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C Controller/Personal Computer Embedded Type Servo System Controller Unique Servo Control Available Through C Language Based Programming void sample() { PNT_DATA_EX PntData[2] = { { 1000, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } , { 0, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } , }; ans = sscSetPointDataEx( board_id, channel, axnum, &PntData[0] ); ans = sscAutoStart( board_id, channel, axnum, start_pnt, end_pnt ); ans = sscWaitIntDriveFin( board_id, channel, axnum, SSC_FIN_TYPE_SMZ, &fin_status, 0 ); } Connected to a C Controller via PCI Express ® for controlling MELSERVO-J4 C Controller Interface Module Embedded in a personal computer for controlling MELSERVO-J4 Position Board High-speed Synchronous Network "SSCNET III/H" Through C Language Based Programming High-response servo control is achieved in a combination of C Controller and the Interface Module or a personal void sample() computer and the Position Board. { PNT_DATA_EX PntData[2] = The system that is completely configured by Mitsubishi { products boosts reliability further. { 1000, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } }; ● C Controller or a personal computer is selectable ans = sscSetPointDataEx( board_id, cha ● Programmable controllers are not required in the system ans = sscAutoStart( board_id, channel, a ● SSCNET III/H compatible servo amplifiers MR-J4-B are connectable ans = sscWaitIntDriveFin( board_id, cha ● Equipped with Point to Point positioning functionality as standard (set with Point table) } ● High-speed processing (1 cycle startup, 0.22 ms/8 axes) ● Various API functions and a test tool are available ● Real-time OS is supported (Note): Contact your local sales office for details Advantages of Introducing C Controller/PC Embedded Type Servo System Controller Current customer situation ● Seeking a higher performance of servos and a more advanced servo interface ● Seeking products with higher performance and added value, while maintaining the program assets. Personal computer The system installed ● SSCNET III/H compatible servo amplifiers are connectable ● SSCNET III/H compatible servo amplifiers, digital I/F, reduced wiring, and absolute position system Pulse board QY41P Microcomputer board 1 Q64AD Q64AD Boost reliability void sample() { PNT_DATA_EX PntData[2] = { { 1000, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } , { 0, 200, 20, 100, 0, 0, { 0 }, { 0 }, 0, { 0 } , }; ans = sscSetPointDataEx( board_id, channel, axnum, &PntData[0] ); ans = sscAutoStart( board_id, channel, axnum, start_pnt, end_pnt ); ans = sscWaitIntDriveFin( board_id, channel, axnum, SSC_FIN_TYPE_SMZ, &fin_status, 0 ); } {0}, }, annel, axnum, &PntData[0] ); axnum, start_ pnt, end_pnt ); annel, axnum, SSC_FIN_TYPE_SMZ, &fin_status, 0 ); Configuration C Controller/PC C Controller Interface Module/Position Board User program void sample() { PNT_DATA_EX PntData[2] = { { 1000, 200, 20, 20, 0, 0, { 0 }, { 0 }, 0, { 0 } }, { 0, 200, 20, 20, 0, 0, { 0 }, { 0 }, 0, { 0 } }, }; ans = sscSetPointDataEx( board_id, ch, ax, &PntData[0] ); ans = sscAutoStart( board_id, ch, ax, start_pnt, end_pnt ); ans = sscWaitIntDriveFin( board_id, ch, ax, SSC_FIN, &fin, 0 ); } Personal computer Write to the dual port memory Read from the dual port memory Dual port memory Positioning control processing Interrupts Position Board PCI C Controller C Controller Interface Module QY41P Q64AD Q64AD PCI Express ® 2 Configure a High-response Servo System in a Combination with a C Controller C Controller Interface Module Q173SCCF Connected directly to a C Controller through PCI Express®, this module is used for controlling MELSERVO-J4 SSCNET III/H compatible servo amplifiers, through a user program. Features ● High-speed access and interrupt detection are achieved with PCI Express®. ● A system which is configured with a C Controller has more reliable and longer-term stable product supply than the conventional PC. ● Event-driven method programs, which use interrupts, are possible. Q173SCCF ● Equipped with Positioning functionality using Point table. ● An API library is available for more efficient software development. ● This Interface Module will support C Controllers where Lineo uLinux is installed. (Note): Contact your local sales office for more details. System Configuration C Controller (Q24DHCCPU-V) MITSUBISHI ELECTRIC Q173SCCF QY41P Q64AD Q64AD Servo amplifier external input signals FLS, RLS, DOG PCI Express® (Memory access, interrupts) MR-J4-B MR-J4W2-B MR-J4W3-B MR-J4-B USB Test tool is available for maintenance (graph and error check, etc.) of Q173SCCF and servo amplifier Forced stop input (24 VDC) Linear servo motor Rotary servo motor Direct drive motor Direct drive motor Up to 20 axes 3 Rotary servo motor Configure a High-response Servo System by Embedding the Position Board in a PC Position Board MR-MC210/MR-MC211 This board type controller is used for controlling MELSERVO-J4 SSCNET III/H compatible servo amplifiers, through a user program. Features ● An SSCNET III/H servo system that is controlled by a personal computer can be configured. MR-MC210/MR-MC211 (Short sized version) ● Various conventional boards and programs for PC can be effectively used. ● Event-driven method programs, which use interrupts, are possible. ● Equipped with Positioning functionality using Point table. ● An API library is available for more efficient software development. ● Real-time OS is supported. (Note): Contact your local sales office for more details. System Configuration PCI bus compatible Position Board MR-MC210/MR-MC211 PCI bus Servo amplifier external input signals FLS, RLS, DOG MR-J4-B MR-J4W2-B MR-J4W3-B MR-J4-B USB Test tool is available for maintenance (graph and error check, etc.) of