plus common type input 16 points 0 10 RX40NC6H DC input minus common type input 16 points 0 10 Output module RY10R2 Contact output output 16 points 0 45 RY40NT5P Transistor output sink type output 16 points 0 14 RY41NT2P Transistor output sink type output 32 points 0 18 RY42NT2P Transistor output sink type output 64 points 0 25 RY40PT5P Transistor output source type output 16 points 0 13 RY41PT1P Transistor output source type output 32 points 0 19 RY42PT1P Transistor output source type output 64 points 0 29 Input Output RH42C4NT2P DC input plus common minus common shared type input 32 points 0 22
18. Do not see directly the light generated from SSCNETII connector of Motion CPU module or servo amplifier and the end of SSCNETII cable When the light gets into eye may feel something is wrong for eye The light source of SSCNETII cable complies with class1 defined in JISC6802 or IEC60825 1 Migrating plasticizer is used for vinyl tape Keep the MR J3BUSLIM and MR J3BUSLIM A cables away from vinyl tape because the optical characteristic may be affected Generally soft polyvinyl chloride PVC polyethylene resin PE and fluorine resin contain non migrating plasticizer and they do not affect the optical characteristic of SSCNETII cable However some wire sheaths and cable ties which contain migrating plasticizer phthalate ester may affect MR J3BUSLIM and MR J3BUSLIM A cables made of plastic In addition MR J3BUSLIM B cable made of quartz glass is not affected by plasticizer Optical cord Cable O Normally cable is not affected by plasticizer A Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable SSCNETII cable MR J3BUSO M MR J3BUSIIM A MR J3BUSOM B If the adhesion of solvent and oil to the cord part of SSCNETIII cable may lower the optical characteristic and machine characteristic If it is used such an environment be sure to do the protection measures to the cord part When keeping the Motion CPU or servo
19. Nuclear or Hazardous Materials or Chemicals Mining and Drilling and or other applications where there is a significant risk of injury to the public or property Notwithstanding the above restrictions Mitsubishi may in its sole discretion authorize use of the PRODUCT in one or more of the Prohibited Applications provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail safe redundant or other safety features which exceed the general specifications of the PRODUCTS are required For details please contact the Mitsubishi representative in your region INTRODUCTION Thank you for purchasing the Mitsubishi MELSEC iQ R series programmable controllers This manual describes the specifications procedures before operation and wiring of the relevant products listed below Before using this product please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ R series programmable controller to handle the product correctly When applying the program examples provided in this manual to an actual system ensure the applicability and confirm that it will not cause system control problems Please make sure that the end users read this manual Relevant products R16MTCPU R32MTCPU COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES Method of ensuring compliance
20. SSCNETIII cables manufactured by Mitsubishi Electric System amp Service for long distance cable up to 100 328 08 m ft and ultra long bending life cable Page 76 SSCNETIII cables SC J3BUSaM C manufactured by Mitsubishi Electric System amp Service Numeral in the column of cable length on the table is a symbol put in the O part of cable model Cables of which symbol exists are available MR J3BUSLIM 015 03 05 1 3 Standard Standard cord for inside panel MR J3BUSLIM A 5 10 20 Standard Standard cable for outside panel MR J3BUSLIM B 30 40 50 Long Long distance a bending cable life 1 For the cable of less than 30 m 98 43 ft contact your nearest Mitsubishi sales representative SSCNETII cable model MR J3BUSLIM MR J3BUSLIM A MR J3BUSLIM B SSCNETII cable length m ft 0 15 0 49 0 3 to 3 0 98 to 9 84 5 to 20 16 40 to 65 62 30 to 50 98 43 to 164 04 Optical Minimum bend 25 Enforced covering cord 50 Enforced covering cord 50 cable radius mm inch 1 97 1 97 Cord Cord 25 0 98 Cord 30 1 18 Tension strength N 70 140 420 Enforced covering cord 980 Enforced covering cord Temperature range 40 to 80 40 to 176 20 to 70 4 to 158 for use C F Ambient Indoors no direct sunlight No solvent or oil External appearance mm inch 2 2 0 07 0 090 003 A A
21. altitude Om Doing so can cause an operation failure When using the Motion controller under pressure please contact with our sales representative 2 This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical power distribution network and the machinery within premises CategoryI applies to equipment for which electrical power is supplied from fixed facilities The surge voltage withstand level for up to the rated voltage of 300V is 2500V 3 This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used Pollution level 2 is when only non conductive pollution occurs A temporary conductivity caused by condensing must be expected occasionally NCAUTION The Motion controller must be stored and used under the conditions listed in the table of specifications above When not using the module for a long time disconnect the power line from the Motion controller or servo amplifier Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation 2 EQUIPMENT SPECIFICATIONS 2 1 General Specifications 2 2 Motion CPU Module Name of parts This section explains the names of the parts of the Motion CPU module With front cover open Front fa
22. amplifier be sure to put on a cap to connector part so that a dirt should not adhere to the end of SSCNETII connector SSCNETII connector to connect the SSCNETIT cable is put a cap to protect light device inside connector from dust For this reason do not remove a cap until just before connecting SSCNETII cable Then when removing SSCNETII cable make sure to put a cap Keep the cap and the tube for protecting light cord end of SSCNETII cable in a plastic bag with a zipper of SSCNETII cable to prevent them from becoming dirty When exchanging the Motion controller or servo amplifier make sure to put a cap on SSCNETII connector When asking repair of Motion controller or servo amplifier for some troubles make also sure to put a cap on SSCNETII connector When the connector is not put a cap the light device may be damaged at the transit In this case exchange and repair of light device is required 2 EQUIPMENT SPECIFICATIONS 2 4 SSCNETIII Cables 3 INSTALLATION AND WIRING 3 1 Mounting Environment Set the Motion controller system according to the mounting environment indicated in the general specifications Do not install the Motion controller system in the following environments Where ambient temperature exceeds the range of 0 to 55 C 32 to 131 F Where ambient humidity exceeds the range of 5 to 95 RH Where condensing from sudden temperature changes occurs Where there is corrosive or inflammable gas Wh
23. electric shock Wiring Precautions CAUTION Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohm or less Failure to do so may result in electric shock or malfunction Use applicable solderless terminals and tighten them within the specified torque range If any spade solderless terminal is used it may be disconnected when the terminal screw comes loose resulting in failure Check the rated voltage and signal layout before wiring to the module and connect the cables correctly Connecting a power supply with a different voltage rating or incorrect wiring may cause fire or failure Connectors for external devices or coaxial cables must be crimped or pressed with the tool specified by the manufacturer or must be correctly soldered Incomplete connections may cause short circuit fire or malfunction Securely connect the connector to the module Poor contact may cause malfunction Do not install the control lines or communication cables together with the main circuit lines or power cables Keep a distance of 100 mm or more between them Failure to do so may result in malfunction due to noise Place the cables in a duct or clamp them If not dangling cable may swing or inadvertently be pulled resulting in damage to the module or cables or malfunction due to poor contact Do not clamp the extension cables with the jacket stripped Check the interface type and correctly conn
24. g Motion CPU controlled modules gt l R30B Motion CPU R61P ROCPU ROMT RXOO RYOO R6LAD RD62H CPU 3 O R6ODA 1 0 module 965 Intelligent function module BE gt 2 AAA AA A PERIPHERAL I F Manual pulse generator x2 module GOT Extension base unit Cognex Corporation vision system Incremental synchronous encoder x2 module Analog Input Output R6OB Input Ouput gt Up to 4096 points E E i A A Extension S External input signals cable Upper stroke limit os Up to 7 extensions SSCNETIII cable i pe Sos m AMRASBUSEIMCAE Proximity dog Speed position switching Line 2 Line 1 SSCNETII H d16 SSCNETII H d01 CN2 CN1 gt L61P LJ72MS15 v E Serial absolute synchronous encoder cable V I O module Intelligent function module L61P LJ72MS15 1 0 module Intelligent d16 gt y Q170ENCCBLLIM A Serial absolute synchronous encoder Q171ENC W8 1 MR J4 LIB RJ only MR J3 W LIB MR J4 W L1B model Servo amplifier fous 2 lines Up to 32 axes Up to 16 axes line R16MTCPU 1 line Up to 16 axes External input signals of servo amplifier Upper stroke limit Lower stroke limit Proximity dog Speed position switching function module y MELSEC L series SSC
25. generator Serial absolute synchronous encoder or Q171ENC W8 Abbreviation for Serial absolute synchronous encoder Q171ENC W8 SSCNETII H High speed synchronous network between Motion controller and servo amplifier SSCNETII SSCNETII H General name for SSCNETIII H SSCNETII Absolute position system General name for system using the servomotor and servo amplifier for absolute position Intelligent function module SSCNETII H head module General name for module that has a function other than input or output such as A D converter module and D A converter module Abbreviation for MELSEC L series SSCNETII H head module LJ72MS15 Optical hub unit or MR MV200 Abbreviation for SSCNETII H Compatible Optical Hub Unit MR MV200 1 SSCNET Servo System Controller NETwork SYSTEM CONFIGURATION This section describes the Motion controller system configuration precautions on use of system and configured equipment 1 1 Motion System Configuration Equipment configuration in system Extension of the R series module TIT 2 a Power supply module RnCPU 1 0 module Intelligent function module of the R series Extension cable R6LIB extension base unit RCOB R65B R68B R312B Main base unit R35B R38B R312B I
26. high frequency noise is applied to the power line and signal line Immunity test in which power supply has short interruptions 0 15 80MHz 80 AM modulation 1kHz 10Vrms 096 of rated voltage 250cycle EN61000 4 11 2004 Voltage dip Test in which voltage dip is applied to the power supply 40 of rated voltage 10cycle 7096 of rated voltage 25cycle EN61131 2 2007 EN61000 4 11 2004 Voltage dip immunity Immunity test in which voltage dip is applied to the power supply 0 of rated voltage 0 5cycle 20 times 1 This product is an open type device a device designed to be housed inside other equipment and must be installed inside a conductive control panel The corresponding test has been done with the programmable controller installed inside a control panel 2 QP Quasi peak value 3 For the AC power supply line 4 For the electrical communication port 5 AV Average value 66 7 EMC DIRECTIVES 7 1 Requirements for Compliance with the EMC Directive Installation instructions for EMC directive Motion controller is an open type device and must be installed inside a control panel for use This not only ensures safety but also ensures effective shielding of Motion controller generated electromagnetic noise Control panel Use a conductive control panel When attaching to the control panel s top plate or base plate by bolt mask the grounding parts to ensure they are not coate
27. on the standard ROM or the SD memory card memory card With the Multiple CPU system in an erroneous state self diagnostic errors Use the PERIPHERAL I F of the Motion CPU to write to the Motion CPU such as CPU configuration error parameter error etc occurring is transmission via Multiple CPU being performed If write to Motion CPU cannot be performed after checking the above items there may be a hardware error Please consult your local Mitsubishi representative When cannot read from Motion CPU When cannot read from Motion CPU check the following items Has a password been registered Authenticate a password in MT Developer2 Is the specified target memory for reading incorrect Check the target memory standard ROM SD memory card for reading is correct With the Multiple CPU system in an erroneous state self diagnostic errors Use the PERIPHERAL I F of the Motion CPU to read from the Motion CPU such as CPU configuration error parameter error etc occurring is transmission via Multiple CPU being performed If read from Motion CPU cannot be performed after checking the above items there may be a hardware error Please consult your local Mitsubishi representative When the servo amplifier does not start When the servo amplifier does not start check the following items An error is displayed or flickering in the dot matrix LED of the Motion CPU Check the display of dot matrix LED and remove
