ADVANCED AND EVER ADVANCING MOTION CONTROLLERS Mitsubishi Electric Corporation Nagoya Works is a factory certified for ISO14001 (standards for environmental management systems) and ISO9001(standards for quality assurance managememt systems) WWW.MITSUBISHI-JAPAN.COM 三菱电机(FA) 一级代理之授权分销中心 三菱电机中低压配电产品 核心合作伙伴 日本三菱电机是全球知名的工业自动化（FA）及机电一体化（MECHATRONICS）产品及电子设 备制造厂商，掌握着世界领先的自动与控制核心技术。三菱电机中国是日本三菱株式会社在中国的附属机构， 三菱电机长期以来建立起的全球销售服务网络，OEM 最佳合作伙伴。 主 营 产 品 WWW.MITSUBISHI-JAPAN.COM MITSUBISHI 中低压配电开关 中低压配电开关(MCB) 开关 框架断路器(AE-SW) 塑壳断路器（NF） 漏电断路器（NV） 操作手柄(F/S) 辅助开关(AX.AL.SHT) 保护端子罩(TCS TCL) 马达起动器(MSO) 可逆接触器(MS0-2) 接触器（S(D)-N 微断开关（BH-D6） 高分断开关（BH-D10） 漏电开关（BV-D 隔离开关(KB-D) 设备开关（CP30-BA） 热继电器(TH-N) 电磁继电器（SR-N）电流表(S-8NAA) 三菱电压表(S-8NAV）互感器(CW）电子测量仪(ME110NSR) MITSUBISHI 可编程控制器 可编程控制器(PLC) 控制器 大型运动控制器 Q 系列 中型 Ana 系列 A1S 系列 Q 系列 F1 系列 F2 FX 系列 FX1 系列 FX2 系列 PLC FX0S 系列 FX1S 系列 FX0N 系列 FX1N 系列 FX2N FX2NC 系列 FX3U/FX3UC 系列 FX3G 系列 PLC MITSUBISHI 人机界面(HMI) 人机界面(HMI) GT15 系列 GT11 系列 GT10 系列 A985G0T 系列 A700G0T 系列 A960G0T 系列 A950G0T 系列 F940 GOT 系列 F930 GOT 系列 F920GOT 系列 FX2N-5DM 系列 FX3U-7DM 系列 FX3G-7DM 系列 通讯接口 FX1N-232BD/485BD/422BD FX2N-232BD/485BD/422BD FX3U-232BD/485BD/422BD MITSUBISHI 变频调速器 变频调速器， 调速器，机电传动产品 机电传动产品 三菱马达电机（SF-J、SF-JR、SF-JRV 系列）三菱减速机（GM-S、GM-SJ、GM-SY 、GM-HY 系列） 通用变频器（FR-E500 系列） 矢量变频器（FR-A700 系列） 水泵变频器（FR-F700 系列） 简易变频器（FR-D500 系列） 简易变频器（FR-S500 系列） 通用变频器（FR-E700 系列） MITSUBISHI 交流伺服电机系统 交流伺服电机系统 高端交流伺服（MR-J3 系列） 通用交流伺服（MR-J2S 系列） 简易交流伺服（MR-ES 系列） 高端(HF-MP. 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Models includes the A171SH(up to 4 control axes) for smaller scale applications up to the A173UH(up to 32 control axes) for larger scale applications. In addition, various motion controller operating system software packages are available. The OS with optimum control functions is selected based on your application requirements. Simple, compact and powerful motion control, custom tailored for your application needs. A powerful programming environment insures minimal system start up and programming time, as well as powerful, easy to use diagnostic and monitoring utilities. System development time is greatly reduced, saving valuable time and money. High Speed Synchronous Communication Network : SSCNET SSCNET(Servo System Controller NETwork) is a highspeed synchronous serial communication network that realized increased performance and reliability over conventional control networks. SSCNET allows for batch control of up to 32-axes thus simple one touch connection bus cabling, fast and simple connection. Unity and Inno 1 Integrated Motion and Sequence Control Diverse Motion Control Functions The motion controller integrates motion and sequence control functions into a single compact package, thus reducing overall system size, complexity and cost. The motion controller utilities the industry leading MELSEC-A series PLC modules for networking, I/O and special function operations. The system is provided with diverse and innovative motion control functions including interpolation control, speed control, electronic cam and locus control, so even complicated operations can be freely controlled. CPU module configuration Sequence CPU (SCPU) Motion CPU (PCPU) Common memory PLC bus Motion bus SSCNET MELSEC I/O module MELSEC MELSEC intelligent module communication module MELSEC I/O module Motion related module Servo amplifier Servo amplifier Servo amplifier The motion controller carries out multi CPU type control, which connects the sequence control SCPU, having an independent I/O bus, and the motion control PCPU with a common memory. ovation Motor Motor Motor CONTENTS Main Features 1 System Configuration 3 Products Line-Up 5 OS Software Packages 6 Motion SFC 7 SV13 (Conveyor Assenmbly use) 17 SV22 (Automatic Machinery use) 21 Overview of CPU Performance 25 Software Packages List 28 System Components 29 Peripheral Equipment 31 Exterior Dimensions 32 Combinations of Servo Amplifiers and Servo Motors 33 2 System Configuration A171SH/A172SH/A173UH CPU base unit A172B/A175B/A178B/ A178B-S1/A178B-S2*/A178B-S3* *For A173UHCPU only Teaching unit (Note-2) A30TU-E/A31TU-E SSCNET (Max. 8 axes per 1 line) Cable MR-HBUS M MR-J2HBUS M MR-J2HBUS M-A Manual pulse generator MR-HDP01 Pulse generator/ synchronous encoder interface unit A172SENC Servo amplifier MR-H- BN MR-J2S- B MR-J2- B Servo motor 3 Serial absolute synchronous encoder MR-HENC A1S series I/O unit Terminal connector MR-TM MR-A-TM Motion controller integrates motion and sequence control into a single compact package. (220mm wide, 130mm high and 110mm deep) (A172B CPU base use). By connecting to a PLC extension base, I/O capabilities are expanded A171SH : max. 512 points, A172SH : max. 1024* points and A173UH : max. 2048* points. The extension base can connect to max. one step. *The real I/O points can be used within the range of main base and one extension base. Connects to MELSECNET II, MELSECNET/B, MELSECNET/10 and CC-Link networks (Note-1) By connecting MR-H-BN/MR-J2S-B/MR-J2-B model servo amplifiers with the SSCNET communication network, 50W to 55kW servo motors can be batch controlled A171SH : max. 4-axes, A172SH : max. 8-axes and A173UH : max. 32-axes. PLC bus Cable A1SC B Graphic operation terminal (GOT)(Note-3)(Note-4) PLC extension base unit (Note-5) A1S65B/A1S68B/A168B (GOT compatible) A1S series I/O unit A1S series special function unit Power supply module A1S6 PN A1S series I/O unit A1S series special function unit (Note-1) : When using A171SH/A172SH, restrictions are as follows. MELSECNET II, MELSECNET/B : local station only (The range of address : each of B and W is 0 to 3FF) MELSECNET/10 : Normal station only (The range of address : each of B and W is 0 to 1024 points.) (Note-2) : When using a teaching unit A31TU-E with dead-man switch, a dedicated connecting cable A31TUCBL03M is required between the CPU module and A31TU-E connector. If the A31TU-E is connected directly to the RS422 connector of the CPU without using a dedicated cable, the A31TU-E will not operate at all. After disconnecting the A31TU-E, attach a short-circuit connector A31TUSHORTCON for A31TUCBL. (Note-3) : With a graphic operations terminal, PCPU data(servo program, parameters, mechanical system programs etc.) cannot be displayed. (Note-4) : When using the PLC extension base and bus connection type GOT, select the A168B as the PLC extension base. When not using the PLC extension base, you can connect the bus connection type GOTdirectly to the extension connector of the CPU base unit. (Note-5) : PLC extension base without extra power supply cannot be used. 4 Product Line-Up A171SHCPUN Max.4 A171SHCPUN PLC CPU PLC program capacity Real I/O points Processing speed (sequence command) Control axes Servo program capacity Servo amplifier Servo motor capacity Network PLC extension Specifications A2SHCPU equivalent 14k steps 512 points 0.25µs/step Max. 4 13k steps External servo amp connected by SSCNET 50W to 55kW MELSECNET ll/B(local station only) MELSECNET/10(normal station only) CC-Link Max. 1 base unit A172SHCPUN Max.8 A172SHCPUN PLC CPU PLC program capacity Real I/O points Processing speed (sequence command) Servo program capacity Control axes Servo amplifier Servo motor capacity Network PLC extension Specifications A2SHCPU memory, I/O increase equivalent 30k steps 1024 points (Note) 0.25µs/step 13k steps Max. 8 External servo amp connected by SSCNET 50W to 55kW MELSECNET ll/B(local station only) MELSECNET/10(normal station only) CC-Link Max. 1 base unit (Note) : The real I/O point can be used within the range of CPU base and one extension base. A173UHCPU Max.32 A173UHCPU(-SI) PLC CPU PLC program capacity Real I/O points Processing speed (sequence command) Servo program capacity Control axes Servo amplifier Servo motor capacity Network PLC extension Specifications A3UCPU equivalent 30k steps x2 2048 points (Note) 0.15µs/step 14k steps Max. 32 External servo amp connected by SSCNET 50W to 55kW MELSECNET ll/B/10,CC-Link Max. 1 base unit (Note) : The real I/O point can be used within the range of CPU base and one extension base. 5 OS Software Packages Application Tailored Software Packages The motion controller operating system software is specifically tailored and packed with functionality specific for your application needs. Dramatic reductions in product design costs and simpler programming environments over conventional motion controllers realized great time and money savings. Install OS Software Line-up Conveyor Assembly Use Automatic Machinery Use Motion SFC Motion SFC SV13 SV13 SV22 SV22 Offer constant-speed control, speed control, 1 to 4-axes linear interpolation and 2-axes circular interpolation, etc. Ideal for use in conveyors