Position Board and servo amplifier Forced stop input (24 VDC) (Note-1) (Note-1): Be sure to prepare the connector for forced stop input by user. Linear servo motor Rotary servo motor Direct drive motor Rotary servo motor Direct drive motor MR-MC210: Up to 20 axes MR-MC211: Up to 32 axes 4 Software Development Environment [ C Controller Interface Module ] Create a user program by adding the positioning control API library to the project of the C Controller software development environment "CW Workbench". Also, since the OS for the C Controller (VxWorks®) has been pre-installed, you do not need to install it. OS:VxWorks® C Controller (Q24DHCCPU-V) Q173SCCF QY41P Ethernet Q64AD Q64AD USB PC Utility of C Controller Interface Module API functions compatible with VxWorks® Test tool (USB connection) Add to the project Software development environment (Ethernet connection): CW Workbench/Wind River Workbench Setting/monitoring tool for the C Controller module API library [ Position Board ] Create a user program by adding the positioning control API library to the project of Microsoft Visual Studio® which is running on a Windows® OS PC. OS:Microsoft Windows® PCI bus compatible Position Board MR-MC210/MR-MC211 PCI PC Utility of Position Board API functions compatible with Windows® Test tool Software development environment: Microsoft Visual Studio® Add to the project API library (Note): Be sure to prepare the operating system software and software development environment by user. 5 Q173SCCF MR-MC21n [ Utility ] The utility for C Controller Interface Module/Position Board includes the following software that is necessary for application development. Test tool API library Device driver (Position Board only) Test tool This tool supports parameter and point data settings for application development, operation check such as servo adjustment and error analysis. MR Configurator2 can be started from the test tool, so servo adjustment is easily performed. Easy test operation check Test operation is easily performed by using Positioning test operation functions and Parameter/Point data setting functions, being useful for checking SSCNET III/H wiring and motor movement. Maintenance You can confirm the sampled waveform of monitor data (32 items) and bit data (16 items) to check the sequence of user programs and startup timing. Error analysis is carried out with ease by reading the alarm history stored on the non-volatile memory. API library The API library is the API functions for creating applications for C Controllers or on a personal computer. Servo amplifier initialization, parameter change, and startup in various operation modes are available. 6 Positioning Control Q173SCCF The C language user program executes positioning operations by using the API library. The operation is started with positioning data from the point data table and waits until an event occurs by interrupts. User program void sample() { int int int int int int int board_id channel axnum start_pnt end_pnt fin_status; ans; = 0; = 1; = 1; = 0; = 1; /* Board ID */ /* Channel No.*/ /* Axis No.*/ /* Start point No.*/ /* End point No.*/ PNT_DATA_EX PntData[2] = { { 1000, 200, 20, 20, 0, 0, { 0 }, { 0 }, 0, { 0 } }, { 0, 200, 20, 20, 0, 0, { 0 }, { 0 }, 0, { 0 } }, }; /* Point data setting */ ans = sscSetPointDataEx( board_id, channel, axnum, start_pnt, &PntData[0] ); ans = sscSetPointDataEx( board_id, channel, axnum, end_pnt, &PntData[1] ); /* Operation start */ ans = sscAutoStart( board_id, channel, axnum, start_pnt, end_pnt ); /* Operation wait */ ans = sscWaitIntDriveFin( board_id, channel, axnum, SSC_FIN_TYPE_SMZ, &fin_status, 0 ); } C Controller Interface Module/Position Board Point Data No. Position data Feed speed Acceleration Deceleration time constant time constant Dwell Auxiliary command … 0 1000 200 20 20 0 Absolute position command, In-position stop 0 1 0 200 20 20 0 Absolute position command, In-position stop 0 MR-J4(W)-B Speed Time In-position signal 7 MR-MC21n Various Optional Features for Point to Point Positioning Operation [ Deceleration check system ] When multiple points are specified, select the completion conditions of each point movement. Ensuring passing the target position Not waiting for motor stabilization In-position stop Not stopping at a point Smoothing stop V Continuous operation V t After In-position signal turns ON, operation proceeds to the next point. V t After completion of the position command output, operation proceeds to the next point. t The current speed is changed to the command speed of the next point. [ Dwell time setting ] Set the wait time between points Wait time before the point movement operation starts Wait time after moving to the point Pre-dwell V Dwell V Wait time Point 1 Wait time t Point 2 Point 1 Operation starts after the specified wait time t Point 2 Operation is completed when the specified time has elapsed after moving to the point. [ S-curve acceleration/deceleration and smoothing filter ] Vibration is suppressed with smooth speed changes Same operation time duration Same maximum acceleration speed S-curve acceleration/deceleration Smoothing filter V V Operation time becomes longer Operation time does not change Acceleration is roughly the same Acceleration becomes faster t t Maximum acceleration is faster than trapezoidal acceleration/ deceleration. Maximum acceleration speed is roughly the same as trapezoidal acceleration/deceleration. [ Position command system ] Specify the reference position of position commands Target position with reference to the home position Target position with reference to the current position Absolute position command Relative position command Position command: 100 Home position 0 Current position 50 Position command: 100 Target position 100 Home Current position 0 