28. safety standards are satisfied O Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differs from the safety directive operation in the system O Do not remove the SSCNETII cable while turning on the control circuit power supply of modules and servo amplifier Do not see directly the light generated from SSCNETII connector of the module or servo amplifier and the end of SSCNETII cable When the light gets into eyes you may feel something wrong with eyes The light source of SSCNETII complies with class1 defined in JISC6802 or IEC60825 1 Design Precautions CAUTION O Do not install the control lines or communication cables together with the main circuit lines or power cables Keep a distance of 100 mm or more between them Failure to do so may result in malfunction due to noise O During control of an inductive load such as a lamp heater or solenoid valve a large current approximately ten times greater than normal may flow when the output is turned from off to on Therefore use a module that has a sufficient current rating After the CPU module is powered on or is reset the time taken to enter the RUN status varies depending on the system configuration parameter settings and or program size Design circuits so that the entire system will always operate safely regardless of the time Do not power off the programmable controller or do no
29. servo amplifier and Multiple CPU system s power supply is effective for the reducing noise The noise filter has the effect of reducing conducted noise of 10 MHz or less llNoise ferrite Recommended product Mitsubishi electric Soshin Electric HF3010A UN The precautions required when installing a noise filter are described below Do not bundle the wires on the input side and output side of the noise filter When bundled the output side noise will be induced into the input side wires from which the noise was filtered Input side Input side power supply side power supply side Induction Noise filter Noise filter Output side device side Output side device side Bundled example eNon bundled example The noise will be included when the Separate and lay the input and output input and output wires are bundled wires Ground the noise filter grounding terminal to the control cabinet with the shortest wire possible approx 10cm 3 94 inch 7 EMC DIRECTIVES 7 1 Requirements for Compliance with the EMC Directive 69 70 Cable clamp It is also possible to ground the exposed shielded part of the cable to the control panel with the cable clamp Ground the shield at a position 20 to 30cm 7 87 to 11 81inch away from the module Motion controller Inside control panel 20 to 30cm 7 87 to 11 81 inch Cable clamp Recommended p
30. 008 IP address 3 3 3 3 of 3033 3 DA DA 192 168 3 39 gt e beree 9 loer sob oe ve 000 gt SS ge q q 3 tt 3 ge 5 ott A gt 5 e 000 gu 33 Subnet mask y se oo 430 utt ttt 0000 gt ott ttt ttn gt ott 20903 F004 gt 30 3 toro Coed Gros Soses ooo to Soseo oro ooo boose Mes Coe Lar 255 255 255 0 UDPCODOEEOIECODOEME EPOD 154 4 Default router address gt 2942 2 2 4 e 4 BL utt gt e 333 c gt t seo boere foe to d 1 92 1 68 3 1 3 3 ge A 40 4 e 3 qe 3 45 Z e E 45 zs 4 2 2 9 ooe tft gt 9104 t 3 4 0000 oft A tte esete gt 3 Ke 3 3 6666 toro eso deseo seo ooo dores too MAC add address gt m 38 E0 8E 01 23 45 4 000l otto h den 152 124 158 224 erro seo b eoo 4 444 2 1 22 Disconnected que e o P4 d 5 Porro Connected green 94 10Mbps Full duplex 2 S 2 gt 245 gt 3000 3 33 Link stat 3 33 151 Mice o sp gt 000 booor Connected 0 6 000 44 00 100Mbps 42 4 Half duplex 222 5 ESE gt 32608 7333 32682 te Point When the Ethernet parameters are not written in the Motion CPU the addresses are displayed as follows P address 192 168 3 39 P address 0 0 0 0 Default router IP address 0 0 0 0 installation m
31. 57 12A 1 SYSTEM CONFIGURATION 1 2 System Configuration Equipment SSCNETII cable MR J3BUSLIM R3I2MTCPU R16MTCPU lt gt MR JA4 W LIB MR J4 W LIB lt gt MR J4 W LIB MR JA4 W LIB LJ72MS15 R32MTCPU R16MTCPU lt gt MR J3 W LIB MR J3 W LIB lt gt MR J3 W LIB Standard cord for inside panel 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft 1m 3 28ft 3m 9 84ft MR J3BUSLIM A e R22MTCPU R16MTCPU lt gt MR J4 W OB MR J4 W LIB lt gt MR J4 W LIB MR J4 W LIB lt gt LJ72MS15 R32MTCPU R16MTCPU lt gt MR J3 W LIB MR J3 W LIB lt gt MR J3 W LIB Standard cable for outside panel 5m 16 40ft 10m 32 81ft 20m 65 62ft MR J3BUSLIM B 4 e R32MTCPU R16MTCPU lt gt MR J4 W OB MR J4 W OB MR J4 W HB MR J4 W LIB gt LJ72MS15 R22MTCPU R16MTCPU lt gt MR J3 W LIB MR J3 W HIB lt gt MR J3 W LIB Long distance cable 30m 98 43ft 40m 131 23ft 50m 164 04ft SSCNETII H head LJ72MS15 Maximum link points Input 64 bytes Output 64 bytes 0 55 module 2 Transmission cycle 0 222ms 0 444ms 0 888ms Optical hub unit MR MV200 3 branches 1 unit 24VDC power supply connector is attached 24VDC 0 2 A 1 O Cable length 015 0 15m 0 49ft 03 0 3m 0 98ft 05 0 5m 1 64ft 1 1m 3 28ft 2 2m 6 56ft 3 3m 9 84ft 5 5m 16 40ft 10 10m 32 81ft 20 20m 65 62ft 25 25m 82 02ft 30 30m 98 43ft 40 40m 131 23ft
32. 7 39 6 1 56 I i f A V H 7 0 89 11 0 43 E SSCNETIII cable connector Unit mm inch 4 8 0 19 44 9 0 19 Y A 2 o o 1 7 0 07 e x o LO S i THE 2 3 0 09 U 17 6 0 2 0 69 0 01 20 9 0 2 0 82 0 01 APPENDICES APPENDIX 78 Appendix 2 Exterior Dimensions Serial absolute synchronous encoder Q171ENC W8 Unit mm inch 85 3 35 58 5 2 30 29 1 14 30 1 18 7 0 28 2 0 08 a A A f ES Lh A E 14 0 55 5 8 8 72 M os 1 E 034 Oo g Se a a M R3 8 a E g al I i e Cross section To og di A A 3 y iagram A 4 5 5 0 22 y A IE RS F v 42 1 65 375048 APPENDICES APPENDIX Appendix 2 Exterior Dimensions 79 REVISIONS The manual number is given on the bottom left of the back cover June 2014 IB NA 0300235 A First edition March 2015 IB NA 0300235 B Added functions MR MV200 MR J4 LIB LL Added or modified parts SAFETY PRECAUTIONS RELEVANT MANUALS TERMS Section 1 2 1 4 1 5 2 2 June 2015 1B NA 0300235 C Added functions RO8PCPU R16PCPU R32PCPU R120PCPU R62P R64P RX40PC6H RX40NC6H R60AD8 G R60AD16 G R60DA8 G R60DA16 G R60TD8 G R60R
33. 8 43 40 40 131 23 50 50 164 04 Exterior dimensions MR J3BUS015M Unit mm inch 15 13 4 Protective tube 6 7 0 26 0 59 0 53 37 65 1 48 a eo 2 S 2 f N eJ otal 00 o3 aly o o elo aS CN 7 MR J3BUS03M to MR J3BUS3M Refer to model explanation for cable length L 37 Page 71 Model explanation Unit mm inch Protective tube 4 100 3 94 100 3 94 1 Dimension of connector part is the same as that of MR J3BUS015M 2 APPENDICES APPENDIX 7 Appendix 1 Cables MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Refer to model explanation for cable length L 1337 Page 71 Model explanation 30 1 18 MR J3BUS5M A to MR J3BUS20M A 100 3 94 MR J3BUS30M B to MR J3BUS50M B 150 5 91 50 1 97 Unit mm inch Protective tube 4 k c B j 8 NES j gt 1 Dimension of connector part is the same as that of MR J3BUS015M Keep the cap and the tube for protecting light cord end of SSCNETII cable in a plastic bag with a zipper of SSCNETIII cable to prevent them from becoming dirty APPENDICES APPENDIX 73 Appendix 1 Cables 74 Serial absolute synchronous encoder
34. ADEMARK S aimes sites sun ince EE a SEC ILE uta te P LE Ee E AME E 82 RELEVANT MANUALS MELSEC iQ R Motion Controller User s Manual This manual explains specifications of the Motion CPU modules Print book IB 0300235 This manual SSCNETII cables synchronous encoder troubleshooting and e Manual others EPUB PDF MELSEC iQ R Motion Controller Programming Manual This manual explains the Multiple CPU system configuration Print book Common performance specifications common parameters auxiliary e Manual IB 0300237 applied functions error lists and others EPUB PDF MELSEC iQ R Motion Controller Programming Manual This manual explains the functions programming debugging for Print book Program Design Motion SFC and others e Manual IB 0300239 EPUB PDF MELSEC iQ R Motion Controller Programming Manual This manual explains the servo parameters positioning Print book Positioning Control instructions device lists and others e Manual IB 030024 1 EPUB PDF MELSEC iQ R Motion Controller Programming Manual This manual explains the dedicated instructions to use Print book Advanced Synchronous Control synchronous control by synchronous control parameters device e Manual IB 0300243 lists and others EPUB PDF Point e Manual refers to the Mitsubishi FA electronic book manuals that can be browsed using a dedicated tool e Manual has the following features Required information can be cross sear
35. Check to see how the operating condition varies while the Motion controller is operated as follows Set the RUN STOP switch of Motion CPU module to STOP Reset the trouble with the RUN STOP RESET switch of PLC CPU module Turn ON and OFF the Multiple CPU system power supply Narrowing down the range of trouble occurrence causes Assess where the trouble is occurring based on the visual inspection and check of trouble above Multiple CPU system or external devices Motion CPU or PLC CPU O module or others Servo program or Motion SFC program Motion program Sequence program 6 TROUBLESHOOTING 6 1 Troubleshooting Basics 59 60 6 2 Troubleshooting Procedure When trouble occurs conduct troubleshooting in the order of the following procedures 1 Check LED of the power supply module ELIMELSEC iQ R CPU Module User s Manual Application 2 Check LED of PLC CPU module ELIMELSEC iQ R CPU Module User s Manual Startup 3 4 5 6 N Check LED of Motion CPU module Page 61 Checking LED Display Check LED of every I O module and intelligent function module LL1User s Manual Application for each module Connect GX Works3 and start system monitor Check the module where the error has occurred Select the module where the error has occurred and start module diagnostics in GX Works3 Check the cause of the error and corrective action When the cause cannot be specified using module
36. D8 G Added or modified parts TERMS Section 1 2 1 4 1 5 2 2 Japanese manual number 1B 0300234 C This manual confers no industrial property rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2014 MITSUBISHI ELECTRIC CORPORATION 80 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty term after m
37. High speed counter module use Synchronous encoder operation function Possible to connect 12 modules Via module High speed counter module use Via servo amplifier 2 Via device Multiple CPU advanced synchronous control M code function M code output function provided M code completion wait function provided Limit switch output function Number of output points 64 points x 2 settings Output timing compensation Watch data Motion control data Word device ROM operation function Provided Multiple CPU advanced synchronous control Provided External input signal Forced stop External input signals FLS RLS DOG of servo amplifier Bit device Motion controller forced stop Device Forced stop terminal of servo amplifier Number of I O points Total 4096 points Mark detection function Mark detection mode setting Continuous detection mode Specified number of detection mode Ring buffer mode Mark detection signal High speed input request signal bit device input signal of servo amplifier DI1 to DI3 Mark detection setting 32 settings Clock function Provided Security function Provided All clear function Provided Remote operation Remote RUN STOP File management function Available for program and parameter data cam data label data sampling data etc Optional data monitor function SSCNETII H Up to 14 data axis Communication data Up to 6 points axi
38. II H head module per line can be set axis select rotary switch of servo amplifier is set to 4 to F the servo amplifiers are not recognized MR J4W3 DB software version A2 or earlier cannot be used MR J3W LIB cannot be used FR A700 series and VCI series cannot be used 0 444ms Two SSCNETII H head modules per line can be set The maximum number of control axes per line is eight axes Set the axis select rotary switch of the servo amplifier to O to 7 If the axis select rotary switch of servo amplifier is set to 8 to F the servo amplifiers are not recognized 0 888ms or more 1 When the number of control axes per line setting exceeds the maximum number of control axes per line operation is carried out at the following operation cycles 5to 8 axes 0 444 ms 9 axes or more 0 888 ms 2 MR JAW3 LIB Software version A3 or later supports operation cycle 0 222 ms However when using operation cycle 0 222 ms some functions are restricted Refer to the following for details LLlServo amplifier Instruction Manual 3 When FR A700 series or VCI series are present operation is carried out at 0 444 ms operation cycle When using MR J4W LIB if there is at least one axis which has not been set in servo network setting all axes of the applicable servo amplifier cannot be connected and all servo amplifiers after the applicable servo amplifier cannot be connected Set Not used to t
39. LIB RJ080W For direct drive motor MR J3 LIB Safety For drive safety servo 22 1 SYSTEM CONFIGURATION 1 2 System Configuration Equipment Software packages R32MTCPU SW10DNC RMTFW R16MTCPU 1 The operating system software is installed at the time of product purchases Motion controller engineering software MELSOFT MT Works2 SW1DND MTW2 E MT Developer MR Configurator2 1 Included in Motion controller engineering software MELSOFT MT Works2 2 The servo setup software MR Configurator2 is included with MELSOFT MT Works2 HPLC engineering software MELSOFT GX Works3 SW1DND GXW3 E 1 SYSTEM CONFIGURATION 23 1 2 System Configuration Equipment 1 3 Checking Production Information and Operating System Software Version This section explains checking for the production information of Motion CPU module and the operating system software version Checking production information Checking with the Motion CPU module MRating plate The rating plate is situated on the side face of the Motion CPU module The SERIAL line displays the Motion CPU module production information Production information marking The production information of the Motion CPU module is found on the production information marking on the front of the Motion CPU module 3 R32MTCPU READY ERROR CARD READY CARD ACCESS MELSEC iQ R 4 MTRUBISHI A ELECT
40. NETII H head module LJ72MS15 R32MTCPU 2 lines Up to 8 stations Up to 4 stations line R16MTCPU 1 line Up to 4 stations N CAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect 1 SYSTEM CONFIGURATION 1 1 Motion System Configuration 17 18 Function explanation of the Motion CPU modules The following servo amplifiers can be controlled in Motion CPU module Motion CPU Servo amplifier control R32MTCPU Up to 32 axes per 2 lines up to 16 axes per 1 line R16MTCPU Up to 16 axes per 1 line It is possible to set the program which synchronized with the motion operation cycle and executed at fixed cycle Min 0 222ms Itis possible to execute a download of servo parameters to servo amplifier servo ON OFF to servo amplifier and position commands etc by connecting between the Motion CPU modul