and assembly machines. Electronic component assembly Inserter Feeder Molder Conveying equipment Paint applicator Chip mounter Wafer slicer Loader/Unloader Bonding machine X-Y table Dedicated language Linear interpolation(1 to 4-axes) Circular interpolation Constant-speed control Fixed-pitch feed Speed change control Speed control Speed-positionswitching Teaching function Provides simultaneous control multiple servo motors and offers software cam control. Ideal for use in automatic machinery. Press feeder Food processing Food packaging Winding machine Spinning machine Textile machine Printing machine Book binder Tire molder Paper-making machine Mechanical support language Synchronous control Electronic shaft Electronic clutch Electronic cam Draw control 6 Motion SFC Greatly strengthed programming environment and event processing. The Motion SFC function to describes the motion control program in flow chart form. By describing the program of the CPU(PCPU) which controls the motion in a suitable Motion SFC for the event processing, serial operation of the machine is controlled by PCPU, aiding the event response. Motion SFC (Sequential Function Chart) Easy-to-read and comprehend flow chart description. • Programming can be carried out with an image that describes the flow chart with the machine operation procedures. • A process control program can be created easily, and the control details can be visualized. Controlling the series of machine operations with PCPU • Using the Motion SFC, the servo control, operation and I/O control can be carried out in a batch with the PCPU. • There is no need to start the servo program from the CPU (SCPU) that controls the sequence. Multi-task processing • The Motion SFC allows for multi-task program operation. • By using parallel distribution in one program, multiple steps can be executed simultaneously. Motion SFC description Flow chart description which easy-to-view and understand. As the outline operation of the process control is described as a flow chart, the entire operations can be viewed at a glance. The operation details can be described as a comment so an easy-to-understand program can be created. The program has a hierarchical structure, so detailed operations can be described for each step. Seal processing Reduced display P10 Enhanced operation function The operation expression can be described in the original state. Compatible with 64-bit floating point operation. Various arithmetic functions including trigonometric functions, square root and natural logarithm are provided. The motion registers (#0 to #8191) have been added for Motion SFC operations. G100 G120 Beginning wait Cancellation wait F30 F40 Data calculation Cancellation data set Comment display F10 G200 Work ready P20 K100 Operation start F20 G100 G120 G150 F30 F40 G160 G200 K200 K100 G210 [F 30] // 1 axis real processing data calculation DOL=LONG((SIN(#100)+110F) 300) // Processing status set SET M100=X12+M120 * P20 G300 [G 200] PXO //Work ready completion sensor ON? F150 P10 7 F : Operation control step G: Transition(condition wait) K : Motion control step [K 100] 1 ABS-2 Axis 1, D 100 µm Axis 2, D 200 µm Combined speed D 300 mm/min Extended display Powerful event processing functions Multi-CPU method that strengthens event processing function Minimized variation in control response time With the conventional SV13/SV22, the series of machine operations were controlled by the SCPU so a variation occurred in the response time per seguence scan. However, this can be minimized by the strengthened Motion SFC event processing function, so the scan time can be suppressed, and variations in product machining can be reduced. MELSEC I/O module SCPU scan process The multi-point I/O control and monitoring operations can be appointed to the SCPU by the ladder program, and the servo control and high-speed response control can be appointed to the PCPU by the Motion SFC program. This balances the scan process and event process, and further utilizes the multi-CPU configuration. Common memory PCPU event process MELSEC I/O module (PX/PY) X MELSEC intelligent module MELSEC communication module Y M B Motion related module F D T C MELSEC display unit W SSCNET related device Ladder description suitable for scan process Motion SFC description suitable for event process (Importance laid on condition control) (Importance laid on sequential control, pursuit of event responsiveness) Event process This process waits for the conditions to be established (event to occur) with the changes in the input signal state or device value, and carries out high-speed response control (signal output control, servo motor start and speed change, etc.) when the conditions are established. Examples of events Input signal turned ON. Operation results reached constant value. Set time elapsed. Positioning was completed. 8 Motion SFC High-speed response using step execution method Sequence program Motion SFC program All steps are executed with constant scan. Only active steps are executed following shift conditions. The sequence program uses a scan execution method to execute all steps with constant scanning. However, with the Motion SFC, the step execution method executes only the active steps following the shift conditions. Thus, the operation process can be reduced, and processing and response control can be realized. X0000 PLS M100 Work movement control SET M101 [G 1] PX0 //Start (PX0=ON) wait M100 M101 M2001 M2002 RST M101 [K 1] 1 ABS-2 axis 1, D 200 µm axis 2, D 202 µm Combined speed D 204 mm/min SET M102 [G 2] PX1 //1st process machining completion (PX1: ON) wait SVST J1 J2 K1 M102 M2001 K2 SVST J1 RST M102 [K 2] 1 ABS-1 axis speed SET M103 [G 3] PX2 //2nd process machining completion (PX2: ON) wait SET Y0008 [F 1] SET PY8 //Completion signal (PY8)ON 1, D 300 µm D 202 mm/min M103 M2001 RST M103 END Exclusive description unique to motion control Shift WAIT WAIT ON/OFF If shift is applied immediately after the motion control step, the shift will be executed without waiting for the motion control operation to end. K100 K200 ON M0 G100 G200 K300 If WAIT is executed immediately after the motion control step, WAIT will be executed after waiting for the motion control operation to end. If WAIT ON/WAIT OFF is commanded just before the motion control step, the details of the motion control will be pre-read, and preparation for starting will be carried out. The operation will start immediately when the designated bit device turns ON/OFF. Selective branch and parallel branch Selective branching When all routes shift after branch, or WAIT is issued for all routes, selective branch will be applied. Parallel branch is applied in all other cases. K1 With selective branch, the route for which the shift conditions are established first are executed. With parallel branch, several routes connected in parallel are executed simultaneously. The process waits at the connection point, and shifts to the next process after execution of all routes is completed. Multi-task processing With the Motion SFC, when several programs are started, the process is carried out with multi-task operation. Multiple steps can be simultaneously executed with parallel branching even within one program. A program that executes multiple processes simultaneously, or a program that groups the control axis for independent movements can be created easily. A highly independent programming is possible according to the process details, so an easy-tocomprehend program can be created. 