position 50 Moves to the target position, "100" away from the home position. Target position 150 Moves to the target position, "100" away from the current position. [ Linear interpolation operation ] Maximum of 8 groups (control cycle:0.88 ms), 2 to 4 axes per group in this operation Interpolation operation with multiple axes Linear interpolation operation Axis 2 Axis 2 movement amount V Composite movement amount Composite speed Axis 1 speed Axis 2 speed Axis 1 movement amount Axis 1 t 8 Tandem Operation Q173SCCF MR-MC21n With the operation start of the master axis, same commands start to be transmitted to both the master and slave axes, which achieves a tandem operation. Tandem operation system [ Functions ] ● Synchronous operation ● Check for deviations in synchronization ● Stop processing in case servo error occurs Master axis Slave axis ● Simultaneous home position return of multiple axes ● JOG operation Other Axes Start Function Q173SCCF MR-MC21n This function automatically starts other axes according to its startup condition and its operation pattern. Tact time of assembly machines, etc. is shortened with this automatic startup via controllers. Operation example 1. Axis 2 moves to P1 from its start point. Axis 2 2. When axis 2 passes the specified point, axis 1 automatically starts. 3. Axis 2 reaches P1. Automatic start of axis 2 Target position of axis 2 P1 4. When axis 1 passes the specified point, axis 2 automatically starts. P2 Target position of axis 1 5. Axis 1 reaches P2. 6. Axis 2 reaches the end point. Automatic start of axis 1 Start point Other axes start condition is met End point Axis 1 Axis 2 Operation start (ST) Robot 2 Robot 1 Operation (OP) Other axes start notice (OSOP1) Belt conveyor flow Other axes start completion (OSFIN1) Line 2 Axis 1 Automatic start of other axes (Axis 1) Line 1 Operation (OP) Application example: Product handling equipment 9 Position Change Function Q173SCCF MR-MC21n While linear interpolation is performed, the target position can be changed by rewriting the position data of the point table and then turning ON Position change command (PCHG). Thus, tact time is shortened by changing the target position during the operation. The axes move to the new target position through an arc trace in order to maintain the speed. Operation example 1. Detect the compensation position with the vision system. 2. The target position is changed from P1 to P2 with the user program. 3. Move the wafer to the new target position. Ethernet Axis 2 2. Change the target position. 1. Compensation position data P2 (New target position) Change the target position 3. Move the wafer to the new target position. COGNEX vision system P1 (The original target position) Axis 1 Pass Position Interrupt Function Q173SCCF MR-MC21n During automatic operation, interrupts are outputted when axes pass the specified position. After that, the corresponding interrupt process of the user program is started. ● High-speed event processing start on host side (OS) is possible based on the servo axis position ● A total of 64 points can be specified for pass position data of all axes Operation example 1. As the axes are moving to P2 from P1, the interrupt occurs. v Pass position interrupt 2. The vision camera takes photos of the work piece while processing the interrupts. P1 3. The position data is read. The vision camera takes photo responding to the interrupts. Thus by taking photos periodically with interrupts, more accurate position data is available. Inspect P1 t P2 Accepted products P2 Vision processing Pass position interrupt Rejects Vision camera takes the photos END Application example: inspection machine 10 Interference Check Function Q173SCCF MR-MC21n Collision prevention The position of axes is constantly monitored. If the distance between axes (relative position) is assumed to become smaller than the "Interference check width", the "Entering interference area error" occurs, and the axes are forced to stop to prevent collision. Interference check width Current position (Axis 2) Interference check axis (Axis 1) Stops to keep the set limit distance "Interference check width" between the axes Interface Mode Function Q173SCCF MR-MC21n Various curve patterns are achieved with a user program using the interface mode, available as standard The interface mode (sequential position command method) is available as standard to perform Motion control flexibly. Curves created with a user program can be used as commands to servo amplifiers. C Controller (Q24DHCCPU-V) or a personal computer C Controller Interface Module (Q173SCCF) or Position Board (MR-MC210/MR-MC211) User program (C language program) SSCNET communication control MR-J4-B Position Time API library Example of user-created curve OS 11 PCI Express®/ PCI bus Axis 1 position command buffer 0 to 63 ···· Axis 20 position command buffer 0 to 63 Communication cycle: 0.22ms Main Basic Functions JOG operation Operation function When the movement direction is specified and the start operation signal is inputted, JOG operation is started in the designated direction and the movement continues until the start operation signal is turned OFF. JOG operation can be used without completing home position return. Automatic operation Operation function The point table, where position data and feed speed are set, is used in this automatic operation. Once the start operation signal is turned ON, instructions are executed sequentially from the set start point number to the set end point number. Electronic gear Application function This function adjusts the number of pulses outputted to the servo amplifiers so that a machine moves by the specified command unit in a program. Acceleration/deceleration Application function Various acceleration/deceleration methods, such