41. RIC MOTION CONTROLLER UNIT NoEL R32MTCPU Rating plate MAC ADD 38E08EFFO005 5VDC 1 20A SERIAL 0A0A1418FF200041 2 4 MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN e R32MTCPU in ferus tion mal anoal Ve oye z R32MTCPU mode d emplo eur ce US LISTED TE 2014 04 CJ gow IND CONT EQ Production information nza TOKYO 100 8310 JAPAN SPEED SD RD 0A0A1418FF200041 PERIPHERAL I F Production information marking Checking with GX Works3 The production information can be checked on the system monitor screen in GX Works3 t Page 25 Checking with GX Works3 Checking with MT Developer2 Production information can be checked with MT Developer2 in the CPU information I Page 25 Checking with MT Developer2 24 1 SYSTEM CONFIGURATION 1 3 Checking Production Information and Operating System Software Version Checking operating system software version The operating system software version can be checked with MT Developer2 or GX Works3 Checking with GX Works3 Check on the product information list screen XZ Diagnostics gt System monitor gt Product Information List button Operating system Production information software version of Motion CPU module Network Informatio n Port 1 BasicCPU 192 168 3 3 BasicCPU
42. amplifier can be used for up to 2 lines Connect to CN1 and CN2 Up to 16 servo amplifiers can be connected to SSCNETIII H per 1 line Specifications MR J3BUSLIM MR J3BUS015M 0 15 0 49 Standard cord for inside panel MR J3BUS03M 0 3 0 98 MR J3BUSO5M 0 5 1 64 MR J3BUS1M 1 3 28 MR J3BUS3M 3 9 84 MR J3BUSOM A MR J3BUS5M A 5 16 40 Standard cable for outside panel MR J3BUS10M A 10 32 81 MR J3BUS20M A 20 65 62 MR J3BUSLIM B MR J3BUS30M B 30 98 43 Long distance cable MR J3BUS40M B 40 131 23 MR J3BUS50M B 50 164 04 Motion CPU lt gt Servo amplifier Servo amplifier lt gt Servo amplifier 2 EQUIPMENT SPECIFICATIONS 2 4 SSCNETIII Cables Connection between the Motion CPU module and servo amplifiers Connect the SSCNETII cables to the following connectors Motion CPU module 5 S 3 5 SSCNETII cable length C MR J3BUSLIM use 1 lt 3m 9 84ft MR J3BUSEIM A use 1 s 20m 65 62ft MR J3BUSEIM B use 1 lt 50m 164 04ft N SSCNETII H LINE 1 Attach a cap to connectors of line not being used d Jo Yoo o5 CN1A H
43. anufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases 1 Failure occurring from inappropriate storage or handling carelessness or negligence by the user Failure caused by the user s hardware or software design 2 Failure caused by unapproved modifications etc to the product by the user 3 When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fires or abnormal voltages and Failure caused by force majeure such as earthquakes lightning wind and water damage 6 Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsu
44. bishi 7 Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ 4 Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user by Failures of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks 5 Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice 81 82 TRADEMARKS Microsoft Windows Windows Vista Window
45. cable Generally use the serial absolute synchronous encoder cables available as our products If the required length is not found in our products fabricate the cable on the customer side The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder Connector sets are also available for your fabrication Q170ENCCBLOM A 2 6 56 5 16 40 10 32 81 J14B103715 00 12pair BLACK Q171ENC W8 MR J4 DIB RJ 20 65 62 30 98 43 50 164 04 Use the following or equivalent twisted pair cables as the serial absolute synchronous encoder cables MR J3CN2 Servo amplifier connector Q171ENC W8 lt gt MR J4 OB RJ J14B103715 00 12pair BLACK 0 2 24 12pair 40 0 08 105 or less 0 88 0 035 9 0 0 35 Q171ENC W8 gt MR J4 LIB RJ 1 d is as shown below d Conductor Insulation sheath 2 Standard OD Outside Diameter Maximum OD is about 10 larger NCAUTION When fabricating the encoder cable do not make incorrect connection Wrong connection will cause runaway or explosion APPENDICES APPENDIX Appendix 1 Cables Q170ENCCBLOM A Model explanation Type Q170ENCCBLLIM A Connection diagram Symbol Cable length m ft 2 2 6 56 5 5 16 40 10 10 32 81 20 20 65 62 30 30 98 43 50 50 164 04 When fabricating a cable use the recommended wire and connector set MR J3CN2 for encoder cable given in selecti
46. ce of RIGMTCPU Front face of R32MTCPU R16MTCPU R32MTCPU READY ERROR CARDREADY CARDACCESS READY ERROR CARD READY CARD ACCESS Y O 10 10 O mS O 11 O b 13 13 s 12 2 12 14 14 E 15 Side face 17 16 18 2 EQUIPMENT SPECIFICATIONS 2 2 Motion CPU Module 29 30 1 READY LED Indicates the operating status of the Motion CPU ON Operating normally Flickering Initializing OFF Hardware error 1237 Page 31 READY ERROR LED display 2 ERROR LED Indicates an error occurrence in the Motion CPU module ON flickering Hardware error or error occurrence Page 31 READY ERROR LED display OFF Operating normally 3 CARD READY LED Indicates whether SD memory card is usable or not ON SD memory card is usable Flickering Preparing OFF No SD memory card inserted 4 CARD ACCESS LED Indicates the access status of SD memory card ON Accessing SD memory card OFF Not accessing SD memory card Dot matrix LED Indicates the operating status and error information Page 31 Dot matrix LED display Mode select rotary switch Set the operation m
47. ched in multiple manuals Other manuals can be accessed from the links in the manual The hardware specifications of each part can be found from the product figures Pages that users often browse can be bookmarked 13 14 TERMS Unless otherwise specified this manual uses the following terms R32MTCPU R16MTCPU or Motion CPU module Abbreviation for MELSEC iQ R series Motion controller MR J4 W OB Servo amplifier model MR J4 LIB MR J4W LIB MR J3 W OB Servo amplifier model MR J3 LIB MR J3W LIB AMP or Servo amplifier RnCPU PLC CPU or PLC CPU module General name for Servo amplifier model MR J4 LIB MR J4W LIB MR J3 LIB MR J3W L1B Abbreviation for MELSEC iQ R series CPU module Multiple CPU system or Motion system Abbreviation for Multiple PLC system of the R series CPUn Abbreviation for CPU No n n 1 to 4 of the CPU module for the Multiple CPU system Operating system software General name for SW10DNC RMTFW Engineering software package General name for MT Developer2 GX Works3 MELSOFT MT Works2 General product name for the Motion controller engineering software SW1DND MTW2 MT Developer2 Abbreviation for the programming software included in the MELSOFT MT Works2 Motion controller engineering software GX Works3 General product name for the MELSEC PLC software package SW1DND GXW3 Manual pulse generator Abbreviation for Manual pulse
48. d To ensure good electrical contact with the control panel mask the installation bolts of the inner plate in the control panel so that contact between surfaces can be ensured over the widest possible area Ground the control panel with a thick wire so that a low impedance connection can be ensured even at high frequencies Holes made in the control panel must be 10cm 3 94inch diameter or less If the holes are larger than 10cm 3 94inch radio frequency noise may be emitted In addition because radio waves leak through a clearance between the control panel door and the main unit reduce the clearance as much as practicable The leakage of radio waves can be suppressed by the direct application of an EMI gasket on the paint surface Connection of power line and ground wire Provide a grounding point near the power supply module Ground the LG terminals and FG terminals of the power supply module with the thickest and shortest wire possible The wire length must be 30cm 11 81inch or shorter and 962mm 0 08inch or less Twist the grounding wire from the grounding point with the power supply wire Twisting the power supply wire and grounding wire enables more noise from the power supply wire to run off to the ground However when a noise filter has been installed on the power supply wire twisting with the grounding wire is not required 7 EMC DIRECTIVES 7 1 Requirements for Compliance with the EMC Directive 67 68 Cables
49. diagnostics check the operations and errors from the event history in GX Works3 to specify the cause Connect MT Developer2 and start Motion CPU error batch monitor Check the details of errors occurring in the Motion CPU module When the cause cannot be specified in procedures 1 to 8 carry out troubleshooting by circumstance Page 63 Troubleshooting by Circumstance LAUser s Manual Application for each module 6 TROUBLESHOOTING 6 2 Troubleshooting Procedure 6 3 Checking LED Display Checking LEDs is a means for confirming the status of a module and should be performed as the primary diagnosis Checking LED display of the Motion CPU module The following describes the items to check when checking the LED display of the Motion CPU module By checking the READY LED ERROR LED and dot matrix LED confirming if an error has occurred is possible by visual inspection a T Y LED ERROR LED ON OFF No error Continued Operating normally ON Minor error occurrence Due to an incorrect program or Use MT Developer2 to specify the parameter setting or the status of cause and correct the error external signals axis operation cannot be started continued The program has detected a minor error or warning and can continue Flickering Moderate error Stopped Due to an incorrect program or occurrence parameter setting or momentary noise the program and axis operation cann
50. e When using the programmable controller in an environment of frequent vibrations fix the module with a screw Tighten the screws within the specified torque range Undertightening can cause drop of the screw short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction When using an extension cable connect it to the extension cable connector of the base unit securely Check the connection for looseness Poor contact may cause incorrect input or output When using an SD memory card fully insert it into the memory card slot Check that it is inserted completely Poor contact may cause malfunction O Securely insert an extended SRAM cassette into the cassette connector of a CPU module After insertion close the cassette cover and check that the cassette is inserted completely Poor contact may cause malfunction Do not directly touch any conductive parts and electronic components of the module SD memory card extended SRAM cassette or connector Doing so may cause malfunction or failure of the module Wiring Precautions NWARNING O Shut off the external power supply all phases used in the system before installation and wiring Failure to do so may result in electric shock or damage to the product O After installation and wiring attach the included terminal cover to the module before turning it on for operation Failure to do so may result in
51. e and servo amplifier with SSCNETII cable O modules and intelligent function modules excluding some modules can be controlled with the Motion CPU module E Page 22 PLC module which can be controlled by Motion CPU Data exchange between CPU modules is possible by CPU buffer memory in the Multiple CPU system Wiring is reduced by issuing the external signal upper lower stroke limit signal proximity dog signal via the servo amplifier Battery is not required for the Motion CPU Restrictions on Motion systems Combination of Multiple CPU system Motion CPU module cannot be used as standalone module Be sure to install the MELSEC iQ R series PLC CPU module to CPU No 1 Up to four modules of MELSEC iQ R series PLC CPU modules Motion CPU modules can be installed from the CPU slot the slot on the right side of power supply module to the I O slot 6 of the main base unit CPU modules are called CPU No 1 to CPU No 4 from the left sequentially There is no restriction on the installation order of CPU No 2 to No 4 For CPU module other than CPU No 1 CPU reservation setting allocating a CPU No without actually installing a CPU module can be made It takes about 10 seconds to startup a state where it can be controlled the Motion CPU After startup each CPU requires time for initializing For a system that begins executing programs without waiting for the startup of other CPUs change the Multiple CPU synchronous startup setting M
52. e error is occurring Replace this module If the READY LED does not turn ON after checking the above items there may be a hardware error Please consult your local Mitsubishi representative When an error is displayed or flickering in the dot matrix LED When an error is displayed or flickering in the dot matrix LED check the following items Check item Corrective action EOD is displayed during initializing A hardware error or software error is occurring Exchange the Motion CPU module O0 is the error code A00 is flickering The operating system software is not installed Put the Motion CPU module in installation mode and install the operating system software A01 is displayed There is an error in the operating system software file that was installed Reinstall the operating system software ERO is displayed during installation mode ER1 is displayed during installation mode An access error of the SD memory card from which the operating system software was installed is occurring Exchange the SD memory card and reinstall the operating system software An error in the install file of the operating system software installed from SD memory card is occurring Install the operating system software using another install file ER2 is displayed during installation mode An access error of the internal ROM of the operating system software installed from the SD memory card is