9 Parallel branching G0 G1 G2 G3 K2 K3 F1 K2 K3 K4 G1 G2 G3 G6 F2 G4 G4 Wait MAIN REAL F F P SUB F P G Parallel branch F K F K G G G G F F F F P G G K K G END G F P High-response to external inputs I/O output Sequence program This is used to measure the response time of the output signal in respect to the input signal from an external source. With the sequence program, there is a delay and variation equal to the response time 20ms and approximately the scan time. With the Motion SFC, the response time and variation are approximately 3ms. X10 Motion SFC program M100 [G 100] SET PY0=PX10*M100 Y0 PLC scan time 20ms X10 (S-I/O input) PX10 (P-I/O input) OFF OFF ON Y0 (S-I/O output) ON PY0 (P-I/O output) OFF OFF ON ON 5ms/div 20ms S-I/O: PLC slot I/O P-I/O: Motion slot I/O 3ms (Approx. PLC scan time) → → Great reduction in servo program start time Start up of servo program Sequence program This is an example of starting the servo program using the input signal from an external source as a trigger. When starting with the sequence program, a delay and variation equal to 20ms and approximately the scan time occurs from the input of the external signal to start-up of the speed command. Motion SFC program X10 M2001 ON PX0010 SVST J1 K100 K100 PLC scan time 20ms X10 (S-I/O input) OFF ON PX10 (P-I/O input) OFF ON With the Motion SFC, the speed command will start up with a response time of less than 10ms and variation of approximately 3ms. Speed command (Amplifier monitor terminal) Speed command (Amplifier monitor terminal) 10ms/div 10ms/div 20ms S-I/O: PLC slot I/O P-I/O: Motion slot I/O 6ms 9ms (Approx. PLC scan time) → Continuous start-up of servo program Sequence program This shows an example of starting-up the 1-axis and 3-axes linear interpolation program K300 immediately after starting-up the 1-axis and 2-axes linear interpolation program K200. When continuously starting-up the servo program with the sequence program, a delay and variation of approximately 30ms will occur. This is because the PLC scan time is 20ms, and the refresh cycle for the start acceptance flag M2001, which is the interlock is 10ms. Motion SFC program M10 M2001 M2002 M20 M2001 M2003 K200 SVST J1J2 K200 RST M10 SET M20 SVST J1J3 K300 G100 K300 PLC scan time 20ms Speed command Speed command Axis 1 Axis 1 Axis 2 Axis 2 An interlock is not required with the Motion SFC, and the start delay will be approximately 7ms. Axis 3 Axis 3 10ms/div 30ms 10ms/div 7ms (Approx. PLC scan time +10ms) → 10 Motion SFC Example applications System configuration Timing chart X-Y table To ISA bus Z Z-axis X Y X-Y imposition SSC I/F board PC/AT compatible Drill axis Drill breakage sensor Hole opening confirmation sensor Motion controller Sensor input/ Drill output Machine <Printed board hole opener> Point data I/O Servo amplifier SSCNET Machine's key points 1. High-speed forwarding of a hole breakage data from a personal computer. 2. High-speed monitor function in a personal computer. 3. High-speed start of Z-axis after X-Y table positioning is completed. 4. High-speed start of X-Y axis after printed a board hole opening(Z-axis rises from printed board position). 5. High-speed save operation when drill breakage. New method (Motion SFC SV13) Previous method (SV13) SCPU PCPU SCPU PCPU Start Start PLS M0 SET M1 SFCS K0 Start P0 M0 1 [G0] //X-Y axis start wait //(Z-axis current value //> = Printed board rising position) (D842L>=D200L) M1 DMOV D842 D202 X-Y table start <K0> M4 M2001 M2002 D>=D202 D200 (Z-axis current value >= Printed board rising position) SVST J1J2 K0 2 1 (X-Y table positioning completed) M2 M1601 = K1 D813 (Servo program "K0" execution) RST M1 RST M4 SET M2 2 [K0] ABS-2 Axis 1, D 0 µm Axis 2, D 2 µm Combined speed D 4 mm/min ABS-2 Axis 1, D 0 µm Axis 2, D 2 µm Combined speed D 4 mm/min M-code 1 [G1] NOP //Positioning completed wait 3 [F0] SET PY20 //Drill-axis start 4 [G2] //X-Y table in-position check M1602 * M1622 Drill axis start SET 3 Y20 RST D813 RST M2 SET M3 Z-axis start <K1> M3 M1602 M1622 M2003 SVST J3 K1 5 4 X-Y table Imposition check X0000 6 X0001 7 X0001 7 RST M3 SET M4 Drill axis stop RST Y20 8 CPSTART1 Axis 3 Speed FIN Acceleration /deceleration ABS-1 Axis 3, ABS-1 Axis 3, Speed ABS-1 Axis 3, Speed CPEND D 10 mm/min 200 msec D 12 µm D 14 µm D 20 mm/min D 16 µm D 10 mm/min Processing action 1 to 9 of the previous method corresponds to the new method 1 to 9 . 5 [K1] CPSTART1 Axis 3 Speed D 10 mm/min FIN Acceleration 200 msec /deceleration ABS-1 Axis 3, D 12 µm ABS-1 Axis 3, D 14 µm Speed D 20 mm/min ABS-1 Axis 3, D 16 µm Speed D 10 mm/min CPEND Z-axis start 7 [G3] PX1 //Breaking check 6 [G4] PXO //Hole opening completed wait 8 [F1] //Z-axis save operation (Negative speed change) CHGV(K3, -100000) 9 RST PY20 //Drill stop Z-axis save operation (Negative speed change) CHGV J3 K-100000 9 SVST: Servo program start request instruction 11 X-Y table start SFCS: Motion SFC program start request instruction END [F1] RST PY20 //Drill-stop 8 P0 Control flow (Motion SFC SV13/SV22) PCPU control range SCPU control range (Motion CPU) (Sequence CPU) Axis 2 Sample sequence program SFCS Sample Motion SFC program Transfer K0 Motion SFC program start request instruction Number of start program designation 20000 10000 [G 100] M2009 // Servo ON reception flag? 10000 20000 Axis 1 SV13/SV22 real mode [K 10 : Real] 1 INC-2 Axis 1, 10000 PLS Axis 2, 20000 PLS Combined speed 30000 PLS/s Servo motor start Sample mechanical system program Transmission module Drive module (Virtual servo motor) [F 100] // Command speed calculation DOL=#100L+#102L+#104L [G 200] M2044 // On virtual mode? SV22 virtual mode Virtual servo motor start [K 100 : Virtual] 1 VF Axis 1 Speed D 0 PLS/s Output module Motion SFC program also can be automatically started by the parameter setting. END (Cam) (Roller) Please refer to P19 regarding control flow of "SV13(without Motion SFC)" and P23 regarding control flow of "SV22(without Motion SFC)". 12 Motion SFC Various programming tools. System setting System setting Servo data setting Programming Motion SFC program editing Program editing Instruction wizard Select instruction 13 Mechanical system editing Cam deta setting Ladder editing GX-Developer Debugging Motion SFC monitor Motion SFC debugging mode Start-up adjustment Monitor . Test Digital oscilloscope Operation and maintenance Back-up Document printing 14 Motion SFC Motion SFC specifications Motion SFC chart symbols Class Program start/end Step Symbol Name Program name START Function Indicates the start (entrance) of the program. END END Indicates the end (exit) of the program. Motion control step K Starts the servo program Kn. (The servo commands are the same as the conventional SV13/SV22.) Once execution type operation control step F Executes the operation control program Fn once. Scan execution type operation control step FS Repeats an operation control program FSn until the next transition condition enables. Subroutine call/start step Program name Calls or starts a subroutine. Clear step CLR Program name Cancels and ends execution of the designated program. Shift (Pre-read transition) G Shifts to the next step when the transition condition enables without waiting for the previous motion control step or subroutine to end. WAIT G Shifts to the next step when the transition conditions enables after the previous motion control step or subroutine ends. Transition WAIT ON ON bit device WAIT OFF OFF bit device Prepares to start the next motion control step, and immediately outputs a command when the conditions are established. Jump Jump P Jumps to the designated pointer Pn within its own program. Pointer Pointer P Indicates the jump destination pointer (label). Motion SFC program parameters The Motion SFC program start method and execution timing are set with the program parameters. Setting range Automatically start Item Start setting Do not start automatically Normal task Executed task Event task Fixed cycle External interrupt PLC interrupt NMI task Details Start at rising edge of PLC READY (M2000) Start with the Motion SFC program start command SFCS from PLC Start with "Subroutine call/start" GSUB from the Motion SFC program Execute in motion main cycle (free time) Execute in fixed cycle (1.7ms, 3.5ms, 7.1ms, 14.2ms) Execute when set external interrupt unit (I0 to I15) input turns ON Execute with interrupt from PLC (When PLC dedicated command ITP is executed) Execute when set external interrupt unit (I0 to I15) input turns ON Operation control step and transition commands Class Symbol Function = Substitution + Addition Binary – Subtraction operation Multiplication * / Division % Remainder ˜ Bit inversion (complement) & Bit logical AND Bit I Bit logical OR operation Bit exclusive OR ˆ >> Bit right shift << Bit left shift – Sign Sign inversion (complement of 2) SHORT Convert to 16-bit integer type (signed) USHORT Convert to 16-bit integer type (unsigned) LONG Convert to 32-bit integer type (signed) Type ULONG Convert to 32-bit integer type (unsigned) conversion FLOAT Regarded as signed data, and convert into 64-bit floating point type UFLOAT Regarded as unsigned data, and convert into 64-bit floating point type 15 Class Symbol SIN COS TAN ASIN ACOS ATAN Standard SQRT LN function EXP ABS RND FIX FUP BIN BCD Bit device (none) status ! SET Bit device RST control DOUT DIN Function Sine Cosine Tangent Arcsine Arccosine Arctangent Square root Natural logarithm Exponential operation Absolute value Round off Round down Round up BCD → BIN conversion BIN → BCD conversion ON (normally open contact) OFF (normally closed contact) Device set Device reset Device output Device input Class Symbol Function (none) Logical acknowledge Logical ! Logical negation operation Logical AND * + Logical OR == Equal to != Not equal to < Comparison Less than operation <= Less than or equal to > More