as linear acceleration/deceleration, smoothing filter, and S-curve acceleration/deceleration, are widely available. Select the suitable one for your machine. Servo amplifier disconnect Application function The servo amplifier disconnect function enables an operation without connecting a servo amplifier. User programs can be debugged without servo amplifiers. Position switch Application function The Position switch signal is turned ON when the axis is within setting range, set by the position switch upper limit and position switch lower limit parameters. This function can act as a switch or a sensor. Home position search limit Application function This function is used while returning to the home position in the opposite direction of the home position return. If the movement exceeds the parameter set for the home position search limit, the home position search limit error occurs and the home position return operation is terminated. Absolute position detection system Application function In the absolute position detection system, if the home position is determined at the system startup, there is no need to execute the home position return again because the absolute position is restored at system startup. Q173SCCF Incremental feed MR-MC21n Operation function A fixed feed distance is implemented for each start operation signal (ST). The amount of feed is defined using the incremental feed movement amount. Incremental feed can be used without completing the home position return. Home position return Operation function This function establishes the reference position (home position) when the positioning control is performed. Various methods are available, such as dog method, data set method, stopper method, scale home position signal detection method. Stop operation function Application function Forced stop, operation stop, and rapid stop are available. These stop operations are executed in case of detecting a machine error. Command change Application function Speed change, change of time constant, and position change are available. Each command can be changed during operation. Gain switching Application function By turning ON the gain switching command signal (GAIN), the gain for the servo amplifier can be changed. This is used to switch the gain during rotation and while stopped, as well as switching gain proportionally to the amount of movement or speed. Reconnect/disconnect Maintenance By turning ON the disconnection command, SSCNET III/H communication with the selected axis and later can be disconnected. The axes whose communication is disconnected become non-communicating axes, so their power supplies can be turned OFF and SSCNET III cables can be detached. Alarm history Maintenance This function logs alarms, storing them even when power is turned OFF, being useful for analysis of machine alarms. Log Maintenance This function logs event information such as operation startup, command change, and operation completion alarms, which are used for analyzing the timing of event occurrence. 12 Control specification Function System function Number of control axes Standard Mode Interface Mode MR-MC210 MR-MC211 Q173SCCF MR-MC210 MR-MC211 Q173SCCF Up to 20 axes UP to 32 axes Up to 20 axes Up to 20 axes UP to 32 axes Up to 20 axes 0.22ms/0.44ms/0.88ms (Select using parameters.) Control cycle JOG operation Provided — Incremental feed Provided — Automatic operation Linear interpolation Operation functions — Point table method, 1-axis control Point table method, Up to 4 axes interpolation (Note-3) — Dog method, Dog cradle method, Dog front end method, Data set method, Stopper method, Z-phase detection method, (Note-1, 2) Home position return Limit switch combined method, Limit switch front end method, — Scale home position signal detection method, Scale home position signal detection method 2 — Home position reset (data set) Electronic gear Speed units Electronic gear numerator : 1 to 5242879 — Electronic gear denominator : 1 to 589823 Command unit/min, command unit/s, and r/min can be selected. Command unit/min, command unit/s, and r/min can be selected. (the unit for speed of monitor output ) Command speed limits: 1 to speed limit Application functions 1 Limits of start speed: 1 to speed limit Time constant limits: 0 to 20000 ms Acceleration/ deceleration Separate setting of constants for deceleration and acceleration: Provided Separate setting of constants for each point: Provided — Acceleration/deceleration method: Linear acceleration/deceleration, smoothing filter, start up speed, S-curve acceleration/deceleration (sine acceleration/deceleration) Stop function Command change Forced stop, Operation stop, Rapid stop Forced stop Location, Speed, Time constant — Hardware stroke limit, Software stroke limit, Interlock, Rough match output, Torque limit, Backlash, Position switch, Interference check (Note-3), Application functions 2 Home position search limit, Gain switching, PI-PID switching, Absolute position detection system, Home position return request, Other axes start, Digital input/output, Servo amplifier general input/output, Torque limit, Gain switching, PI-PID switch, Absolute position detection system, Digital input/output, Servo amplifier general input/output Pass position interrupt, Tandem operation Current command position, Current F/B position, Speed command, Monitor Position droop, Electrical current command, Servo alarm number, Provided External signal status, etc. High speed monitor Current command position, Current feedback position, Moving speed, Interrupt (During operation, in-position, during smoothing stop, rough match, etc.) Feedback moving speed, External signal, Electrical current feedback Provided During start operation, Operation stoppage Provided When alarm occurs (servo alarm/operation