53. e from the product to the power line and electrical communication port is measured AC power line 0 15M 0 5MHz QP 79dBuV AV 5 66dBuV 0 5M 30MHz QP 73dBuV AV 60dBuV Electrical communication port 0 15M 0 5MHz QP AV Logarithmic decrease 0 5M 30MHz QP 87dBuV AV 74dBuV EN61000 6 2 2005 EN61131 2 2007 EN61000 4 2 2009 Electrostatic discharge immunity Immunity test in which electrostatic discharge is applied to the product 8kV 10 times at 1 second interval Air discharge 4kV 10 times at 1 second interval Contact discharge EN61000 4 3 2006 A1 2008 A2 2010 Radiated immunity EN61000 4 4 2012 Electrical fast transient burst EFT B immunity Immunity test in which electric fields are radiated to the product Immunity test in which burst noise is applied to the power cable and signal line 80 AM modulation 1kHz 80 1000MHz 10V m 1400M 2000MHz 3V m 2000M 2700MHz 1V m AC power line 2kV 5kHz DC power line 2kV 5kHz I O communication line 1kV 5kHz EN61000 4 5 2006 Surge immunity Immunity test in which surge is applied to the power line and signal line AC power line Common mode 2 0kV Differential mode 1 0kV DC power line Common mode 0 5kV Differential mode 0 5kV I O communication line Common mode 1kV EN61000 4 6 2009 Conducted immunity EN61000 4 11 2004 Short interruptions immunity Immunity test in which
54. e guideline nous encoder Change the synchronous encoder in 20 000 to 30 000 hours as a guideline under rated speed This differs on the operating conditions The bearings must also be changed if unusual noise or vibration is found during inspection 5 INSPECTION AND MAINTENANCE 58 5 3 Life 6 TROUBLESHOOTING This section describes the various types of trouble that occur when the system is operated and causes and corrective actions of these troubles For troubleshooting on each individual module refer to the manuals of each module 6 1 Troubleshooting Basics The basic three points that must be followed in troubleshooting are as follows Visual inspection Visually check the following Movement of machine stopped condition operating condition Power supply ON OFF Status of input output devices Installation condition of the Power supply module Motion CPU module PLC CPU module I O module intelligent function module SSCNETII cable Synchronous encoder cable State of wiring I O cables cables Display states of various types of indicators CPU module LED display PLC CPU module READY LED ERROR LED BATTERY LED USER LED etc Motion CPU module READY LED ERROR LED dot matrix LED Installation mode Normal mode STOP RUN etc After checking all of the above monitor the operating conditions of servomotors and error code using MT Developer2 and GX Works3 Check of trouble
55. ect the cable Incorrect wiring connecting the cable to an incorrect interface may cause failure of the module and external device Tighten the terminal screws or connector screws within the specified torque range Undertightening can cause drop of the screw short circuit fire or malfunction Overtightening can damage the screw and or module resulting in drop short circuit fire or malfunction When disconnecting the cable from the module do not pull the cable by the cable part For the cable with connector hold the connector part of the cable For the cable connected to the terminal block loosen the terminal screw Pulling the cable connected to the module may result in malfunction or damage to the module or cable Prevent foreign matter such as dust or wire chips from entering the module Such foreign matter can cause a fire failure or malfunction A protective film is attached to the top of the module to prevent foreign matter such as wire chips from entering the module during wiring Do not remove the film during wiring Remove it for heat dissipation before system operation Programmable controllers must be installed in control panels Connect the main power supply to the power supply module in the control panel through a relay terminal block Wiring and replacement of a power supply module must be performed by qualified maintenance personnel with knowledge of protection against electric shock For wiring refer to the MELSEC iQ R Mod
56. ena 61 6 4 Checking With Engineering Tools oooccocococnnccnnn RR hh hn 62 6 5 Troubleshooting by Circumstance oocococcconcn hm 63 When the READY LED of the Motion CPU module has turned OFF 0 00 00 00000005 63 When an error is displayed or flickering in the dot matrix LED lille 63 When cannot write to Motion CPU ooooccccocococ lh rh nnn 64 When cannot read from Motion CPU oococcocccco eh mn 64 When the servo amplifier does not start 0 0 0 0 ketene n 64 CHAPTER 7 EMC DIRECTIVES 65 7 1 Requirements for Compliance with the EMC Directive llle 65 Standards relevant to the EMC directive liliis re 66 Installation instructions for EMC directive 0 0 0 0 s RI mn 67 Parts of measure against noise 6 2 eee 69 Measure against noise 1 0 eee 70 APPENDICES 71 Appendix edere D DC 71 SOCNEMM N Cables 2 c xm ob de edie EROR RAP dale od RUE RR a a Bout toad eae d HR als 71 Serial absolute synchronous encoder cable 0 00 cc rne 74 SSCNETIII cables SC J3BUSaM C manufactured by Mitsubishi Electric System amp Service 76 Appendix2 Exterior Dimensions 2 c Rt RR osi e ee ees cx ee a RO n cR mw IR E Rd dn 77 Motion CPLJmodule cos nua diaria Rete hands qiero ds acing Gate AM b dou 77 CONNCCION secede cs ne nba TT 78 Serial absolute synchronous encoder Q171ENC W8 00 le 79 Dialer LN 80 MLoOS RSS 81 TR
57. ents for Compliance with the EMC Directive The EMC Directive specifies that products placed on the market must be so constructed that they do not cause excessive electromagnetic interference emissions and are not unduly affected by electromagnetic interference immunity This section summarize the precautions on compliance with the EMC Directive of the machinery constructed with the MELSEC Q R series modules These precautions are based on the requirements and the standards of the regulation however it does not guarantee that the entire machinery constructed according to the descriptions will comply with above mentioned directive The method and judgement for complying with the EMC Directive must be determined by the person who construct the entire machinery 7 EMC DIRECTIVES 7 1 Requirements for Compliance with the EMC Directive 65 Standards relevant to the EMC directive The standards relevant to the EMC Directive are listed in table below Certification Test item Test details Standard value EN61000 6 4 2007 CISPR16 2 3 2010 A1 2010 Radio waves from the product are 30M 230MHz A1 2011 Radiated emission measured QP 40dBuV m 10m 32 81ft in measurement EN61131 2 2007 range 230M 1000MHz QP 47dBuV m 10m 32 81ft in measurement range 1GHz 6GHz AV 56dBuV m PK 76dBuV m CISPR16 2 1 2008 A1 2010 Power line CISPR22 20084 Electrical communication port Conducted emission Nois
58. eo EOD does not display 5 Page 63 When an 0004 utt 00 ee 4 4 t error is displayed or 1222 1222 D flickering in the dot matrix LED WLILI does not display 4 4 ieee O00 tt to AL does not flicker 409 9 Gorro Safety stops Perform an emergency stop The main circuit power supply of the 5 Page 51 Safety servo amplifier is shut off circuit Perform a servo amplifier forced stop AL E6 servo forced stop warning occurs at the servo amplifier Perform a Motion controller forced stop AL E7 controller forced stop warning occurs at the servo amplifier 5 INSPECTION AND MAINTENANCE 5 1 Daily Inspection 5 2 Periodic Inspection The items that must be inspected one or two times every 6 months to 1 year are listed below When the equipment is moved or modified or layout of the wiring is changed also implement this inspection 1 Ambient Ambient Measure with a thermometer O to 55 C 32 to 131 F Make sure the environment satisfies all environment temperature 1 measurement criteria Ambient humidity Measure with a hygrometer 5 to 95 RH Atmosphere Measure corrosive gas No corrosive gases 2 Installation Looseness rattling Move the module to check for The module must be Retighten the screws looseness and rattling installed firmly If the modules are loose fix it with screws Adhesion of dirt and Visual inspection Dirt and foreign matter Remove dirt and
59. ere there is a lot of conductible dust iron filings oil mist or salt organic solvents Where there is direct exposure to sunlight Where there is strong electrical or magnetic fields Where there are direct vibrations or shocks to the Motion controller 3 2 Module Installation Mounting position When mounting the Motion controller to an enclosure or similar fully consider its operability maintainability and environmental resistance Refer to the following for details of mounting position of modules LLIMELSEC iQ R Module Configuration Manual Installation of the base unit Refer to the following for details of installation of base unit to control panel and installation of base unit to DIN rail LLIMELSEC iQ R Module Configuration Manual Installation and removal of module Refer to the following for details of how to install and remove a power supply module PLC CPU module Motion CPU module I O module intelligent function module or another module to and from the base unit and installation precautions LLIMELSEC iQ R Module Configuration Manual 3 INSTALLATION AND WIRING 4 3 1 Mounting Environment 7 48 3 3 Installation and Removal of SD Memory Card This section describes the methods for installation of a SD memory card to the Motion CPU module and removal Installation of SD memory card When installing a SD memory card to the Motion CPU module take note of the SD memory card position and install using the fo
60. foreign matter and clean foreign matter must not be present Attach a connector cover to the connectors The connectors not being that are not being used used must have a cover attached 3 Connection Looseness of Check for looseness of Screws must not be loose Retighten the terminal screws terminal screws terminal screws Proximity of Visual inspection Solderless terminals must Correct spacing as appropriate solderless terminals be properly spaced to each other Looseness of Visual inspection Connectors must not be Insert the connector securely so there is no connectors loose looseness 4 Module diagnostics Check with the module An error has not occurred Confirm details of the error remove the error diagnostics of GX Works3 factor 1 The temperature in the control panel where the Motion CPU module is installed is the ambient temperature 5 INSPECTION AND MAINTENANCE 57 5 2 Periodic Inspection 5 3 Life The following parts must be changed periodically as listed below However if any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact your sales representative Synchronous encoder Capacitor Bearings 20 000 to 30 000 hours Life guideline is reference time If faulty it must be changed immediately even when it has not yet reached the lif
61. g switches of the servo amplifier is shown in the table below dd Servo Network Setting ala Auxiliary axis No A setting switch TA on n Amplifier Model m8 RJ X Amplifier Operation Mode Standard 1234 SSCNET III LINE 1 SSCNET III H Axis select rotary switch Only the scale measufement mode invata corresponding MR J4 B RJ can be used m Input Filter Setting C Nothing d 1 Servo Parameter Setting C 0 8ms C 1 7ms C 2 6ms SSCNET III LINE 2 SSCNET III E E Tg y E Set the Axis No and Station No OFF OFF d01 d02 d03 d04 d05 d06 d07 d08 d09 d10 d11 d12 d13 d14 d15 d16 OFF ON d17 d18 d19 d20 d21 d22 d23 d24 d25 d26 d27 d28 d29 d30 d31 d32 ON OFF d33 d34 d35 d36 d37 d38 d39 d40 d41 d42 d43 d44 d45 d46 d47 d48 ON ON d49 d50 d51 d52 d53 d54 d55 d56 d57 d58 d59 d60 d61 d62 d63 d64 2 EQUIPMENT SPECIFICATIONS 2 4 SSCNETIII Cables When using communication type SSCNETII Set the axis number for the station No d01 to d16 of each servo amplifier set on each line The station number d01 to d16 of servo amplifier on the servo network setting screen corresponds to axis select rotary switch 0 to F of servo amplifier The table for setting the station No and the axis select rotary switch of the servo amplifier is shown in the table below f Y Servo Net
62. hat the Motion CPU is operating STP RUN TES Displays TRG and Mode 41110 e 9 oee 4 4 a 3 ju 3 PA alternately Left When mode C 5 is RUN 2 2 22 41 oe 94 4 t 490090 4 94114 463 2 3 e e 4 Displays the status after the digital oscilloscope trigger issue The mode displayed is the mode that the Motion CPU is operating STP RUN TES Ethernet information display mode Refer to Ethernet information display mode for details of the dot matrix LED display 37 Page 34 Ethernet information display mode Displays information of IP address subnet mask default router address MAC address link status Installation mode Built in memory clear INS is displayed E 22223 NM Sader yyy ae Pd Mode to install the operating system software Displays INS gt SDC alternately ee 3 33 3 DAA DIA Ses DADAS 3 S e 6 Oe 91 4 te 911 111 AAAS S999 40004 Displays the status of the operating system software installation from the SD memory card FIN is displayed 1111 DIAS 3 B55 55559 SISI S DA Displays when the operating system software installation from the SD memory card is completed normally ERO is displayed Left When there is a SD bose tu i 64 ocos Ce looo memory card access error 3333 938 CLR is displayed 10004 N S S d ooo 3 Displa
63. he applicable axis with a dip switch for the axis which is not used by MR JAW LIB 1 SYSTEM CONFIGURATION 1 1 1 Motion System Configuration 9 20 1 2 System Configuration Equipment Configuration equipment list n controller related module Motion CPU module R32MTCPU Up to 32 axes control Operation cycle 0 222 ms or more Built in Ethernet 1 20 R16MTCPU Up to 16 axes control Operation cycle 0 222 ms or more Built in Ethernet 1 20 PLC CPU module RO4CPU Program capacity 40k steps LD instruction processing speed 0 98ns 0 67 Built in Ethernet port RO8CPU Program capacity 80k steps LD instruction processing speed 0 98ns 0 67 Built in Ethernet port R16CPU Program capacity 160k steps LD instruction processing speed 0 98ns 0 67 Built in Ethernet port R32CPU Program capacity 320k steps LD instruction processing speed 0 98ns 0 67 Built in Ethernet port R120CPU Program capacity 1200k steps LD instruction processing speed 0 98ns 0 67 Built in Ethernet port RO8PCPU Program capacity 80k steps LD instruction processing speed 0 98ns 0 76 Built in Ethernet port R16PCPU Program capacity 160k steps LD instruction processing speed 0 98ns 0 76 Built in Ethernet port R32PCPU Program capacity 320k steps LD instruction processing speed 0 98ns 0 76 Built in Ethernet port R120PCPU Program capacity 1200k steps LD instruction processing speed 0 98ns 0 76 Built