than >= More than or equal to Motion CHGV Speed change request dedicated CHGT Torque limit value change request function EI Event task enable DI Event task disable Others NOP No operation BMOV Block move TIME Time to wait Sequence dedicated commands Sequence command Control details SFCS At the rising edge (OFF → ON) of the SFCS command executed by the sequence program,start of the designated the Motion SFC program is requested. ITP An interrupt is issued to the motion CPU (PCPU) at the rising edge (OFF → ON) of the ITP command executed by the sequence program. The motion CPU executes the active step of the SFC program executed by the "PLC interrupt". • The functions of the conventional SV13/22 PLC dedicated commands (DSFRP/SVST/DSFLP/CHGA/CHGV/CHGT) are described in the Motion SFC program, and cannot be described in the sequence program. List of integrated start-up support software SW3RNC-GSVE software configuration Software Installation Project management Conveyor assembly software SW3RN-GSV13P System setting Servo data setting Program editing Mechanical system editing (GSV22P only) Communication Automatic machinery software SW3RN-GSV22P Monitoring Testing Backup Cam data creation software SW3RN-CAMP Cam data creation Digital oscilloscope software SW3RN-DOSCP Digital oscilloscope Communication system software SW3RN-SNETP Communication system Communication API Document printing software SW3RN-DOCPRNP (Note) Printing Ladder editing software SW3RN-LADDERP Ladder editing Function Installation of the motion OS Comparison of the motion OS New creation, setting and reading of projects Batch management of user files in project units Setting of system configuration (motion module/servo amplifier/servo motor, etc.) Setting of high-speed read data Setting of servo parameters and fixed parameters, etc. (Explanatory diagrams displayed with one-touch help) Setting of limit switch output data (Output pattern displayed with waveform display function) Editing of the Motion SFC program, setting of the Motion SFC parameters Reduced display of the Motion SFC diagram, display of comments, enlarged display Monitor of the Motion SFC, debugging of the Motion SFC Editing of mechanical system program Monitoring of mechanical system program execution state Setting of SSCNET communication CH. Writing, reading and comparison of programs and parameters in respect to the motion controller. Current value monitor, axis monitor, error history Servo monitor, limit switch output monitor Servo startup, servo diagnosis Jog operation, manual pulser operation, zeroing test, program operation Teaching, error reset, current value change Backup of motion controller programs and parameters in file Batch writing of backed up files into the motion CPU Cam data creation with Cam pattern selection and free curve settings Graphic display of Cam control status Data sampling synchronized to operation cycle Waveform display, dump display and file saving of collected data Communication task, communication manager, common memory server, SSCNET communication driver Support of cyclic communication, transient communication, high-speed refresh communication Communication API functions compatible with VC++/VB Printing of program, parameter and system settings (Convert into Word 97 or Excel 97 document format, and print) Editing of sequence program Monitoring of sequence program execution (Note) : Word 97 and Excel 97 and above are required. 16 SV13 (Conveyor Assembly Use) Simple programming using dedicated commands. By using easily understood dedicated servo command and sequence commands positioning and locus control can be programmed as you like. Control which is considered difficult and complex can be carried out simply using a variety of canned motion control functions. Example applications X-Y table control Sealing Z-axis r1 r2 X-axis Z Y-axis X Y Sash Feed control Fixed-pitch hole drilling 1st speed 2nd speed 3rd speed 1st speed Speed change Cushion time Pause stop (troque limit) Time (high-speed recovery) Position sensor Servo motor Speed control Speed Rotary table indexing Sensor operation Position control Time Roll feeder Press Speed Rotary table indexing Servo motor Time Roll feeder Servo motor 17 Example functions Skip operation High speed read-out function This allows a positioning point to be made invalid during constant-speed control so that positioning moves on to the next positioning point. Using a signal from the input unit as a trigger, up to 11data sets(feed current value, variation counter value, etc.) out of 16 types of data can be read simultaneously to designated devices. Uses : Handling positioning eta. Uses : Measured length, synchronized correction Negative speed change Cancel/start function During position control, movement in the reverse direction can be made using speed change. Using the sequence command CHGV, a negative speed can be set so that the locus is retraced. This forcibly halts program processing during operation, allowing you to switch to other program. Uses : Return operations Uses : Escape operations when errors occur M-code FIN waiting function S-curve acceleration/ deceleration This allow a faster than normal commencement of positioning to the next point during constant-speed control. Using a determined ratio S-curve acceleration/deceleration characteristics can be set. The S-curve acceleration/deceleration enables smoother start and stop, and reduces stress on machines. Uses : High response positioning operation Position follow-up control Speed change/pause/restart By carrying start-up once, the setting value of the positioning point is detected in real time, and position control is carried out by tracking the changing settings. Positioning, speed change during JOG operation as well as pause and restart can be carried out simply using the sequence command CHGV. M-code output function 2 speed controls During positioning, M-codes between 0 and 255 can be output at each positioning point. Two types speed controls are available using position loops or speed loops. Dwell time free setting Limit switch output Dwell time can be set for any value between 0 and 5000ms. High-speed output of ON/OFF signals for up to 8 points per axis in response to the real current value during operation can be made regardeess of the sequence program. Parameter block setting Teaching setting Common setting items in positioning control can be set and freely selected as parameter blocks up to a maximum of 64 types. Using address teach and program teach, the positioning points can be taught. Torque limit value change Torque limit value change can be carried out simply during positioning and JOG operation using the sequence command CHGT. 18 SV13 (Conveyor AssemblyUse) Control f low (SV13) SCPU control range PCPU control range (Sequence CPU) (Motion CPU) Sample sequence program Sample servo program (2-axes constant-speed control) 14750 12500 M2001 M2002 SVST J1J2 K10 point 5 Start accept Servo program start instruction <K10> 1 Number of start program designation 2 Please refer to P11 regarding control flow of "Motion SFC SV13". 2-axes constant-speed control CPSTART2 Axis 1, Axis 2, Speed Start axis designation 1000.00 (mm/min.) ICN-2 Axis 1, 10000.0 (µm) Axis 2, 12500.0 (µm) Axis 1, 18500.0 (µm) Axis ABS 2, 7500.0 (µm) Auxiliary P 1, 13500.0 (µm) Auxiliary P 2, 14750.0 (µm) M-code 3 4 ABS-2 Axis 1, D2000 (µm) Axis 2, D2002 (µm) 11 ABS-2 Axis 1, 0.0 (µm) Axis 2, 0.0 (µm) Speed 800.00 M-code 5 12 CPEND Positioning parameter System setting Servo parameters Fixed parameter Parameter block JOG operation data Limit switch output data Please refer to P11 regarding control flow of "Motion SFC SV13" Combined speed setting Incremental Iinear interpolation Absolute auxiliary point setting Circular interpolation M-code output 10 M-code 19 Axis 2 (mm/min.) Absolute linear interpolation Indirect designation 7500 2500 10000 16000 13500 18500 Axis 1 Servo instruction Positioning control Instruction symbol ABS-1 Processing Positioning control Absolute 1-axis positioning 1-axis INC-1 Incremental 1-axis positioning ABS-2 Absolute 2-axes linear interpolation INC-2 Incremental 2-axes linear interpolation ABS-3 Absolute 3-axes linear interpolation INC-3 Incremental 3-axes linear interpolation ABS-4 Absolute 4-axes linear interpolation INC-4 Incremental 4-axes linear interpolation ABS Absolute auxiliary point designation circular interpolation INC Incremental auxiliary point designation circular interpolation ABS Absolute radius designation circular interpolation less than CW 180° ABS Absolute radius designation circular interpolation CW 1800 or more ABS Absolute radius designation circular interpolation