alarm),etc. Auxiliary function Host PC watchdog Provided (Check for the watchdog of the CPU of the host computer) Provided Parameter backup Parameters can be saved to the flash ROM. Provided Test mode By connecting MR Configurator2 via the controllers, the servo amplifier can be simply tested. Provided Reconnect/disconnect Sampling Log Provided The maximum sampling point: 65536. Provided (Ring buffer of 8192 points) History of operation start, alarms, etc., can be recorded. Provided Provided Provided Alarm history Board ID Provided 0 to 3 — — (Note-1): The Position Board can move within the limits of -2147483648 to 2147483647. Movement outside the limits is not covered with warranty. If software limits have been disabled, be careful not to move it outside of the physical limits. (Note-2): For the absolute position detection system, the command limits of the position after calculation using the electronic gear are also -2147483648 to 2147483647. The moveable limits may be narrower than -2147483648 to 2147483647, depending on the electronic gear ratio. (Note-3): Unavailable when the control cycle is 0.22 ms. 13 C Controller Interface Module specification Item Specification Servo amplifier connection system SSCNET III/H (1 system) Maximum overall cable distance [m(ft.)] SSCNET III/H: 2000 (6561.68) Maximum distance between stations [m(ft.)] SSCNET III/H : 100 (328.08) Peripheral I/F USB Number of input points Input method 1 point Positive Common/ Negative Common Shared Type (Photocoupler isolation) Rated input voltage/current Forced stop input signal (EMI) (Note-1) Operating voltage range 24 VDC/approx. 2.4 mA 20.4 to 26.4 VDC (24 VDC +10%/−15%, ripple ratio 5% or less) ON voltage/current 17.5 VDC or more/2.0 mA or more OFF voltage/current 1.8 VDC or less/0.18 mA or less Input resistance Approx. 10kΩ Response time 1ms or less (OFF to ON, ON to OFF) Recommended wire size AWG16 to 26 (0.12 to 1.3 mm2) The number of Interface Module for one C Controller 1 module Bus specification PCI Express® Number of I/O occupying points 0 Number of module occupied slots 1 5 VDC internal current consumption [A] 0.7 Mass [kg] 0.17 Exterior dimensions [mm(inch)] 98 (3.86) (H)✕27.4 (1.08) (W)✕115 (4.53) (D) (Note-1): The input connector for external forced stop is enclosed in the C Controller module package. Position Board specification Specification Item Servo amplifier connection system MR-MC211 MR-MC210 SSCNET III/H (2 systems) SSCNET III/H (1 system) SSCNET III/H: 2000 (6561.68) Maximum overall cable distance [m(ft.)] SSCNET III/H : 100 (328.08) Maximum distance between stations [m(ft.)] USB Peripheral I/F 1 point Number of input points Input method Positive Common/ Negative Common Shared Type (Photocoupler isolation) 24 VDC/approx. 2.4 mA Rated input voltage/current Operating voltage range Forced stop input signal (EMI) (Note-1) 20.4 to 26.4 VDC (24 VDC +10%/−15%, ripple ratio 5% or less) ON voltage/current 17.5 VDC or more/2.0 mA or more OFF voltage/current 1.8 VDC or less/0.18 mA or less Input resistance Approx. 10kΩ Response time 1ms or less (OFF to ON, ON to OFF) AWG22 to 28 (0.08 to 0.32 mm2) Recommended wire size 4 The number of Position Boards for one computer Bus specification PCI bus Short sized version (106.7(4.20)✕167.6(6.60)) Size [mm(inch)] 0.7 5 VDC internal current consumption [A] 0.45 0.11 Mass [kg] (Note-1): Crimping tools and connectors are needed for cable fabrication. Be sure to prepare ones by user. Position Board connector for forced stop input (cable-side) Manufacture Molex Name Model Housing 51103-0300 Terminal 50351-8100 Hand crimp tool 57295-5000 Description Applicable wire size (AWG): 22, 24, 26, 28 Two terminals are needed for one housing Applicable terminal: 50351 14 Dedicated library functions Simpler programming by using a dedicated library suite for access to hardware. More than 100 functions are available for creating user application, such as operating functions, monitor functions, other axes start functions, pass position interrupt functions, sampling functions, and log functions. Function Type Support Functions Device Functions Parameter Functions System Functions Command/ Status Functions Point Table Functions Operating Functions Change Functions Alarm Functions General Monitor Functions High Speed Monitor Functions 15 Function (some functions are omitted) Function Content sscGetLastError Gets the detailed error codes. sscOpen Opens memory access port. sscClose Closes memory access port. sscResetAllParameter Writes the initial values in all parameters before system startup. sscChangeParameter Writes the parameter. sscCheckParameter Reads the parameter set value. sscLoadAllParameterFromFlashROM Loads all the parameters from a flash ROM before system startup. sscSaveAllParameterToFlashROM Saves all the parameters into a flash ROM before system startup. sscReboot Reboots the system. sscSystemStart Starts the system. sscGetSystemStatusCode Gets the system status code. sscReconnectSSCNET Reconnects the SSCNET communication. sscDisconnectSSCNET Disconnects the SSCNET communication. sscSetCommandBitSignalEx Arbitrarily sets the command bit. sscGetStatusBitSignalEx Arbitrarily gets the status bit. sscWaitStatusBitSignalEx Waits until the specified bit turns on/off. sscSetPointDataEx Sets the point data. sscCheckPointDataEx Gets the point data. sscSetPointOffset Sets the point number offset. sscGetDrivingPointNumber Gets the operation point number. sscJogStart Starts JOG operation. sscJogStop Stops JOG operation. sscIncStart Starts incremental feed. sscAutoStart Starts automatic operation. sscHomeReturnStart Starts home position return. sscLinearStart Starts linear interpolation. sscDataSetStart Starts the home position reset (data set). sscDriveStop Stops operation. sscGetDriveFinStatus