64. he source mo e 3 e Left When files are destination delete target transmitted from the SD R Standard ROM memory card to the standard S SD memory card ROM X delete target is displayed 44 1555 124 Left When files on the 4S standard ROM are deleted STOP STP is displayed Stopped the program with the Rq 1120 PLC ready flag 0 UU M2000 OFF 2 3333 tee 3 RUN RUN is displayed Executed the program with the Rq 1120 PLC ready yy x v M N SS S949 ES ws 4 flag M2000 ON Test mode RUN 12225 24 ZU 9 666 14 33335 99959 C0000 400 22 3 TES is displayed Mode to test Motion CPU operation Amplifier less operation mode 3 3 4 g 4 4 174 174 4 1 90009 4000 1 4 17 9 4 24 114 15 49040 4 eee 455 124 25 9 4 Ae Displays NAP and Mode alternately Left When mode is RUN Mode to operate without connecting servo amplifiers The mode displayed is the mode that the Motion CPU is operating STP RUN TES 2 EQUIPMENT SPECIFICATIONS 2 2 Motion CPU Module 31 32 Normal mode Digital oscilloscope RUN Displays LOG and Mode 2422 et 3 33 4 alternately Left When mode 4 4 44 4 Gorro Covet is RUN SNS TAS S999 SS 44 SNe eS 2d PN DAMAS 5 o 000 Displays the status of the digital oscilloscope wait for trigger The mode displayed is the mode t
65. imit of 50 times may cause malfunction After the first use of the product do not insert remove the SD memory card to from the CPU module more than 500 times Exceeding the limit may cause malfunction Do not touch the metal terminals on the back side of the SD memory card Doing so may cause malfunction or failure Do not touch the integrated circuits on the circuit board of an extended SRAM cassette Doing so may cause malfunction or failure Do not drop or apply shock to the battery to be installed in the module Doing so may damage the battery causing the battery fluid to leak inside the battery If the battery is dropped or any shock is applied to it dispose of it without using Startup and Maintenance Precautions CAUTION O Startup and maintenance of a control panel must be performed by qualified maintenance personnel with knowledge of protection against electric shock Lock the control panel so that only qualified maintenance personnel can operate it Before handling the module touch a conducting object such as a grounded metal to discharge the static electricity from the human body Failure to do so may cause the module to fail or malfunction O Before testing the operation set a low speed value for the speed limit parameter so that the operation can be stopped immediately upon occurrence of a hazardous condition Confirm and adjust the program and each parameter before operation Unpredictable movement
66. in Ethernet port C Controller module 2 R12CCPU V Endian format Little endian OS VxWorks Version 6 9 1 26 Power supply module R61P 100 to 240VAC input 5VDC 6 5A output R62P 100 to 240VAC input 5VDC 3 5A 24VDC 6 0A output R63P 24VDC input 5VDC 6 5A output R64P 100 to 240VAC input 5VDC 9A output Main base unit R35B Number of I O modules 5 slots 0 58 R38B Number of I O modules 8 slots 0 71 R312B Number of I O modules 12 slots 0 88 Extension base unit R65B Number of I O modules 5 slots 0 70 R68B Number of I O modules 8 slots 0 81 R612B Number of I O modules 12 slots 0 92 Extension cable RCO6B Length 0 6m 1 97ft RC12B Length 1 2m 3 94ft RC30B Length 3m 9 84ft RC50B Length 5m 16 40ft DIN rail installation R6DIN1 Length 5m 16 40ft adaptor For connection of R35B R38B R312B R65B R68B R612B Serial absolute Q171ENC W8 Resolution 4194304pulse rev 0 25 synchronous encoder Permitted axial loads Radial load Up to 19 6N Thrust load Up to 9 8N Permitted speed 3600r min Serial absolute synchronous encoder cable Connector set for serial absolute synchronous encoder cable Q170ENCCBLLIM A MR J3CN2 Serial absolute synchronous encoder Q171ENC W8 lt gt MR J4 LIB RJ 2m 6 56ft 5m 16 40ft 10m 32 81ft 20m 65 62ft 30m 98 43ft 50m 164 04ft MR J4 LIB RJ side connector Plug 36210 0100PL Shell 36310 3200 008 Q171ENC W8 side connector Plug D MS3106B22 14S Cable clamp D MS30
67. ion Controller Programming Manual Program Design Servo program LLLIMELSEC iQ R Motion Controller Programming Manual Positioning Control e Advanced synchronous control parameters LLLIMELSEC iQ R Motion Controller Programming Manual Advanced Synchronous Control 15 write Motion programs Write the Motion programs created in MT Developer2 to the Motion CPU module QAHelp of MT Developer2 16 Tum ON power supply of Multiple CPU system again Turn ON again or reset the Multiple CPU system power supply 17 Tum ON control circuit power supply of servo amplifiers again Check the emergency stop ON servo amplifier forced stop ON Motion controller forced stop ON and turn ON the control circuit power supply of servo amplifiers 18 Check servo amplifiers Check that the mounted servo amplifiers operate correctly 19 Check upper lower stroke limits Check that the upper lower stroke limits operate correctly 20 Check machine operation Check the following by making the machine operate with the JOG operation of MT Developer2 Machine operates correctly no vibration hunting etc Stroke limits operate correctly Machine stops by the emergency stop or forced stop 21 Check home position return Check the following by executing the home position return Home position return direction Home position return data Proximity dog position 4 4 START UP PROCEDURES 5 4 1 Start up Adjustment Procedure 22 Check Motion p
68. ions Up to 8 stations Up to 4 stations line Up to 4 stations Number of optical hub unit connections Up to 32 units Up to 16 units line Up to 16 units PERIPHERAL I F Ethernet Data transmission speed 100Mbps 10Mbps Communication mode Full duplex Half duplex Transmission method Base band Cable length maximum m ft 30 98 43 Memory card slot SD SDHC memory card compatible Memory capacity Standard ROM 12M bytes SD memory card Memory card capacity Up to 32G bytes Number of stages of extension base Up to 7 stages Internal current consumption 5VDC A 1 20 Mass kg 0 28 Exterior dimensions mm inch 106 0 4 17 H x27 8 1 09 W x110 0 4 33 D 1 Servo amplifiers for SSCNET cannot be used 2 SSCNETII and SSCNETII H cannot be combined within the same line For R32MTCPU SSCNETII and SSCNETIT H can be set for each line 3 For half duplex transmission response time may be longer depending on the external device When connecting with an external device via a switching HUB set to full duplex transmission 2 EQUIPMENT SPECIFICATIONS 2 2 Motion CPU Module Motion control specifications Item R32MTCPU R16MTCPU Number of control axes Up to 32 axes Up to 16 axes Operation cycle default 0 222ms 1 to 2 axes 0 444ms 3 to 8 axes 0 888ms 9 to 20 axes 1 77 7ms 21 to 32 axes
69. is configure an external safety circuit such as a fuse O Configure a circuit so that the programmable controller is turned on first and then the external power supply If the external power supply is turned on first an accident may occur due to an incorrect output or malfunction O For the operating status of each station after a communication failure refer to manuals relevant to the network Incorrect output or malfunction due to a communication failure may result in an accident Design Precautions NWARNING When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller configure an interlock circuit in the program to ensure that the entire system will always operate safely For other forms of control such as program modification parameter change forced output or operating status change of a running programmable controller read the relevant manuals carefully and ensure that the operation is safe before proceeding Improper operation may damage machines or cause accidents O Especially when a remote programmable controller is controlled by an external device immediate action cannot be taken if a problem occurs in the programmable controller due to a communication failure To prevent this configure an interlock circuit in the program and determine corrective actions to be taken between the external device and CPU module in case of a communica
70. l in order to prevent SSCNETII cable from putting its own weight on SSCNETIII connector R32MTCPU only 2 EQUIPMENT SPECIFICATIONS 2 2 Motion CPU Module LED display LED display The Motion CPU operating status is shown below by the READY LED and ERROR LED combination OFF OFF Power supply OFF Flickering OFF Initializing ON OFF Operating normally OFF ON or flickering Major error occurrence ON Flickering Moderate error occurrence ON ON Minor error occurrence The LED displays flashes in the combination with errors Normal mode Start Progress display It takes about 10 seconds to initialize RUN STOP display After startup each CPU requires time for initializing Execute the power cycle of the Motion Q controller if the operation stop at initializing for several 40000 09000 00006 minutes If the Motion controller continues to stop at initializing it may be Motion controller s hardware fault Explain the error symptom LED display and get advice from our sales representative for the modules with failure EDD is displayed Hardware error or software error during initializing L1 154 124 DC indicates the error code 35333 35333 D Explain the error symptom LED display and get advice from our sales representative for the modules with failure Source gt Destination is Executes file transmission at boot 124 te 14 displayed The following are used to indicate t
71. l safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem fault or failure occurring in the PRODUCT 2 The PRODUCT has been designed and manufactured for the purpose of being used in general industries MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY INCLUDING BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT WARRANTY TORT PRODUCT LIABILITY FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT Prohibited Application Prohibited Applications include but not limited to the use of the PRODUCT in Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT Railway companies or Public service purposes and or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User Aircraft or Aerospace Medical applications Train equipment transport equipment such as Elevator and Escalator Incineration and Fuel devices Vehicles Manned transportation Equipment for Recreation and Amusement and Safety devices handling of
72. llowing procedure CARD READY LED SD memory card Removal of the SD memory card 3 With the notch facing downwards insert the SD memory card straight into the slot After inserting check the SD memory card is inserted all the way in If the SD memory card is not inserted properly insufficient contact may cause an operation failure The CARD READY LED flickers until the SD memory card can be used When the CARD READY LED is ON the SD memory card can be used If the CARD READY LED does not turn on after installing a SD memory card check that SD memory card forced disable instruction SM606 and SD memory card forced disable state SM607 are OFF When removing a SD memory card from the Motion CPU module remove the SD memory card using the following procedure e AE FA ZZ CARD READY LED SD memory card access control switch SD memory card 3 INSTALLATION AND WIRING 3 3 Installation and Removal of SD Memory Card 1 Hold the SD memory card control access switch for longer than 1s to stop access of the SD memory card During the process of stopping access to the SD memory card the CARD READY LED flickers then turns OFF when the process is complete After pushing in the SD memory card once pull the SD memory card out straight Point Follow the above procedures for installation or removal of SD memory card while Multiple CPU system
73. mmable controller Failure to do so may result in an accident due to an incorrect output or malfunction 1 Emergency stop circuits protection circuits and protective interlock circuits for conflicting operations such as forward reverse rotations or upper lower limit positioning must be configured external to the programmable controller 2 When the programmable controller detects an abnormal condition it stops the operation and all outputs are Turned off if the overcurrent or overvoltage protection of the power supply module is activated Held or turned off according to the parameter setting if the self diagnostic function of the CPU module detects an error such as a watchdog timer error 3 Also all outputs may be turned on if an error occurs in a part such as an I O control part where the CPU module cannot detect any error To ensure safety operation in such a case provide a safety mechanism or a fail safe circuit external to the programmable controller For a fail safe circuit example refer to the user s manual of the CPU module to use 4 Outputs may remain on or off due to a failure of a component such as a relay and transistor in an output circuit Configure an external circuit for monitoring output signals that could cause a serious accident n an output circuit when a load current exceeding the rated current or an overcurrent caused by a load short circuit flows for a long time it may cause smoke and fire To prevent th
74. mmended Beware that doing so will raise the high frequency impedance resulting in loss of the shielding effect Shield cable Wire Solderless terminal crimp contact Precautions relevant to the electrostatic discharge There is a weak part to electrostatic discharge in the surface of the module Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or damage the module 7 EMC DIRECTIVES 7 1 Requirements for Compliance with the EMC Directive Parts of measure against noise Ferrite core A ferrite core has the effect of reducing noise in the 30MHz to 100MHz band It is not required to fit ferrite cores to cables but it is recommended to fit ferrite cores if shield cables pulled out of the enclosure do not provide sufficient shielding effects Note that the ferrite cores must be fitted to the cables in the position immediately before they are pulled out of the enclosure If the fitting position is improper the ferrite will not produce any effect Ferrite core Recommended product TDK ZCAT3035 1330 Noise filter power supply line filter A noise filter is a component which has an effect on conducted noise The attachment of the noise filter to the power supply line of the