less than CCW 180° ABS Absolute radius designation circular interpolation CCW 180° or more INC Incremental radius designation circular interpolation less than CW 180° Fixed-pitch feed Instruction symbol Processing 1-axis FEED-1 1-axis fixed-pitch feed start 2-axes FEED-2 2-axes linear interpolation fixed-pitch feed start 3-axes FEED-3 3-axes linear interpolation fixed-pitch feed start VSTART Speed switching control start VEND Speed switching control end VABS Absolute designation speed switching point VINC Incremental designation speed switching point Forward VF Speed control(I) forward rotation start Reverse VR Speed control(I) reverse rotation start Forward VVF Speed control(II) forward rotation start Reverse VVR Speed control(II) reverse rotation start Forward VPF Speed-position control forward rotation start Reverse VPR Speed-position control reverse rotation start Restart VPSTART Speed-position control reverse rotation restart PFSTART Position follow-up control start CPSTART1 1-axis constant-speed control start CPSTART2 2-axes constant-speed control start CPSTART3 3-axes constant-speed control start CPSTART4 4-axes constant-speed control start CPEND Constant-speed control end 2-axes Linear control 3-axes Speed-switching control 4-axes Auxiliary point designation 2-axes circular interpolation control Radius designation Center point designation INC Incremental radius designation circular interpolation CW 180° or more INC Incremental radius designation circular interpolation less than CCW 180° INC Incremental radius designation circular interpolation CCW 180° or more ABS Absolute center point designation circular interpolation CW ABS Absolute center point designation circular interpolation CCW INC Incremental center point designation circular interpolation CW INC Incremental center point designation circular interpolation CCW Speed control (I) Speed control (II) Speedposition control Position tracking control Constant-speed control Repetition of same control Used in speed switching control and constant-speed control FOR-TIMES FOR-ON Repeat range start setting FOR-OFF NEXT Repeat range end setting Simultaneous start START Simultaneous start Zeroing ZERO Zeroing start High-speed oscillation OSC High-speed oscillation start Teaching functions Teaching unit Portable teaching units, perfect on-site environments. In addition, they also have servo programming functions, data setting, servo monitor and servo testing functions. Also, because the A31TU-E is fitted with a dead-man switch, error safety is assured. Dead-man switch A30TU-E A31TU-E (Front panel) (Rear panel) 20 SV22 (Automatic Machinery Use) Easy on screen programming using the mechanical support language. Loaded with a mechanical support language that allows easy programming of the machine mechanism. Ideal for controlling automated machines such as food machines and wrappers. By freely combining a variety of software mechanism modules and cam patterns, complex synchronization control and coordinated control can be achieved easily and low cost. Example applications Filling machine Filling Nozzle raised and lowered Conveyance Nozzle Filling Draw control V V+Draw Press conveyance Press machine Main press motor Die Import conveyor Synchronous encoder Export conveyor Work Work Y-axis servo motor X-axis servo motor Three dimensional transfer Lift (2) Lift AC servo motor Lift (1) Lift AC servo motor Feed Feed AC servo motor Clamp (2) Clamp AC servo motor Clamp (1) 21 Synchronous control The servo motor can be operated simultaneously with other motor control conditions. Using the mechanical support language, synchronous control settings can be made simply, and synchronous operation is carried out with little tracking delay. A T 3000r/min B Drive module Motor revolutions Transmission module Gear 0.35˚ Position variation between 2-axes 0.13˚ Output module (Virtual servo motor) 150.5ms 1-axis position variation Roller 2-axes position variation 1-axis Position variation between 2-axes during synchronous control 2-axes Synchronous control mechanical system program Mechanical support language Software is used for mechanism operation Easy programming on screen using a mouse Control of hardware such as main shafts, gears, clutches and cams is handled by the software mechanical modules, conventional problems are solved. The machine is more compact and costs are lower. There no worries over friction and service life of main shafts, gear and clutches. Changing initial setup is simple. Eliminating mechanical precision errors and boosting system performance. Control through advanced software cam Since cam control is handled by software, there are no problems with error caused by conventional cam control. The ideal cam pattern control can be achieved. Ideal in applications such as raising or lowering control of nozzles in contact with liquid surfaces, control of amount of filler or smooth conveyance control. Changing of cams when product types alter is also easy to handle by simply adjusting the cam pattern. Monitor screen with mechanical support language 22 SV22 (Automatic Machinery Use) Control flow (SV22) SCPU control range PCPU control range (Sequence CPU) (Motion CPU) Sample sequence program M2001 SVST J1 Sample mechanical system program Sample servo program Drive module Virtual <K2000> K2000 Transmission module Start accept (Gear) Servo program start request ABS-1 Axis Speed 1, 100000 1000 Virtual servo motor in the mechanical system program start (Virtual servo motor) (Clutch) Operation results from the transmission module are output to the amp unit which sets the output module. Positioning parameter Parameter block Output module JOG operation data (Cam) Servo motor control (Roller) Servo amplifier Servo amplifier Servo motor Servo motor Please refer to P11 regarding control flow of "Motion SFC SV22" Mechanical module list Mechanism section Drive module Virtual axis Mechanical module Name Appearance Function Virtual servo motor Used to drive the virtual axis in the mechanical system program by the servo program or JOG start. Synchronous encoder Used to drive the virtual axis by input pulse from an external synchronous encoder. Virtual main shaft This is a virtual "link shaft" . The rotation of the drive module is transferred to the transmission module. Virtual auxiliary input axis This is the auxiliary input axis for input to the transmission module "differential gear". It is automatically displayed when the differential gear and the gear are connected. Roller Used when the speed control occurs at the final output. Ball screw Used when the liner positioning occurs at the final output. Rotary table Used when the angle control occurs at the final output. Cam Used when control other than those shown above occurs at the final output. Position control occurs based on the cam pattern setting data. There are two cam control modes: the two-way cam mode and the feed cam mode. Output module 23 Mechanism section Mechanical module Name Appearance Gear Direct clutch Transmission module Smoothing clutch Speed change gear Differential gear Function Transfers the drive module rotation to the output axis. The travel valve input from the drive module multiplied by the set gear ratio, and transferred to the output axis so that it moves in the set direction. Engages/disengages the output module with the drive module rotation. When switching the clutch ON/OFF, there is a direct clutch for direct transfer and a smoothing clutch for acceleration/deceleration processing which occurs in accordance with the smoothing time constant setting. Depending on the application, ON/OFF mode, address mode or external input mode can be selected. As the smoothing method, the time constant setting method or degree of slippage setting method can be selected. Used to change the speed of the output module. The speed from the input axis side multiplied by the set speed change ratio and transferred to the output axis. The rotation of the auxiliary input axis subtracted from the rotation of the virtual main shaft and transferred to the output axis. The rotation of the auxiliary input axis subtracted from the rotation of the virtual main shaft and transferred to the output axis. (for connection to the virtual main shaft) Software package for creating cam curves SW3RN-CAMP This package sets the cam pattern when using software cam control through the mechanical support language. It makes it easy to freely create highly precise cam patterns to match the required control. Complex cam patterns are simple to create. Ten types of cam patterns provided Select from among the ten cam patterns provided to find the one suited to your application. Combine them to create whatever cam curve you need. <Cam patterns> Can be set with free-form curves Creating cam pattern Cam curves can be set with free curves using spline interpolation. Select cam precision to match application The resolution per cycle of the cam can be set in the following four stages. Graphic display of control status Control status information such as stroke ratio, speed and bounding can be displayed in easy to understand graphics. 