Gets the operation completion status. sscChangeAutoPosition Changes position during automatic operation. sscChangeLinearPosition Changes position during linear interpolation. sscGetAlarm Gets the alarm number. sscResetAlarm Resets the alarm. sscSetMonitor Starts monitoring. sscStopMonitor Stops monitoring. sscGetMonitor Gets monitoring data. sscGetCurrentCmdPositionFast Gets the current command position. sscGetCurrentFbPositionFast Gets the current feedback position. sscGetIoStatusFast Gets the external signal status. sscGetCmdSpeedFast Gets the moving speed. sscGetFbSpeedFast Gets the feedback moving speed. sscGetCurrentFbFast Gets the current feedback. Function Type User Watchdog Functions Other Axes Start Functions Pass Position Interrupt Functions Sampling Functions Log Functions Digital Input/Output Functions Interrupt Functions Function (some functions are omitted) Function Content sscWdEnable Enables the user watchdog function. sscWdDisable Disables the user watchdog function. sscChangeWdCounter Updates the watchdog counter. sscSetOtherAxisStartData Sets the data for starting other axes. sscGetOtherAxisStartData Gets the data for starting other axes. sscOtherAxisStartAbortOn Turns the other axes start cancel signal ON. sscOtherAxisStartAbortOff Turns the other axes start cancel signal OFF. sscGetOtherAxisStartStatus Gets the other axes start status. sscSetIntPassPositionData Sets the pass position interrupt condition data. sscSetStartingPassNumber Sets the pass position condition start and end numbers. sscGetExecutingPassNumber Gets the running pass position condition number. sscStartSampling Starts sampling. sscStopSampling Stops sampling. sscGetSamplingStatus Gets the sampling execution information. sscGetSamplingData Gets the sampling data. sscStartLog Starts the log. sscStopLog Stops the log. sscCheckLogStatus Gets the running status of the log. sscReadLogData Reads the log data. sscClearLogData Clears (initializes) the log data. sscGetAlarmHistoryData Gets alarm history data. sscClearAlarmHistoryData Clears (initializes) the alarm history data. sscGetDigitalInputDataBit Gets the DI data of the designated digital input on 1-point basis. sscSetDigitalOutputDataBit Sets the DO data of the designated digital output on 1-point basis. sscIntStart Starts up the interrupt driver. sscIntEnd Closes the interrupt driver. sscIntEnable Enables interrupt output. sscIntDisable Disables interrupt output. sscRegisterIntCallback Registers the interrupt callback function. sscUnregisterIntCallback Unregisters the interrupt callback function. sscResetIntEvent Sets the interrupt event signal status to nonsignaled. sscSetIntEvent Sets the interrupt event signal status to signaled. sscWaitIntEvent Waits until the interrupt event status becomes signaled. sscResetIntOasEvent Sets the status of the other axes start interrupt event to nonsignaled. sscSetIntOasEvent Sets the status of the other axes start interrupt event to signaled. sscWaitIntOasEvent Waits until the status of the other axes start interrupt event becomes signaled. sscResetIntPassPosition Sets the status of the pass position interrupt event to nonsignaled. sscSetIntPassPosition Sets the status of the pass position interrupt event to signaled. sscWaitIntPassPosition Waits until the status of the pass position interrupt event becomes signaled. sscResetIntDriveFin Sets the status of the operation completion interrupt event to nonsignaled. sscSetIntDriveFin Sets the status of the operation completion interrupt event to signaled. sscWaitIntDriveFin Waits until the status of the operation completion interrupt event becomes signaled. 16 Exterior dimension Q173SCCF MR-MC210/MR-MC211 167.6 (6.60) Q173SCCF RUN PCIe ERR. CN1 EMI 2CH (Note) PULL 106.7 (4.20) 98.4 (3.87) 1CH 98 (3.86) USB EMI. COM NC USB EMI PCIe 23 (0.91) 115 (4.53) 27.4 (1.08) SW1 4 (0.35) Q173SCCF [Unit: mm (inch)] (Note): MR-MC211 only [Unit: mm (inch)] Equipment list Position Board MR-MC210/MR-MC211 Item Position Board (Note-1) Position Board utility 2 Model Applicable standard Up to 20 axes CE, UL, KC MR-MC211 Up to 32 axes CE, UL, KC MRZJW3-MC2-UTL MR-J3BUSM SSCNET III cable Specification MR-MC210 MR-J3BUSM-A MR-J3BUSM-B (Note-2) Test tool: for setup, debugging API library for PCI bus compatible Position Board Device driver ¡Position Board ⇔ MR-J4(W)-_B/MR-J4(W)-_B ⇔ MR-J4(W)-_B ¡Standard cord for inside panel: 0.15m (0.49ft.), 0.3m (0.98ft.), 0.5m (1.64ft.), 1m (3.28ft.), 3m (9.84ft.) ¡Position Board ⇔ MR-J4(W)-_B/MR-J4(W)-_B ⇔ MR-J4(W)-_B cable for outside panel: 5m (16.40ft.), 10m (32.81ft.), 20m (65.62ft.) ¡Standard Board ⇔ MR-J4(W)-_B/MR-J4(W)-_B ⇔ MR-J4(W)-_B distance cable: 30m (98.43ft.), 40m (131.23ft.), 50m (164.04ft.) ¡Position ¡Long — — — — USB cable MR-J3USBCBL3M 3m (9.84ft.) — MR Configurator2 SW1DNC-MRC2-E Servo amplifier MR-J4 series setting and adjustment — (Note-1): Be sure to order the connector for forced stop by user. (Note-2): Contact your local sales office for cables shorter than 30 m. C Controller Interface Module Q173SCCF Item Model Specification Applicable standard C Controller Interface Module Q173SCCF Up to 20 axes (forced stop input cable connector is provided)(Note-1) CE, UL, KC C Controller module Q24DHCCPU-V CPU : SH4A, Endian format: Little endian OS : VxWorks® 6.8.1 CE, UL, KC C Controller Interface Module utility SW1DNC-QSCCF-B Test tool: for setup, debugging API library: Library for VxWorks® ⇔ MR-J4(W)-_B/MR-J4(W)-_B ⇔ MR-J4(W)-_B cord for inside panel: 0.15m (0.49ft.), 0.3m (0.98ft.), 0.5m (1.64ft.), 1m (3.28ft.), 3m (9.84ft.) — ¡Q173SCCF MR-J3BUSM SSCNET III cable MR-J3BUSM-A MR-J3BUSM-B (Note-2) ¡Standard ⇔ MR-J4(W)-_B/MR-J4(W)-_B ⇔ MR-J4(W)-_B cable for outside panel: 5m (16.40ft.), 10m (32.81ft.), 20m (65.62ft.) ¡Q173SCCF ¡Standard ⇔ MR-J4(W)-_B/MR-J4(W)-_B ⇔ MR-J4(W)-_B distance cable: 30m (98.43), 40m (131.23), 50m(164.04) ¡Q173SCCF ¡Long — — PCI Express® cable Q173PCIECBL05M Q24DHCCPU-V ⇔ Q173SCCF Cable length: 0.5m (1.64ft.) — USB cable MR-J3USBCBL3M 3m (9.84ft.) — MR Configurator2 SW1DNC-MRC2-E Servo amplifier MR-J4 series setting and adjustment — (Note-1): Be sure to use the cable for forced stop. The forced stop cannot be released without using it. Fabricate the cable for forced stop input since it is not provided with the module. (Note-2): Contact your local sales office for cables shorter than 30 m. 17 — Operation environment C Controller Interface Module Q173SCCF/Position Board MR-MC210/MR-MC211 Test tool The following tables show the test tool operation environment. Refer to Mitsubishi IQ Platform C Controller catalogs and manuals for details. Item Personal computer Description A personal computer which Microsoft® Windows® is running on Microsoft® Windows® 7 (64bit/32bit) [Service Pack 1] OS Microsoft® Windows Vista® (32bit) [Service Pack 2] Microsoft® Windows® XP (32bit) [Service Pack 3] Personal computer CPU Required memory Available hard disk capacity Personal computer: Recommended Intel® Celeron® Processor 2.8GHz or more Laptop: Recommended Intel® Pentium® M Processor 1.7GHz or more Recommended 1 GB or more (32-bit version) Recommended 2 GB or more (64-bit version) When installing the test tool: HDD available capacity is 1GB or more. When operating the test tool: Virtual memory available capacity is 512MB or more. Disk drive CD-ROM compatible disk drive Monitor Resolution 1024 ✕ 768 pixels or higher Communication interface USB port Position Board MR-MC210/MR-MC211 Item Personal computer Description A personal computer which Microsoft® Windows® is running on Microsoft® Windows® 7 (64bit/32bit) [Service Pack 1] OS Microsoft® Windows Vista® (32bit) [Service Pack 2] Microsoft® Windows® XP (32bit) [Service Pack 3] Personal computer CPU Required memory Available hard disk capacity Personal computer: Recommended Intel® Celeron® Processor 2.8GHz or more Laptop: Recommended Intel® Pentium® M Processor 1.7GHz or more Recommended 1 GB or more (32-bit version) Recommended 2 GB or more (64-bit version) When installing the test tool: HDD available capacity is 1GB or more. When operating the test tool: Virtual memory available capacity is 512MB or more. Disk drive CD-ROM compatible disk drive Monitor Resolution 1024 ✕ 768 pixels or higher Communication interface PCI bus USB port 18 A global support network for MELSERVO users Across the globe, FA Centers provide customers with local assistance for purchasing Mitsubishi Electric products and with after-sales service. To enable national branch offices and local representatives to work together in responding to local needs, we have developed a service network throughout the world. We provide repairs, on-site engineering support, and sales of replacement parts. We also provide various services from technical consulting services by our expert engineers to practical training for equipment operations. Global FA Center Ratingen, Germany Germany FA Center/ Europe Development Center St. Petersburg, Russia Krakowska, Poland Europe FA Center (Poland) Russia FA Center Pune/Gurgaon/Bangalore, India India FA Center Bangkok, Thailand Thailand FA Center Hatfield, U.K. UK FA Center Praha, Czech Republic Czech Republic FA Center Istanbul, Turkey Turkey FA Center China (including Hong Kong District) Beijing, China Changshu, China Beijing FA Center Changchun Shenyang Tianjin, China Beijing Tianjin FA Center Xiangyang Dalian Guangzhou, China Guangzhou FA Center Complies with EN, UL and CSA (c-UL) standards. Mitsubishi Electric Automation Manufacturing (Changshu) Co., Ltd. Shanghai, China Shanghai FA Center Shanghai Wuhan Chongqing 19 Tianjin Qingdao Chengdu Conformity with global standards China Local Factory Fuzhou Taipei Taichung Hong Kong Guangzhou Shenzhen Servo system controllers conform to global standards. * This product is not subject to China Compulsory Certification (CCC). * Mitsubishi servo system controller bears cULus Mark. * Refer to “Servo Amplifier Instruction Manual” and “EMC Installation Guidelines” when your system needs to meet the EMC directive. Global FA Center FA Center Satellite (China) Production Facility Mechatronics Service Base (China) Mitsubishi Sales Offices Development Center Seoul, Korea Korea FA Center Nagoya, Japan Nagoya Works Taiwan Left: Taipei FA Center/ Right: Taichung FA Center Chicago IL, U.S.A. North America FA Center/ North American Development Center Tlalnepantla Edo., Mexico Mexico FA Center Sao Paulo SP, Brazil Hanoi / Ho Chi Minh, Vietnam Brazil FA Center Left: Hanoi FA Center/ Right: Ho Chi Minh FA Center Singapore ASEAN FA Center Jakarta, Indonesia Indonesia FA Center Human and environment-friendly Mitsubishi servo system controllers are compliant with RoHS Directive. Complies with Restriction of Hazardous Substances Directive (RoHS). About RoHS directive RoHS Directive requires member nations to guarantee that new electrical and electronic equipment sold in the market after July 1, 2006 do not contain lead, cadmium, mercury, hexavalent chromium, polybrominated biphenyl (PBB) and polybrominated diphenyl ether (PBDE) flame retardants. <G> mark indicating RoHS Directive compliance is printed on the package. * Refer to “Servo Amplifier Instruction Manual” and “EMC Installation Guidelines” when your system needs to meet the EMC directive. Our optional cables and connectors comply with “Measures for Administration of the Pollution Control of Electronic Information Products” (Chinese RoHS). 