75. mon impedances Refer to the following for details of grounding LLIMELSEC iQ R Module Configuration Manual LLIServo amplifier Instruction Manual Safety circuit Concept of safety circuits When the Multiple CPU system is powered on and off normal control output may not be done momentarily due to a delay or a startup time difference between the Multiple CPU system power supply and the external power supply DC in particular for the control target Also an abnormal operation may be performed if an external power supply fault or Motion controller failure takes place To prevent any of these abnormal operations from leading to the abnormal operation of the whole system and in a fail safe viewpoint areas which can result in machine breakdown and accidents due to abnormal operations e g emergency stop protective and interlock circuits should be constructed outside the Multiple CPU system Emergency stop circuit The circuit should be constructed outside of the Multiple CPU system or servo amplifier Shut off the power supply to the external servo amplifier by this circuit make the electromagnetic brakes of the servomotor operated 3 INSTALLATION AND WIRING 1 3 5 Wiring 5 The forced stop of all servo amplifiers is possible in a lump by using the forced stop input of input modules After forced stop the forced stop factor is removed and the forced stop canceled The servo error detection signal does not turn on with
76. ng 0 Normal mode Normal operation mode 8 Ethernet information display mode Displays IP address MAC address and Ethernet link status Installation mode Installed the operating system software using MT Developer2 C Built in memory clear Initializes the built in memory of the standard ROM and backup RAM 1 Do not set other than the above setting NCAUTION Be sure to turn OFF the Multiple system power supply before the rotary switch setting change 2 EQUIPMENT SPECIFICATIONS 2 2 Motion CPU Module 33 34 Operation mode Normal mode The Motion CPU module operates based on the parameters user programs stored in the standard ROM or the SD memory card Ethernet information display mode Displays Ethernet related information Displays in the order of IP address subnet mask default router address MAC address and link status During Ethernet information display mode communication with MT Developer2 execution of Motion SFC programs and axis control cannot be performed The following is an example of a display in Ethernet information display mode Ex IP address 192 168 3 39 Subnet mask pattern 255 255 255 0 Default router IP address 192 168 3 1 MAC address 38 E0 8E 01 23 45 N 2 3 Oe 999 hd e 4 s 4 7 DA gs g ee os 4 b gt ds gt loon o gt de F000 et gt vest 9
77. occurring Exchange the Motion CPU module ERR is displayed during built in memory clear An error was detected during the built in memory clear Exchange the Motion CPU module WOOD is displayed A watchdog timer error is occurring Check the error cause with Motion CPU WDT error cause SD512 and remove the error AL gt OO is displayed A self diagnostic error major moderate minor error is occurring Check the description of the error code displayed with LLIMELSEC iQ R Motion Controller Programming Manual Common or MT Developer2 and remove the error factor OO displays the 4 digit error code by displaying 2 digits at a time If an error is still displayed or flickers in the dot matrix LED after checking the above items there may be a hardware error Please consult your local Mitsubishi representative 6 TROUBLESHOOTING 6 5 Troubleshooting by Circumstance 63 64 When cannot write to Motion CPU When cannot write to Motion CPU check the following items Has a password been registered Authenticate a password in MT Developer2 With the SD memory card as the write target is the SD memory card write Remove the write protect from the SD memory card protected With the SD memory card as the write target has the SD memory card not Format the SD memory card been formatted Does the writing data exceed the capacity of the standard ROM or the SD Secure enough free space
78. ode Normal mode Installation mode etc e Each switch setting is O to F Factory default 0 37 Page 33 Rotary switch setting RUN STOP switch Move RUN STOP to change the operating state of the Motion CPU module RUN Program is started STOP Program is stopped 8 SD memory card access control switch Switch for stopping card access when removing the SD memory card 9 SD memory card slot Slot for inserting the SD memory card 10 SSCNETII CN1 connector Connector to connect the servo amplifier of line 1 up to 16 axes 11 SSCNETII CN2 connector 12 Connector to connect the servo amplifier of line 2 up to 16 axes 12 PERIPHERAL I F connector For communication I F with peripheral devices 13 SPEED LED ON Communicating at 100Mbps OFF Communicating at 10Mbps or not connected 14 SD RD LED Flickering Communicating data OFF Not communicating data 15 Production information marking Displays the production information described on the rating plate 16 Module fixing hook Hook used to fix the module to the base unit 17 Module fixing screw hole Screw hole used to fix to the base unit M3x12 screws supplied by user 18 Module fixing projection Projection used to fix to the base unit al 2 Put the SSCNETIT cable in the duct or fix the cable at the closest part to the Motion CPU module with bundle materia
79. ode Mode for installing the operating system software Only communication with MT Developer2 is possible Execution of Motion SFC programs and axis control cannot be performed 2 EQUIPMENT SPECIFICATIONS 2 2 Motion CPU Module MBuilt in memory clear Clears the contents of the standard ROM and backup RAM of the Motion CPU During built in memory clear communication with MT Developer2 execution of Motion SFC programs and axis control cannot be performed The procedure for built in memory clear is shown below 1 2 3 Set the rotary switch to C Turn the Multiple CPU system power supply ON The READY LED turns ON and the dot matrix LED displays CLR After 3 seconds the dot matrix LED display switches to the target memory Pushing the SD memory card access control switch changes the dot matrix display as shown below Select the memory for built in memory clear 833 1 po 2 A 4 3 deso dee hue deso 2 42 3 3 3 b o boo boor t RB Clear the standard ROM and backup RAM B Clear the backup RAM R Clear the standard ROM 5 By holding the SD memory card access control switch for longer than 3 seconds CLR gt Memory selected in procedure 4 is displayed alternately and clear processing begins 6 When built in memory clear is complete FIN is displayed on the dot matrix LED 7 Turn the Multiple CPU system power supply OFF 8 Set the rotary switch to 0 to switch to normal mode
80. on 3 Page 74 Selection and make the cable as shown in the following connection diagram Maximum cable length is 50m 164 04ft CN2L connector E 6 10 ie IL 4 8 MRR2 MDR2 1 5 9 Ps 3 7 sar MR2 MD2 View A MR J4 DIB RJ side 36210 0100PL plug 36310 3200 008 shell MR J4 LIB RJ CN2L q Encoder connector Q171ENC W8 Synchronous encoder cable om 50m 164 04ft or less gt Encoder connector PS LG BAT MR2 MRR2 MD2 MDR2 SD plate Signal A K MR B L MRR Encoder sid C M ncoder side D MS3106B22 14S plug D N SHD D MS3057 12A cable clamp E BAT P F R LG q CEA e415 P5 G s P5 NETO R is H MD T A gt gt le J MDR A A A S rog MEME gt l 1 f 1 o _ Bry i rT f AA He n gt J 1 gt 4 i mcm 1 1 9 i E BAT og mE MRS Wire the cable as shown in figure below so that twisted 7 EN H MD pair for signal do not touch 8 PI J MDR Ba N SHD Twisted pair for signal BAT LG MR MRR MD MDR Twisted pair P5 LG f Twisted pair cable Cable length 50m 164 04 ft or less J Core Cable cross section diagram APPENDICES APPENDIX Appendix 1 Cables 75 SSCNETIII cables SC J3BUSOM C manufact
81. operating system software are shown below 01 or later 1 100E or later 1 000A or later 03 or later 1 111R or later 04 or later 1 115V or later 1 SYSTEM CONFIGURATION 2 1 5 Engineering Software Version 7 28 2 EQUIPMENT SPECIFICATIONS 2 1 General Specifications General specifications of the Motion controller are shown below Item Operating ambient temperature Specification 0 to 55 C 32 to 131 F Storage ambient temperature 25 to 75 C 13 to 167 F Operating ambient humidity 5 to 95 RH non condensing Storage ambient humidity Vibration resistance 5 to 95 RH non condensing Compliant with JIS B 3502 and IEC 61131 2 Frequency Constant Half amplitude Sweep count acceleration Under intermittent 5 to 8 4Hz 3 5mm 0 14inch 10 times each in vibration 8 4 to 150Hz 9 8m s X Y Z directions For 80 min Under continuous 5 to 8 4Hz 1 75mm 0 07inch vibration 8 4 to 150Hz 4 9m s Shock resistance Compliant with JIS B 3502 and IEC 61131 2 147m s2 3 times in each of 3 directions X Y Z Operating ambience No corrosive gases Operating altitude 4 2000m 6561 68ft or less Mounting location Overvoltage category 2 Inside control panel T or less Pollution level 2 or less 1 Do not use or store the Motion controller under pressure higher than the atmospheric pressure of
82. ot continue OFF ON Major error occurrence Due to a hardware error etc operation If the problem cannot be resolved after flickering is stopped troubleshooting exchange the module where the error is occurring OFF Hardware error Check the input of power supply If the power supply is correctly input there may be a hardware error If the problem cannot be resolved after troubleshooting exchange the module where the error is occurring No error No power supply input power failure Flickering OFF No error Initializing g are TH Dot matrix LED Refer to dot matirx LED display for the dot matrix LED displays Page 31 Dot matrix LED display 6 TROUBLESHOOTING 6 3 Checking LED Display 61 6 4 Checking With Engineering Tools Specify the error cause by using MT Developer2 and GX Works3 to check the errors occurring and the history Checking with engineering tools enables more detailed information error causes and error corrections to be checked than checking LEDs Checking with MT Developer2 Check with the following function in MT Developer2 Motion CPU error batch monitor Refer to the following for details LLlHelp of MT Developer2 Checking with GX Works3 Check with the following functions in GX Works3 System monitor Module diagnostics Event history Refer to the following for details LLIGX Works3 Operating Manual 2 6 TROUBLESHOOTING 6 6 4 Checking With Engineering Tools
83. otion CPU module restrictions The Motion CPU module only controls MELSEC iQ R series modules It cannot control MELSEC Q series modules To execute the forced stop input use a device set in the forced stop input setting Motion CPU Common Parameter gt Basic Setting Refer to the following for details of installing Motion CPU module to a DIN rail LLIMELSEC iQ R Module Configuration Manual Use the Graphic Operation Terminal GOT that supports Motion CPU R32MTCPU R16MTCPU SSCNET communication restrictions Set SSCNETII H or SSCNETIII for every line in the SSCNET setting Motion CPU Common Parameter gt Servo Network Setting to communicate with the servo amplifiers MR J4 W LIB can be used by setting SSCNETII H and MR J3 W LIB can be used by setting SSCNETII O Usable x Unusable SSCNET setting Servo amplifier SSCNETIII compatible MR J4 W 0B MR J3 W cB equipment SSCNETII H O x x SSCNETII o O O 1 Operated in J3 compatibility mode 2 Can use VCI series 1 SYSTEM CONFIGURATION 1 1 Motion System Configuration The following are restrictions for the communication method depending on the operation cycle No restriction 1 0 222ms MR JAW3 LIB software version A2 or earlier cannot The maximum number of control axes per line is four control axes 2 be used 2 Set the axis select rotary switch of the servo amplifier to 0 to 3 If the One SSCNETI
84. out putting forced tension Model name of SSCNETIII cable Maximum tension N MR J3BUSLIM O 015 70 L1 03 to 3 140 MR J3BUSLIM A 420 enforced covering cord MR J3BUSLIM B 980 enforced covering cord Lateral pressure SIf lateral pressure is added on the SSCNETII cable the cable itself distorts internal optical fiber gets stressed and then transmission loss will increase At worst the breakage of SSCNETII cable may occur As the same condition also occurs at cable laying do not tighten up SSCNETTII cable with a thing such as nylon band TY RAP Do not trample it down or tuck it down with the door of control panel or others Twisting If SSCNETII cable is twisted it will become the same stress added condition as when local lateral pressure or bend is added Consequently transmission loss increases and the breakage of SSCNETII cable may occur at worst Disposal When incinerating optical cable cord used for SSCNETII cable hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of SSCNETII cable request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas 2 EQUIPMENT SPECIFICATIONS 2 4 SSCNETIII Cables Wiring process of SSCNETIII cable Put the SSCNETII cable in the duct or fix the cable at the closest part to the Motion CPU module with bundle material in order