24 Overview of CPU Performance Motion control specifications SV13 SV22 A173UHCPU (-S1) : Max. 32-axes A172SHCPUN : Max. 8-axes A171SHCPUN : Max. 4-axes Number of control axes Linear interpolation (Max. 4-axes) Circular interpolation (2-axes) Interpolation function PTP(Point to Point), speed control, fixed-pitch feed, speed-position control, constant-speed control, speed-switching control, position follow-up control, high speed oscillation Control method Control unit mm, inch, degree, PULSE Method : Absolute method/select of absolute or incremental method PTP Constant-speed, speed-position-switching control : Absolute method/both absolute and incremental method can be used together : Incremental method Fixed-pitch feed, speed-position control : Absolute method Position follow-up control Position command Control unit mm inch degree PLS Speed command Control unit mm inch degree PULSE Positioning Acceleration/ deceleration control Electronic gear Language Address setting range -2147483648 to 2147483647 -2147483648 to 2147483647 0 to 35999999 -2147483648 to 2147483647 Command unit X 10-1 µm X 10-5 inch X 10-5 degree PLS Speed Setting Rane 0.01 0.001 0.001 1 to 6000000.00 to 600000.000 to 2147483.647 to 10000000 (mm/min) (inch/min) (degree/min) (PLS/s) Acceleration fixed acceleration/deceleration Acceleration time : 1 to 65535ms Deceleration time : 1 to 65535ms Automatic trapezoidal acceleration/deceleration S-curve acceleration/deceleration Backlash Compensation compensation (0 to 65535) X Position command unit (0 to 65535PLS with unit converted into PULSE) Function to compensate for real travel error against command value Dedicated instructions ( Motion SFC, servo program) Dedicated instructions ( Motion SFC, servo program, mechanical support language) A173UHCPU (-S1) : 14k step (14336 steps) A172SHCPUN : 13k step (13312 steps) A171SHCPUN : 13k step (13312 steps) Number of positioning point A173UHCPU (-S1) : 100 points/axis A172SHCPUN : 400 points/axis A171SHCPUN : 800 points/axis Tool Zeroing function JOG operation function Manual pulse generator operation function M-function Limit switch output function Absolute position system Time fixed acceleration/deceleration Acceleration/deceleration time : 1 to 5000ms (only constant-speed control) S-curve ratio : 0 to 100% Capacity Program 25 PTP(Point to Point), speed control, synchronous control, fixed-pitch feed, speed-position control, constant-speed, speed-switching control, position follow-up control Positioning data can be designated indirectly PC/AT compatible, A30TU-E/A31TU-E (for SV13 only) Not absolute position system is recommended : Proximity dog type or count type can be selected. Absolute position system is recommended : Data setting type, proximity dog type or count type can be selected. Available A173UHCPU (-S1) : 3 units A172SHCPUN : 1 unit A171SHCPUN : 1 unit can be connected M-code output function ON/OFF settings can be made for each axis up to 10 points 8 output points for each axis Made compatible by fitting battery to servo amplifier (Absolute or incremental system can be specified per axis) Mechanical system program specifications (SV22) Item Drive module Control unit Output module Drive module Mechanical module Virtual servo motor Synchronous encoder Roller Ball screw Rotary table Cam Virtual servo motor Synchronous encoder Virtual main shaft Virtual auxiliary input shaft Gear (Note-1) Clutch (Note-1) Mechanical Transmission Speed change gear (Note-1) system module Differential gear (Note-1) program Differential gear (for the virtual main shaft) (Note-2) Virtual axis Output module A171SH A173UH-S1 (Note-1) : The gears, clutch, speed change gears and differential gear modules can be used only one module per one output module. mm, inch 4 1 4 4 Types Resolution per cycle Memory capacity Stroke resolution Control mode Cam A173UH PLS 4 4 4 4 Cam Roller Ball screw Rotary table A172SH (Note-2) : The differential gears connected to the 8 8 8 4 Fixed as "degree" mm, inch, PLS 32 Total 9 4 32 Total 16 32 16 16 16 8 4 8 Total 5 Total 8 8 1 8 8 8 8 8 8 Max. 64 virtual main shaft can be used only one module per one module of the virtual servo motor. Total 36 (Note-3) : Strocked in block from No.10 of the expansion file resister area. Total 64 64 64 64 32 32 32 32 Total 32 32 32 Max. 64 Max. 256 256, 512, 1024, 2048 32k bytes 32k bytes (Note-3) 132k bytes (Note-3) 32767 Two-way cam, feed cam Total 4 Total 8 PCPU Motion SFC specifications Program capacity Program storage area Motion SFC program Item Code total (Motion SFC chart+Operation control+Transition) Text total(Operation control+Transition) Motion control program (Servo program) Code.Motion control program Text Number of Motion SFC programs Number of Motion SFC steps/all programs (1 step+1 transition) Motion SFC program name/program Motion SFC chart size/program Operation control program(F/FS) • Transition program(G) Motion control program Executed specification Motion SFC steps/program Motion SFC chart comments Once execution type Number of operation control programs Scan execution type Number of transition programs Code-size/program Text-size/program Number of blocks(lines)/program Number of characters/block(line) Number of operand/block(line) Number of servo programs Program steps/all programs Program steps/program Positioning points Number of multi executed programs Number of multi active steps Normal task Executed task Event task NMI task Number of motion register ( 0) Device Number of coasting timer(FT) Number of motion slot I/O(PX/PY) A172SHCPUN A173UHCPU (-S1) 287k bytes 224k bytes 52k bytes Approx. 56k bytes PCPU SRAM PCPU SRAM 256 (No.0 to 255) Max. approx. 7.5k steps (varies with the number of operation control program and transition program steps.) 16 bytes (program name is used as a file name) Max. 64k bytes(included Motion SFC chart comments) Max. 4094 steps Max. 80 characters/symbol 4096 (F0 to F4095) 4096 with F and FS combined (F/FS0 to F/FS4095) 4096 (FS0 to FS4095) 4096 (G0 to G4095) Max. approx. 64k bytes (32766 steps) Max. approx. 64k bytes Max. 8192 blocks(in the case of 4 steps(min)/block) Max. 128 characters (comment included) Max. 64 (operand : constants, word devices, bit devices) 4096 (K0 to K4095) 13312 14334 Max.13312 steps (Speed control, speed change control) Approx. 800 points/axis Approx. 400 points/axis Max. 256 Max. 256 steps/all programs Executed in motion main cycle Fixed cycle (1.7ms, 3.5ms, 7.1ms, 14.2ms) 16 external interrupt points(Input from interrupt input module installed in motion slot.) Excute with interrupt from PLC 1 point (When PLC dedicated instruction ITP is excuted.) 16 external interrupt points(Input from interrupt input module installed in motion slot.) Add event task and NMI task 16 points(set in SFC parameter) 8192 points( 0 to 8191) ( 8000 to 8191 is dedicated device) 1 point (FT) (888µs timer(32bit)) Total 64 points Total 256 points 26 Overview of CPU Performance Sequence control specifications A171SH A172SH Control method Sequence control dedicated language (relay symbol language, logic symbol language, MELSAP 2 (SFC)) Programming language Number of instructions Direct mode Processing speed (Sequence instruction) Refresh mode I/O points (Note-1) Real I/O points Watchdog timer (WDT) Memory capacity (built-in RAM) Main sequence Sub sequence Microcomputer program Internal relay (M) (Note-1) Latch relay (L) Step relay (S) Link relay (B) Points Timer (T) Specifications A173UH-S1 Refresh mode (direct mode can be used partially in accordance with the instruction) Refresh mode/direct mode (possible to select) I/O control method Program capacity A173UH Repeated operation using stored program Sequence instructions : 26 Basic instructions : 131 Applied instructions : 106 Motion instructions : 4 0.25 to 1.9 µs/step 0.25 µs/step 2048 (X/Y0 to 7FF) 512 (X/Y0 to 1FF) 1024 (X/Y0 to 3FF) 10 to 2000ms 64k bytes 192k bytes Max. 14k steps Max. 30k steps Sequence instructions : 22 Basic/applied instructions : 252 Instructions : 204 Motion instructions : 4 0.15 µs/step 8192 (X/Y0 to 1FFF) 2048 points (X/Y0 to 7FF) (within the range of one extension base.) 200ms 192k bytes Max. 30k steps Max. 30k steps Max. 26k bytes Max. 58k bytes 1000 points (M0 to M999) Total 2048 points 1048 points (L1000 to L2047) (set in parameters) 0 point (none at initial) 1024 points (B0 to B3FF) 256 100ms timer 10ms timer 100ms retentive timer Setting time 0.1 to 3276.7s 0.01 to 327.67s Device T0 to T199 T200 to T255 0.1 to 3276.7s None at initial 768k bytes Total 8191 points (set in parameters) 8192 points (B0 to B1FFF) 2048 (default 256) 100ms timer 10ms timer 100ms retentive timer Extension timer Setting time 0.1 to 3276.7s 0.01 to 327.67s 0.1 to 3276.7s Time set by word device (D,W and R) Device T0 to T199 T200 to T255 None at initial T256 to T2047 Set in parameter Points 256 points 1024 points (default 256 points) Setting range Device Counter (C) Normal counter Specifications Interrupt program counter 1 to 32767 Device C0 to C255 None at initial Setting range Normal counter 1 to 32767 Interrupt counter C224 to C225 Extension counter Count value set by word device (D,W and R) Device C0 to C255 None at initial C256 to C1023 Set in parameter Data register (D) (Note-1) Link register (W) Annunciator (F) File register (R) Accumulator (A) Index register (V Z) Pointer (P) Interrupt pointer (I) Special relay (M) Special register (D) Extension file register blocks (Note-2) Comment points Extension comment points (Note-2) Self-diagnostic function Operation mode in error Output mode when switching from STOP to RUN (Note-4) Clock function Program/parameter conversion to ROM 8192 points (D0 to D8191) 8192 points (W0 to W1FFF) 2048 points (F0 to F2047) Max. 8192 points (R0 to R8191) (set in parameter) 2 points (A0, A1) 14 points (V, V1 to V6, Z, Z1 to Z6) 256 points (P0 to P255) 32 points (I0 to I31) 256 points (M9000 to M9255) 256 points (D9000 to D9255) Max. 10 blocks Max. 46 blocks (Note-3) Depends on memory size Max. 4032 points (64k bytes), 1 point=16k bytes (set in 64 points unit) Max. 3968 points (63k bytes), 1 point=16k bytes (set in 64 points unit) Operation error monitoring and detection of errors in CPU,I/O, battery etc Select of stop or continue 1024 points (D0 to D1023) 1024 points (W0 to W3FF) 256 points (F0 to F255) 2 points (V, Z) - (Note-3) Select of re-output operation status before STOP (default) or output after operation execution Year, month, day, hour, minute, weekday (automatic leap year adjustment) Not available (Note-1) : The positioning dedicated device range varies with the OS. (Note-2) : This changes depending on the sequence parameter. (Note-3) : By used to "SW0GHP-UTLP-FN1" on A6GPP or A6PHP, possible to use max.3 blocks on A171SH and max.10 blocks on A172SH. (Note-4) : The year data by the clock element is only the lower two digits of the year. When used in sequence control,the data must be compensated for the sequence program in some applications of using the data. 27 Software Packages List OS software package list Application For conveyor assembly SV13 (Motion SFC) For automatic machinery SV22 (Motion SFC) For conveyor assembly SV13 (without Motion SFC) For automatic machinery SV22 (without Motion SFC) Peripheral device A171SHCPUN Model name A172HCPUN A173UHCPU – SW3RN-SV13D SW3RN-SV13B – SW3RN-SV22C SW3RN-SV22A SW0SRX-SV13G SW0SRX-SV13D SW2SRX-SV13B SW0SRX-SV22F SW0SRX-SV22C SW2SRX-SV22A PC/AT compatible Programming software package list Application For conveyor assembly SV13 (Motion SFC / without Motion SFC) For automatic machinery SV22 (Motion SFC / without Motion SFC) Peripheral device Notes Model name SW3RN-GSV13P PC/AT compatible SW3RN-GSV22P Included in the "Integrated start-up support software". Integrated start-up support software list Model name SW3RNC-GSVPROE Details SW3RNC-GSVE (Integrated start-up support software) 1 CD-ROM Conveyor assembly software : SW3RN-GSV13P Automatic machinery software : SW3RN-GSV22P Cam data creation software : SW3RN-CAMP Digital oscilloscope software : SW3RN-DOSCP Communication system software : SW3RN-SNETP Document print software : SW3RN-DOCPRNP Ladder editing software : SW3RN-LADDERP SW3RNC-GSVHELPE (operation manual) 1 CD-ROM Instllation manual SW3RNC-GSVSETE SW3RNC-GSVPROE A30CD-PCF (SSC I/F card (PCMCIA TYPEII 1CH/card)) A270CDCBL03M (cable for A30CD-PCF) 3m 28 System Component Item CPU module A171SHCPUN : Max.14k steps : Max.13k steps : Max. 512 : Input : 100 to 240 VAC, output : 5 VDC 3A, 24 VDC 0.6A : 1.63A A172SHCPUN Sequence program capacity Servo program capacity PLC control real I/O point Internal power supply 5VDC internal consumption current : Max. 30k steps : Max.13k steps : Max. 1024 : Input : 100 to 240 VAC, output : 5 VDC 5A : 1.63A Sequence program capacity Servo program capacity PLC control real I/O point Internal power supply 5VDC internal consumption current : Max. 60k steps : Max.14k steps : Max. 2048 : Input : 100 to 240 VAC, output : 5 VDC 5A : 1.90A A173UHCPU-S1 Power supply module PLC extension base uint Extension cable A172B A175B A178B A178B-S1 A178B-S2 (Note) A178B-S3 (Note) A1S61PN A1S62PN A1S65B A1S68B A168B A1SC01B A1SC03B A1SC07B A1SC12B A1SC30B A1SC60B A1S05NB A1S07NB A1SC30NB A1SC50NB Pulse generator/ synchronous encoder interface unit Transistor output module Battery Teaching unit Manual pulse generator Serial absolute synchronous encoder cable Serial absolute synchronous encoder cable SSC I/F board SSC I/F card Cable for SSC I/F board Cable for SSC I/F card Standard Sequence program capacity Servo program capacity PLC control real I/O point Internal power supply 5VDC internal consumption current A173UHCPU CPU base unit Description Model name A172SENC A1SY42 A6BAT A30TU-E 1 motion module slot and 1 PLC module slot can be fitted. 1 motion module slot and 4 PLC module slots can be fitted. 1 motion module slot and 7 PLC module slots can be fitted. UL/cUL 2 motion module slots and 6 PLC module slots can be fitted. 4 motion module slots and 4 PLC module slots can be fitted. 8 motion module slots can be fitted. Input : 100 to 240 VAC, output : 5 VDC 5A UL/cUL CE marks Input : 100 to 240 VAC, output : 3 VDC 5A, 24 VDC 0.6A For extension power supply and 5 slots, compatible with system up to one extension stage. For extension power supply and 8 slots, compatible with system up to one extension stage. For extension power supply and 8 slots, compatible with system to bus-connected one extension stage and GOT. 55mm (2.17 inch) 300mm (11.81 inch) UL/cUL 700mm (27.56 inch) 1200mm (47.24 inch) 3000mm (118.11 inch) 6000mm (236.22 inch) 450mm (17.72 inch) UL/cUL 700mm (27.56 inch) 3000mm (118.11 inch) (For A6 B) 5000mm (196.85 inch) (For A6 B) I/O signal 33 points (FLS, RLS, STOP, DOG/CHANGE : 8 points each tracking input : 1 point) Dynamic brake command output : 1 point UL/cUL Manual pulse generator/synchronous encoder interface : 1 Serial absolute synchronous encoder interface : 1 Transistor output 64 points, 12/24 VDC 0.1A Replacement battery for CPU For SV13, 5m cable, 5 VDC internal current consumption A31TU-E For SV13, with dead-man switch, 5m cable(It is necessary to both A31TUCBL03M and A31SHORTCON), 5 VDC internal current consumption 0.22A A31TUCBL03M A31SHORTCON MR-HDP01 Cable to connect CPU module to A31TU-E (for inside the control panel) Short-circuit connector for A31TUCBL (when A31TU-E is not connected) 5VDC 25PLS/rev, 100PLS/rev at magnification of 4 MR-HENC Resolution :16384PLS/rev, Permissible rotation speed : 4300r/min, absolute type MR-HSCBL M UL/cUL CE marks UL/cUL For connection of MR-HENC and A172SENC 2m, 5m, 10m, 20m, 30m (Same as encoder cables for HC-SF/RF/UF (2000r/min)/HA-LH series motors.) A30BD-PCF ISA bus loaded type 2CH/board A30CD-PCF A270BDCBL03M A270BDCBL05M A270BDCBL10M A270CDCBL03M A270CDCBL05M A270CDCBL10M PCMCIAI TYPE2 1CH/card For A30BD-PCF 3m For A30BD-PCF 5m For A30BD-PCF 10m For A30CD-PCF 3m For A30CD-PCF 5m For A30CD-PCF 10m (Note) : For A173UHCPU only 29 Pulse generator/synchronous encoder interface unit A172SENC Item Input point Loaded in motion slot. One point each is built in for the various inputs on the 8 axes, and for the tracking input, manual pulse generator and synchronous encoder. Motion control signal Range of voltage used input, ON voltage/current tracking input OFF voltage/current Dynamic brake command output Specification Motion signal point : 32 points (8 points each for upper limit switch, lower limit switch, STOP signal, proximity dog) Tracking input : 1 point 10.2 to 26.4 VDC Min. 7V/Min. 1.0mA Max. 1.8V/Max. 0.18mA Response time Motion control signal input OFF → ON Max. 2ms, ON → OFF Max. 3ms Tracking input OFF → ON Max. 0.5ms, ON → OFF Max. 0.5ms Output point Range of load voltage used Max. load current Response time Usable unit 1 point 21.6 to 30 VDC 0.1A OFF → ON max. 2ms, ON → OFF max. 2ms 1 Manual pulse Adaptive type generator/ synchronous encoder