85. power supply is ON Not following the procedures may damage the data on the SD memory card When removing the SD memory card if there is a function accessing the SD memory card the CARD READY LED turns OFF after accessing the SD memory card is completed Thus the time it takes for the CARD READY LED to turn OFF differs depending on the function When Memory card remove attach prohibit SM605 is ON the CARD READY LED does not turn OFF when the SD memory card access control switch is pushed When the CARD READY LED will not turn OFF turning ON SD memory card forced disable instruction SM606 will force the stop of the SD memory card If the SSCNETTI cable connected to CN2 of R32MTCPU prevents removal of the SD memory card turn the Multiple CPU system power supply OFF and remove the SSCNETII cable before removing the SD memory card 3 INSTALLATION AND WIRING 4 3 3 Installation and Removal of SD Memory Card 9 3 4 Mounting of Serial Absolute Synchronous Encoder This section describes precautions for handling the serial absolute synchronous encoder If the serial absolute synchronous encoder is linked to a chain timing belt or gears the machine rotating shaft should be supported by a separate bearing and connected to serial absolute synchronous encoder through a coupling Ensure that excessive force greater than the permitted shaft load is not applied to the shaft of serial absolute synchronous encoder
86. proceeding Improper operation may damage machines or cause accidents O Especially when a remote programmable controller is controlled by an external device immediate action cannot be taken if a problem occurs in the programmable controller due to a communication failure To prevent this configure an interlock circuit in the program and determine corrective actions to be taken between the external device and CPU module in case of a communication failure O Do not disassemble or modify the modules Doing so may cause failure malfunction injury or a fire Use any radio communication device such as a cellular phone or PHS Personal Handyphone System more than 25 cm away in all directions from the programmable controller Failure to do so may cause malfunction Shut off the external power supply all phases used in the system before mounting or removing the module Failure to do so may cause the module to fail or malfunction O Tighten the screws within the specified torque range Undertightening can cause drop of the component or wire short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction O After the first use of the product do not mount remove the module to from the base unit and the terminal block to from the module and do not insert remove the extended SRAM cassette to from the CPU module more than 50 times IEC 61131 2 compliant respectively Exceeding the l
87. r min Permitted axial loads Radial load Up to 19 6N Thrust load Up to 9 8N Runout at input shaft tip 0 02mm 0 00079 inch or less 15mm 0 59 inch from tip Start friction torque Recommended coupling 0 04N m 20 C 68 F Bellows coupling Permitted angular acceleration 40000rad s2 Vibration resistance 5G 50 to 200Hz Shock resistance 50G 11ms or less Internal current consumption A 0 25 Mass kg 0 6 Connecting cable m ft Q170ENCCBLOM A G Cable length 2 6 56 5 16 40 10 32 81 20 65 62 30 98 43 50 164 04 Communications method Differential driver receiver Transmission distance Up to 50m 164 04ft 1 When o ring is required please purchase separately by customers 2 If it exceeds a permitted speed at power OFF a position displacement is generated Point The serial absolute synchronous encoder backs up the absolute position with the battery for back up of absolute position data of the servo amplifier MR J4 LIB RJ it is connected to 2 EQUIPMENT SPECIFICATIONS 2 3 Serial Absolute Synchronous Encoder 39 40 2 4 SSCNETIII Cables Between the Motion CPU module and servo amplifiers or servo amplifier and servo amplifier connected by SSCNETII cable When using the R16MTCPU SSCNETIII cable for connection to servo amplifier can be used for only 1 line Connect to CN1 When using the R22MTCPU SSCNETII cables for connection to servo
88. r starting up the Motion controller system 1 Tum OFF power supply of Multiple CPU system Check that the power supply of Multiple CPU system is OFF 2 Check wiring and module installation Check the installation position and condition of each module Check the connecting condition of connectors Check that all terminal screws are tight Check the ground wires of servo amplifier etc Check the servo motor wiring U V W Check the regenerative option wiring Check the circuit of emergency stop servo amplifier forced stop and Motion controller forced stop 3 Page 51 Safety circuit Refer to the following for details of the installation of modules LLIMELSEC iQ R Module Configuration Manual Refer to the following for details of servo amplifier LLIServo amplifier Instruction Manual 3 Servo amplifier setting Set the station No of servo amplifier 1 Page 42 Setting of the axis No and switch of servo amplifier 4 Parameter setting of the PLC CPU module Set the following parameters using GX Works3 System parameter CPU parameter Module parameter LLIMELSEC iQ R CPU Module User s Manual Application 5 write parameters to PLC CPU module Write the parameters set in GX Works3 to the PLC CPU module LLIGX Works3 Operating Manual 6 Parameter setting of the Motion CPU module Set the following parameters using MT Developer2 R series common parameter Divert the system parameters of GX Works3
89. roduct Manufacturer Model name Mitsubishi electric AERSBAN DSET AERSBAN ESET AD75CK NCAUTION Do not ground the cable clamp to the top of control panel Doing so may lead to damage by drop of screws etc during installation or removing the cable clamp Measure against noise Refer to the following for details of wiring for the power supply module LLIMELSEC iQ R Module Configuration Manual When laying an Ethernet cable out from the control panel ground with a cable clamp etc at a position 20 to 30cm 7 87 to 11 81inch from the module Refer to peripheral device configuration for details of each cable Ethernet cable Page 16 Peripheral device configuration In wiring inside the panel the power line connected to the power or servo amplifier and the communication cable such as bus connection cable or network cable must not be mixed If the cables are installed closely with each other for wiring reasons using a separator made of metal can make the cables less influenced by noise Mixing the power line and communication cable may cause malfunction due to noise 7 EMC DIRECTIVES 7 1 Requirements for Compliance with the EMC Directive APPENDICES Appendix 1 Cables In this cable connection diagram maker names of connectors are omitted Refer to connector for maker names of connectors 5 Page 78 Connector SSCNETIII cables Generally use the SSCNETITI cables available as our products Refer to
90. rogram Check that all positioning controls by Motion programs are correct 23 Check by automatic operation Check the sequence operation by executing the sequence program using an actual external input Also refer to the following for details of the operation to check processing times LLIMELSEC iQ R Motion Controller Programming Manual Common Point When the servo amplifier servo motor is first turned on check the operation before the servo motor is mounted on a machine to avoid unexpected accidents such as machine breakage 4 START UP PROCEDURES 4 1 Start up Adjustment Procedure 55 5 In order that you can use the Motion controller in normal and optimal condition this section describes those items that must INSPECTION AND MAINTENANCE be maintained or inspected daily or at regular intervals 5 1 Daily Inspection The items that must be inspected daily are shown below 56 Installation modules Check that the module is mounted The module must be mounted properly Engage the module properly and the module fixing hook is and module fixing hook must be engaged fixing hook securely engaged securely securely Motion CPU READY LED Check the READY LED is ON READY LED must be ON C Page 31 LED medula ERROR LED Check the ERROR LED is OFF ERROR LED must be OFF display Dot matrix LED RUN is displayed Geer 4 44 g Pts STP is displayed 449 00400 9999 E 3 Sone t
91. s SSCNETII Digital oscilloscope function Up to 14 data axis Communication data Up to 3 points axis Motion buffering method Real time waveform can be displayed Sampling data Word 16CH Bit 16CH Offline sampling Absolute position system Made compatible by setting battery to servo amplifier Possible to select the absolute data method or incremental method for each axis H Driver communication function 3 Provided File transmission at boot function Provided Event history function Provided Add on function Provided Override function Provided 2 EQUIPMENT SPECIFICATIONS 2 2 Motion CPU Module 37 Vibration suppression command filter Provided 1 Servo amplifier MR J4 OB LL only 2 Servo amplifier MR J4 OB RJ only 3 Servo amplifier MR J3 LIB MR J4 L1B only 38 2 EQUIPMENT SPECIFICATIONS 2 2 Motion CPU Module 2 3 Serial Absolute Synchronous Encoder Specifications This section describes the specifications of serial absolute synchronous encoder Model name Q171ENC W8 Ambient temperature 5 to 55 C 23 to 131 F Resolution 4194304pulse rev Transmission method Serial communications Direction of increasing addresses CCW viewed from end of shaft Protective construction Dustproof Waterproof IP67 Except for the shaft through portion Permitted speed at power ON Permitted speed at power OFF 2 3600r min 500
92. s may occur depending on the machine O When using the absolute position system function on starting up and when the module or absolute position motor has been replaced always perform a home position return Before starting the operation confirm the brake function Do not perform a megger test insulation resistance measurement during inspection After maintenance and inspections are completed confirm that the position detection of the absolute position detection function is correct Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Operating Precautions N CAUTION O When changing data and operating status and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module read relevant manuals carefully and ensure the safety before operation Incorrect change or modification may cause system malfunction damage to the machines or accidents Do not power off the programmable controller or reset the CPU module while the setting values in the buffer memory are being written to the flash ROM in the module Doing so will make the data in the flash ROM undefined The values need to be set in the buffer memory and written to the flash ROM again Doing so also can cause malfunction or failure of the module Note that when the reference axis speed is specified for interpola
93. s NT Windows XP Windows Server Visio Excel PowerPoint Visual Basic Visual C and Access are either registered trademarks or trademarks of Microsoft Corporation in the United States Japan and other countries Intel Pentium and Celeron are trademarks of Intel Corporation in the United States and other countries Ethernet is a registered trademark of Xerox Corp The SD and SDHC logos are either registered trademarks or trademarks of SD 3C LLC All other company names and product names used in this manual are either trademarks or registered trademarks of their respective companies d IB NA 0300235 C 1506 MEE MODEL RMT U E MODEL CODE 1XB002 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
94. sin it melts down if being left near the fire or high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative option of servo amplifier or servo motor Be sure to use optical fiber within the range of operating temperature described in this manual Read described item of this section carefully and handle it with caution Minimum bend radius Make sure to lay the cable with greater radius than the minimum bend radius Do not press the cable to edges of equipment or others For SSCNETII cable the appropriate length should be selected with due consideration for the dimensions and arrangement of Motion controller and servo amplifier When closing the door of control panel pay careful attention for avoiding the case that SSCNETII cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius Model name of SSCNETIII cable Minimum bend radius mm inch MR J3BUSLIM 25 0 98 MR J3BUSLIM A Enforced covering cord 50 1 97 Cord 25 0 98 MR J3BUSLIM B Enforced covering cord 50 1 97 Cord 30 1 18 Tension If tension is added on the SSCNETII cable the increase of transmission loss occurs because of external force which concentrates on the fixing part of SSCNETII cable or the connecting part of SSCNETII connector At worst the breakage of SSCNETII cable or damage of SSCNETII connector may occur For cable laying handle with
95. software 000 ee File error A01 is flickering Displays when there is a file error in the operating 449 000 2 22 3 system software that was installed 221 2 1 Pt WDT error WLILI is displayed Hardware error or software error 4 06 06 2 2 22 5 O displays the error code of Motion CPU WDT error tut uy b SD512 f f cause y Self diagnostic error Major Moderate Minor error AL flickers 3 times y 4 digits error code is displayed in two sequential displays of 2 digits each Left error code 2200H y Displays when a self diagnostic error occurs major moderate minor error Displays the applicable file name when a parameter or file error is detected The mode that the Motion CPU is operating STP RUN TES is displayed only for a continuous error Scrolled display of the file Refer to the following for details of error codes and file name names Left When file name is motnet01 csv y When a continuous error occurred the mode is displayed Left When mode is RUN LLIMELSEC iQ R Motion controller Programming Manual Common When an error is displayed on the dot matrix LED confirm the error code etc using MT Developer2 Refer to the Motion CPU error batch monitor or the following for error details LLIMELSEC iQ R Motion Controller Programming Manual Common Rotary switch setting and operation mode Rotary Switch setti
96. t reset the CPU module during the setting registration Doing so will make the data in the flash ROM undefined The data need to be set in the buffer memory and to be written to the flash ROM again Doing so may cause malfunction or failure of the module When changing the operating status of the CPU module from external devices such as remote RUN STOP select Do Not Open by Program for Opening Method in the module parameters If Open by Program is selected an execution of remote STOP causes the communication line to close Consequently the CPU module cannot reopen the communication line and external devices cannot execute the remote RUN Installation Precautions NWARNING O Shut off the external power supply all phases used in the system before mounting or removing the module Failure to do so may result in electric shock or cause the module to fail or malfunction Installation Precautions N CAUTION Use the programmable controller in an environment that meets the general specifications in the manual Safety Guidelines included in the base unit Failure to do so may result in electric shock fire malfunction or damage to or deterioration of the product O To mount a module place the concave part s located at the bottom onto the guide s of the base unit and push in the module until the hook s located at the top snaps into place Incorrect mounting may cause malfunction failure or drop of the modul
97. the error factor E Page 63 When an error is displayed or flickering in the dot matrix LED Is the SSCNETII cable connected correctly Connect the SSCNETII cable correctly Have the applicable axes been set in the parameters Set the applicable axes in Motion CPU Common Parameter gt Servo Network Setting of MT Developer2 Have the setting switches on the servo amplifier been set correctly Set the axis select rotary switch and auxiliary axis No setting switch correctly Are the servo amplifiers connected closer to the Motion controller than the Check the error on the servo amplifier that is not starting and remove the applicable axis started error factor If the servo amplifier does not start after checking the above items there may be a hardware error Please consult your local Mitsubishi representative 6 TROUBLESHOOTING 6 5 Troubleshooting by Circumstance EMC DIRECTIVES Compliance to the EMC Directive which is one of the EU Directives has been a legal obligation for the products sold in European countries since 1996 as well as the Low Voltage Directive since 1997 Manufacturers who recognize their products are compliant to the EMC and Low Voltage Directives are required to declare that print a CE mark on their products Authorized representative in Europe Authorized representative in Europe is shown below Name Mitsubishi Electric Europe B V Address Gothaer strase 8 40880 Ratingen Germany 7 1 Requirem
98. the forced stop The forced stop input can be set by allocation of the device number in Motion CPU Common Parameter gt Basic Setting gt Forced Stop Input Setting A wiring example which uses an input module RX10 for the forced stop input is shown below R61P RnCPU RLIMT RX10 CPU Xn o COM Forced stop Q2 NA 100VAC lt Input module RX10 gt 100VAC TB17 RX10 Forced stop LED Internal Y circuit gt The forced stop input can be set with parameters e Itis also possible to use the forced stop signal of the servo amplifier Refer to the LLlServo amplifier Instruction Manual about servomotor capacity Operation status of the emergency stop servo amplifier forced stop and the Motion controller forced stop are as follows Emergency stop Servo OFF Servo amplifier forced stop Motion controller forced stop The power supply of the servo amplifier is shut off by external circuit and the servomotor stops A stop command from the external circuit to the servo amplifier is output and the servo amplifier stops the servomotor A stop command from the Motion controller to the servo amplifier is output and the servo amplifier stops the servomotor 3 INSTALLATION AND WIRING 52 3 5 Wiring 4 START UP PROCEDURES 4 1 Start up Adjustment Procedure This section explains the procedures fo
99. tion failure Do not write any data to the system area and write protect area of the buffer memory in the module Also do not use any use prohibited signals as an output signal from the CPU module to each module Doing so may cause malfunction of the programmable controller system For the system area write protect area and the use prohibited signals refer to the user s manual for the module used O f communication cable is disconnected the network may be unstable resulting in a communication failure of multiple stations Configure an interlock circuit in the program to ensure that the entire system will always operate safely even if communications fail Failure to do so may result in an accident due to an incorrect output or malfunction To maintain the safety of the programmable controller system against unauthorized access from external devices via the network take appropriate measures To maintain the safety against unauthorized access via the Internet take measures such as installing a firewall O Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller Failure to do so may result in an accident due to an incorrect output or malfunction O f safety standards ex robot safety rules etc apply to the system using the module servo amplifier and servomotor make sure that the
100. tion operation the speed of the partner axis 2nd 3rd or 4th axis may exceed the speed limit value Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries Disposal Precautions N CAUTION When disposing of this product treat it as industrial waste O When disposing of batteries separate them from other wastes according to the local regulations For details on battery regulations in EU member states refer to the MELSEC iQ R Module Configuration Manual Transportation Precautions N CAUTION When transporting lithium batteries follow the transportation regulations For details on the regulated models refer to the MELSEC iQ R Module Configuration Manual O The halogens such as fluorine chlorine bromine and iodine which are contained in a fumigant used for disinfection and pest control of wood packaging materials may cause failure of the product Prevent the entry of fumigant residues into the product or consider other methods such as heat treatment instead of fumigation The disinfection and pest control measures must be applied to unprocessed raw wood CONDITIONS OF USE FOR THE PRODUCT 1 Mitsubishi programmable controller the PRODUCT shall be used in conditions i where any problem fault or failure occurring in the PRODUCT if any shall not lead to any major or serious accident and ii where the backup and fai
101. to water and or oil provide protection from oil and water e g mount a cover In addition run the cable downward to prevent oil and or water from running on the cable into the serial absolute synchronous encoder When it is inevitable to mount the serial absolute synchronous encoder vertically or obliquely trap for the cable Use the serial absolute synchronous encoder within the specified temperature range 5 to 55 C 23 to 131 F 3 INSTALLATION AND WIRING 50 3 4 Mounting of Serial Absolute Synchronous Encoder 3 5 Wiring Refer to the following for details of wiring the power supply and grounding LLIMELSEC iQ R Module Configuration Manual Refer to EMC directives for measure against noise 1 Page 65 EMC DIRECTIVES Power supply circuit This section describes the noise suppression techniques of the power supply circuit Grounding The Motion system may malfunction as it is affected by various noises such as electric path noises from the power supply lines radiated and induced noises from other equipment servo amplifiers and their cables and electromagnetic noises from conductors To avoid such troubles connect the earthing ground of each equipment and the shield grounds of the shielded cables to the earth For grounding use the exclusive ground terminal wire of each equipment or a single point earth method to avoid grounding by common wiring where possible since noises may sneak from other equipment due to com
102. ule Configuration Manual For Ethernet cables to be used in the system select the ones that meet the specifications in the user s manual for the module used If not normal data transmission is not guaranteed Startup and Maintenance Precautions NWARNING Do not touch any terminal while power is on Doing so will cause electric shock or malfunction O Correctly connect the battery connector Do not charge disassemble heat short circuit solder or throw the battery into the fire Also do not expose it to liquid or strong shock Doing so may cause the battery to generate heat explode ignite or leak resulting in injury or fire O Shut off the external power supply all phases used in the system before cleaning the module or retightening the terminal screws connector screws or module fixing screws Failure to do so may result in electric shock or cause the module to fail or malfunction Startup and Maintenance Precautions N CAUTION When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller configure an interlock circuit in the program to ensure that the entire system will always operate safely For other forms of control such as program modification parameter change forced output or operating status change of a running programmable controller read the relevant manuals carefully and ensure that the operation is safe before
103. ured by Mitsubishi Electric System amp Service For the details of the SSCNETIT cables contact your local sales office Do not look directly at the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNETII cable The light can be a discomfort when it enters the eye The cable is available per 1 m up to 100 m The number of the length 1 to 100 will be in the O part in the cable model SC J3BUSLIM C 1 to 100 Ultra long bending life Long distance cable 76 APPENDICES APPENDIX Appendix 1 Cables Appendix 2 Exterior Dimensions Motion CPU module R16MTCPU Unit mm inch S Sy R16MTCPU A Ut READY ERROR CARD READY CARD ACCESS e E eo S 8 g Y PA E v p 110 4 33 27 8 1 09 R32MTCPU Unit mm inch S R32MTCPU A p READY D ERROR CARD READY CARD ACCESS o T 2 g KJ 8 e N Y 110 4 33 APPENDICES APPENDIX Appendix 2 Exterior Dimensions 77 Connector Cable connector for serial absolute synchronous encoder Sumitomo 3M Limited make SCR type HType Plug 36210 0100PL Shell 36310 3200 008 Unit mm inch 10 0 39 n 22 4 0 88 E a 34 8 1 3
104. work Setting fa Axis select rotary switch F 7 r Amplifier Information Amplifier Model MR 23 W 8 SSCNET III LINE 1 SSCNET III o oo Jr rz en ae ln fF w Hi Allowable Movement Amount during Po 2 di 10 Revolution 0 to 8191 i a Servo Parameter Setting o a N Lea e SSCNET III LINE 2 SSCNET III mae ll Geese Ul c NES o TERREA quam Set the Axis No and Station No d01 d02 d03 d04 d05 d06 d07 d08 dog d10 d11 d12 d13 d14 d15 d16 1 When using MR J4 W LIB turn the auxiliary axis No setting switches to OFF tion CPU module Correspondence between SSCNETII H line and connector No of Motion CPU module is shown in the table below 1 CN1 2 CN2 1 Number of SSCNETII H lines R22MTCPU 2 lines R16MTCPU 1 line The setting of axis select rotary switch and auxiliary axis No setting switches differs depending on the servo amplifier Refer to the following for details LLlServo amplifier Instruction Manual 2 EQUIPMENT SPECIFICATIONS 2 4 SSCNETIII Cables 43 44 Precautions for SSCNETIII cables SSCNETII cable is made from optical fiber If optical fiber is added a power such as a major shock lateral pressure haul sudden bending or twist its inside distorts or breaks and optical transmission will not be available Especially as optical fiber for MR J3BUSLIM and MR J3BUSLIM A is made of synthetic re
105. ys when there was an error in operating system software installation from the SD memory card O indicates the following errors 0 SD memory card access error 1 Install file error 2 Built in ROM access error Mode to clear the built in memory standard ROM backup RAM After displaying for 3 seconds the display switches to the target memory Target memory is displayed The target memory for built in memory clear is Eo A displayed tu f The following are the displays for the target memory fo t RB Standard ROM and backup RAM Y POS B Backup RAM fot R Standard ROM doe Switch the memory displayed by pushing the SD RA memory card access control switch 4 boge 56 Displays CLR gt Target Displays the status of the built in memory clear 499 4 4699 2 2 memory alternately t 22424 3 3 2 Left When target memory is mop 2 standard ROM and backup i DEA RAM bore FIN is displayed Displays when built in memory clear is completed 91100 4 4 4 be 4 4 normally 4 PA 4 0 ERR is displayed 242 2 qee A 26 4 Porro e Displays when an error occurred during built in memory clear 2 EQUIPMENT SPECIFICATIONS 2 2 Motion CPU Module Operating Not installed A00 is flickering It becomes the status of installation mode when the 000 1006 000 system 41 412 ot operating system software is not installed 20258 15224 1522
106. ystem Configuration Equipment sese hh hh 20 Configuration equipment list 5 24 36 d bs erc e debet deu Peor uer Rack a pacea ok ded den gg 20 Software packages sensui be RR RR dab R GIS Vases db eg e V OR E OR RT petierat 23 1 3 Checking Production Information and Operating System Software Version LL 24 Checking production information s ssns sss sasare errar cee ett 24 Checking operating system software version ooococococccocoo e 25 1 4 Restrictions by the Software s Version 000 ccc cece nh hm hn 26 1 5 Engineering Software Version isses hh hh hh 27 CHAPTER2 EQUIPMENT SPECIFICATIONS 28 2 1 General Specifications ayo aise nir Ier ERN ic 28 2 2 Motion CPU Module eit t e Re aes beget eta So eb CEES Eee S EC REFER eaae 29 NE NA d nina anaa AE a E E E EERE E EE ERa Aa Ea aaa ei AAEE Ei E 29 BED display ss ir heidi a E ear ence Bond eho p duro adt em E a plate rk deed va 31 Rotary switch setting and operation mode 0 ce eh 33 iere S MM DD e AE ai ita eb ad 36 2 3 Serial Absolute Synchronous Encoder o ooocococococ eee eee 39 SPSCHICATIONS Le a A eta 39 2 4 SSGCNETIII Cables o occ era A A Amt w ex xm e a e 40 Specifications ee sic e A A AAA E a 40 Connection between the Motion CPU module and servo amplifiers llli cece eee eee 41 Setting of the axis No and switch of servo amplifier llle 42 Precautions for SSCNETIII cables 2 2

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