High level voltage input Low level voltage Input frequency Usable unit Synchronous encoder input Adaptive type 5VDC internal consumption current Voltage output type (5 VDC) / differential output type (26LS31 or equivalent) Possible to select by connector wiring 3.0 to 5.25 VDC 0 to 1 VDC Max. 100k PLS/s (magnification of 4) 1 Serial absolute synchronous encoder input (MR-HENC) 0.42A (Manual pulse generator/synchronous encode is contained) Cables and connectors Motion controller A171SHCPUN A172SHCPUN A173UHCPU (-S1) Base unit SSCNET cable Terminal connector Servo amplifier Servo amplifier MR-H-BN MR-J2S-B MR-J2-B MR-H-BN MR-J2S-B MR-J2-B Item Model name MR-HBUS SSCNET cable Terminal connector Connector User-supplied cable Description For connection of CPU module and MR-H-BN, and for connection MR-H-BN and MR-H-BN 0.5m, 1m, 5m M MR-J2HBUS M-A For connection of CPU module and MR-J2S-B/MR-J2-B, and for connection MR-H-BN and MR-J2S-B/MR-J2-B 0.5m, 1m, 5m MR-J2HBUS M For connection of MR-J2S-B/MR-J2-B and MR-J2S-B/MR-J2-B 0.5m. 1m, 5m MR-TM Fitted to the last servo amplifier (MR-H-BN) by SSCNET. MR-A-TM Fitted to the last servo amplifier (MR-J2S-B/MR-J2-B) by SSCNET. Please refer to the servo amplifier "MR-H series" catalogue for the power supply connectors of servo motor. Please refer to the servo amplifier "MR-H series", "MR-J2-Super series" and "MR-J2 series" catalogues for the encoder cables and the encoder connector set. 30 Peripheral Equipment Full support from a wide-ranging lineup The motion controller supports any of the personal computers on the market and an general use, so it can be used with familiar environment. The most appropriate programming environment for users is provided. SSC I/F board A30BD-PCF Integrated start-up support software(CD-ROM) SSCNET communication SW3RNC-GSVPROE Cable: A270BDCBL M SSC I/F card A30CD-PCF SSCNET communication Cable: A270CDCBL M Teaching unit (Note) A30TU-E A31TU-E For SV13 only RS-422 communication (Note) : When using a teaching unit A31TU-E with a dead-man switch, a dedicated connecting cable A31TUCBL03M is required between the CPU module and A31TU-E connector. If the A31TU-E is connected directly to the RS422 connector of the CPU without using a dedicated cable, the A31TU-E will not operate at all. After disconnecting the A31TU-E, attach a short-circuit connector A31TUSHORTCON for A31TUCBL. With dead-man switch A171SHCPUN A172SHCPUN A173UHCPU OS software packages (FD) Motion SFC SV13/SV22 SV13/SV22 Motion SFC function possible to use on A172SH and A173UH. Cannot be used on A171SH. Operating environment PC/AT compatible with which WindowsNT 4.0 / Windows 98 operates normally and the following use is filled. OS CPU Memory capacity Hard disk capacity Display Application software Resolution Colors WindowsNT 4.0 / Windows 98 More than pentium 133MHZ More than 32M bytes SW3RNC-GSVE : more than 51MB + SW3RNC-GSVHELPE : more than 108MB (possible to select installation) More than 800 X 600 pixels More than 256 colors Word 97, Excel 97 (for document printing) More than Visual C++4.0, more than Visual Basic 4.03 (32 bit) (When communication API function use.) (When using the A30CD-PCF, the PC card driver for Windows NT / Windows 98, provided by the personal computer manufacturer must be used.) (Note) : Windows, Word, Excel, Visual C++ and Visual Basic is a trade-mark of the Microsoft Corporation. : Before exporting the personal computer as a single unit or assembled into a device, consult with the manufacturer and check that the OS (Windows, etc.) and network browser incorporated in the personal computer comply with the foreign exchange control laws. 31 Exterior Dimensions CPU module A171SH/A172SH/A173UH unit : mm (inch) 4 X mounting screws (M5 X 25) CPU base unit C E UL Width W 130 (5.12) 110 (4.33) MITSUBISHI CPU base unit A172B A175B UL WARNING PULL 16.4 (0.65) 93.6 (3.69) 4.1 200 (7.87) W A1S68B A168B 315 (12.4) 420 (16.5) Mounting 4 X mounting screws (M5 X 25) Shows panel ceiling or wiring duct position 130 (5.12) 110 (4.33) 220 (8.66) 325 (12.8) 430 (16.9) A175B * For A173UHCPU only 110 (4.33) Extension base unit Extension base unit A178B A178B-S1 A178B-S2* A178B-S3* MITSUBISHI More than 30mm More than 70mm 400 (15.74) More than 100mm 16.4 (0.65) 93.6 (3.69) W 110 (4.33) ø15 (0.59) -0.006 -0.017 56 (2.2) ø68 (2.68) B 56 (2.2) 68 (2.68) N.P B unit : mm (inch) 68 (2.68) ø50 (1.97) -0.009 -0.025 0 ø14.3 (0.56) -0.11 ø14.3 (10.56) ø16 (0.63) 0 -0.11 Serial absolute synchronous encoder MR-HENC +0.14 1.15 (0.05) 0 2 (0.08) 20 (0.79) +0.14 0 28 (1.1) 3 (0.12) 33 (1.3) 91 (3.58) 4-ø5.4 (0.21) 5 (0.2) -0.012 -0.042 Effective dimension 21 (0.83) +0.1 0 1.15 (0.05) 2 (0.08) 5 (0.2) 102 (4.02) 19.5 (0.77) Item Specifications Resolution 16384 PLS/rev Direction on increase Counter clockwise (viewed from end of axis) Protective construction IP52 (dust-proof, oil-proof) Radial : Max. 98N Permitted axis load Thrust : Max. 49N Permissible rotation speed 4300 r/min Permissible angular acceleration 4000 rad/s Operating temperature -5˚c to 55˚c 1.5 (3.3) Weight kg (16) 3 (0.12) 135 (5.31) Axis cross-section Cross-section B-B Keyway dimension diagram Manual pulse generator MR-HDP01 unit : mm (inch) 70 30 80 ø70 (2.76) ø50 (1.97) + NP 90 20 10 0 60 + 50 40 + +5 to 12V0V A B + + + + + 27.0 ±0.5 16 20 (0.63)(0.79) (1.06) 8.89 (0.35) 7.6 (0.3) Permitted axis load Operating temperature Weight kg (16) Specifications 25 PLS/rev (100PLS/rev at magnification of 4) Input voltage > 1V (Note) Max. 60mA More than 1,000,000 revolutions at 200 r/min Radial : Max. 19.6N Thrust : Max. 9.8N -10˚c to -60˚c 0.4 (0.88) ) ±02 (Note) : When using an external power supply, necessary to 5V power supply. (2.44 + .83) ±0.2 + Item Pulse resolution Output voltage Consumption current Life ø62 ø72 (2 3 X studs(M4 X 10) PCD72 equi-spaced M3 X 6 3-ø4.8 (0 to 19) Equi-spaced + ø60 (2.36)±0.5 ø80 (3.15)±1 3.6 (0.14) Packing t = 2.0 + 32 Combinations of Servo Amplifiers and Servo Motors MR-J2-B servo amplifier MR -J2 10B HC-MF053 Small HC-MF13 capacity HC-MF HC-MF23 3000r/min HC-MF43 series HC-MF73 HC-KF053 HC-KF13 HC-KF23 HC-KF43 HA-FF053 Small HA-FF13 capacity HA-FF23 HA-FF 3000r/min HA-FF33 series HA-FF43 HA-FF63 HC-SF81 Middle capacity HC-SF121 HC-SF 1000r/min HC-SF201 series HC-SF301 HC-SF52 HC-SF102 Middle HC-SF152 capacity HC-SF HC-SF202 2000r/min HC-SF352 series HC-SF502 HC-SF702 Small capacity HC-KF 3000r/min series HC-SF53 Middle HC-SF103 capacity HC-SF HC-SF153 3000r/min HC-SF203 series Low inertia HC-RF 3000r/min series Flat HC-UF 3000r/min series Flat HC-UF 2000r/min series Low inertia HA-LH2000r/min series Large capacity HA-LF 2000r/min series 33 HC-SF353 HC-RF103 HC-RF153 HC-RF203 HC-RF353 HC-RF503 HC-UF13 HC-UF23 HC-UF43 HC-UF73 HC-UF72 HC-UF152 HC-UF202 HC-UF352 HC-UF502 HA-LH11K2 HA-LH15K2 HA-LH22K2 HA-LF30K24 HA-LF37K24 HA-LF45K24 HA-LF55K24 MR -J2 20B MR -J2 40B MR -J2 60B MR -J2 70B MR -J2 100B MR -J2 200B MR-H-BN servo amplifier MR -J2 350B MR -H 10BN MR -H 20BN MR -H 40BN MR -H 60BN MR -H 100BN MR -H 200BN MR -H 350BN MR -H 500BN MR -H 700BN MR -H 11KBN MR -H 15KBN MR -H 22KBN MR MR MR MR -H -H -H -H 30KBN4 37KBN4 45KBN4 55KBN4 MR-J2S-B servo amplifier Motor capacity (kW) 0.05 0.1 0.2 0.4 0.75 0.05 0.1 0.2 0.4 0.05 0.1 0.2 0.3 0.4 0.6 0.85 1.2 2.0 3.0 0.5 1.0 1.5 2.0 3.5 5.0 7.0 0.5 1.0 1.5 2.0 3.5 1.0 1.5 2.0 3.5 5.0 0.1 0.2 0.4 0.75 0.75 1.5 2.0 3.5 5.0 11.0 15.0 22.0 30.0 37.0 45.0 55.0 MR -J2S 10B Small capacity HC-MFS 3000r/min series Small capacity HC-KFS 3000r/min series Middle capacity HC-SFS 1000r/min series Middle capacity HC-SFS 2000r/min series Middle capacity HC-SFS 3000r/min series Low inertia HC-RFS 3000r/min series Flat HC-UFS 3000r/min series Flat HC-UFS 2000r/min series HC-MFS053 HC-MFS13 HC-MFS23 HC-MFS43 HC-MFS73 HC-KFS053 HC-KFS13 HC-KFS23 HC-KFS43 HC-KFS73 HC-SFS81 HC-SFS121 HC-SFS201 HC-SFS301 HC-SFS52 HC-SFS102 HC-SFS152 HC-SFS202 HC-SFS352 HC-SFS502 HC-SFS702 HC-SFS53 HC-SFS103 HC-SFS153 HC-SFS203 HC-SFS353 HC-RFS103 HC-RFS153 HC-RFS203 HC-RFS353 HC-RFS503 HC-UFS13 HC-UFS23 HC-UFS43 HC-UFS73 HC-UFS72 HC-UFS152 HC-UFS202 HC-UFS352 HC-UFS502 MR -J2S 20B MR -J2S 40B MR -J2S 60B MR -J2S 70B MR -J2S 100B MR -J2S 200B MR -J2S 350B MR -J2S 500B MR -J2S 700B Motor capacity (kW) 0.05 0.1 0.2 0.4 0.75 0.05 0.1 0.2 0.4 0.75 0.85 1.2 2.0 3.0 0.5 1.0 1.5 2.0 3.5 5.0 7.0 0.5 1.0 1.5 2.0 3.5 1.0 1.5 2.0 3.5 5.0 0.1 0.2 0.4 0.75 0.75 1.5 2.0 3.5 5.0 : Special amplifier required 34 HEAD OFFICE : MITSUBISHI DENKI BLDG., 2-2-3, MARUNOUCHI, CHIYODA-KU, TOKTO 100-8310, JAPAN WWW.MITSUBISHI-JAPAN.COM L(NA)03008-A 0012 Printed in Japan <ROD> New publication, effective Dec. 2000 Specifications subject to change without notice.