20 Global FA Centers UK FA Center Germany FA Center Russia FA Center Beijing FA Center Europe FA Center Turkey FA Center Czech Republic FA Center Tianjin FA Center Guangzhou FA Center India Gurgaon FA Center Korea FA Center Mitsubishi Electric Corp Shanghai FA Center India Pune FA Center North America FA Center Mexico FA Center Taipei FA Center India Bangalore FA Center Hanoi FA Center Ho Chi Minh FA Center Thailand FA Center ASEAN FA Center Indonesia FA Center Brazil FA Center China Shanghai FA Center MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. 10F, Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Changning District, Shanghai, China Tel: 86-21-2322-3030 Fax: 86-21-2322-3000 (9611#) Beijing FA Center MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. Beijing Office Unit 908, Office Tower 1, Henderson Centre, 18 Jianguomennei Avenue, Dongcheng District, Beijing, China Tel: 86-10-6518-8830 Fax: 86-10-6518-3907 Indonesia Indonesia FA Center PT. MITSUBISHI ELECTRIC INDONESIA Gedung Jaya 11th Floor, JL MH. Thamrin No.12, Jakarta, Pusat 10340, Indonesia Tel: 62-21-3192-6461 Fax: 62-21-3192-3942 Vietnam Tianjin FA Center MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. Tianjin Office Room 2003 City Tower, No.35, Youyi Road, Hexi District, Tianjin, China Tel: 86-22-2813-1015 Fax: 86-22-2813-1017 Hanoi FA Center MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Hanoi Branch Unit 9-05, 9th Floor, Hanoi Central Office Building, 44B Ly Thuong Kiet Street, Hoan Kiem District, Hanoi City, Vietnam Tel: 84-4-3937-8075 Fax: 84-4-3937-8076 Guangzhou FA Center MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. Guangzhou Office Room 1609, North Tower, The Hub Center, No.1068, Xingang East Road, Haizhu District, Guangzhou, China Tel: 86-20-8923-6730 Fax: 86-20-8923-6715 Ho Chi Minh FA Center MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City, Vietnam Tel: 84-8-3910-5945 Fax: 84-8-3910-5947 Taiwan Taipei FA Center SETSUYO ENTERPRISE CO., LTD. 3F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan, R.O.C. Tel: 886-2-2299-9917 Fax: 886-2-2299-9963 Korea Korea FA Center MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. B1F, 2F, 1480-6, Gayang-Dong, Gangseo-Gu, Seoul, 157-200, Korea Tel: 82-2-3660-9630 Fax: 82-2-3663-0475 Thailand Thailand FA Center MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO., LTD. 12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand Tel: 66-2682-6522 to 6531 Fax: 66-2682-6020 21 ASEAN ASEAN FA Center MITSUBISHI ELECTRIC ASIA PTE. LTD. 307, Alexandra Road, Mitsubishi Electric Building, Singapore 159943 Tel: 65-6470-2480 Fax: 65-6476-7439 India India Pune FA Center MITSUBISHI ELECTRIC INDIA PVT. LTD. Pune Branch Emerald House, EL-3, J Block, M.I.D.C., Bhosari, Pune, 411026, Maharashtra State, India Tel: 91-20-2710-2000 Fax: 91-20-2710-2100 India Gurgaon FA Center MITSUBISHI ELECTRIC INDIA PVT. LTD. Gurgaon Head Office 2nd Floor, Tower A & B, Cyber Greens, DLF Cyber City, DLF Phase - III, Gurgaon - 122002 Haryana, India Tel: 91-124-463-0300 Fax: 91-124-463-0399 India Bangalore FA Center MITSUBISHI ELECTRIC INDIA PVT. LTD. Bangalore Branch Prestige Emerald, 6th Floor, Municipal No. 2, Madras Bank Road (Lavelle Road), Bangalore 560001, Karnataka, India Tel: 91-80-4020-1600 Fax: 91-80-4020-1699 America North America FA Center MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel: 1-847-478-2100 Fax: 1-847-478-2253 Mexico Mexico FA Center MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col.Zona Industrial, Tlalnepantla Edo, C.P.54030, México Tel: 52-55-3067-7511 Fax: - Brazil Brazil FA Center MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA. Rua Jussara, 1750- Bloco B Anexo, Jardim Santa Cecilia, CEP 06465-070, Barueri - SP, Brasil Tel: 55-11-4689-3000 Fax: 55-11-4689-3016 Europe Europe FA Center MITSUBISHI ELECTRIC EUROPE B.V. Polish Branch 32-083 Balice ul. Krakowska 50, Poland Tel: 48-12-630-47-00 Fax: 48-12-630-47-01 Germany FA Center MITSUBISHI ELECTRIC EUROPE B.V. German Branch Gothaer Strasse 8, D-40880 Ratingen, Germany Tel: 49-2102-486-0 Fax: 49-2102-486-1120 UK FA Center MITSUBISHI ELECTRIC EUROPE B.V. UK Branch Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K. Tel: 44-1707-28-8780 Fax: 44-1707-27-8695 Czech Republic FA Center MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch Avenir Business Park, Radlicka 751/113e, 158 00 Praha5, Czech Republic Tel: 420-251-551-470 Fax: 420-251-551-471 Russia FA Center MITSUBISHI ELECTRIC EUROPE B.V. Russian Branch St. Petersburg office Piskarevsky pr. 2, bld 2, lit "Sch", BC "Benua", office 720; 195027, St. Petersburg, Russia Tel: 7-812-633-3497 Fax: 7-812-633-3499 Turkey FA Center MITSUBISHI ELECTRIC TURKEY A.Ş Ümraniye Branch Şerifali Mahallesi Nutuk Sokak No:5 TR-34775 Ümraniye, İstanbul, Türkey Tel: 90-216-526-3990 Fax: 90-216-526-3995 FA Products PLC MELSEC-Q Series Universal Model Introducing the high-speed QCPU (QnUDVCPU) for faster processing of large data volumes. ◎Realize high-speed, high-accuracy machine control with various iQ Platform compatible controllers and multiple CPUs. ◎Easily connect to GOTs and Programming tools using built-in Ethernet port. ◎25 models from 10k step small capacity to 1000k step large capacity, are available. ◎Seamless communication and flexible integration at any network level. Product Specifications Program capacity Number of I/O points [X/Y], number of I/O device points [X/Y] Basic instruction processing speed (LD instruction) External connection interface Function module Module extension style Network HMI 10k steps to 1000k steps 256 points to 4096 points/8192 points 120 ns to 1.9 ns USB (all models equipped), Ethernet, RS-232, memory card, extended SRAM cassette I/O, analog, high-speed counter, positioning, simple motion, temperature input, temperature control, network module Building block type Ethernet, CC-Link IE controller network, CC-Link IE field network, CC-Link, CC-Link/LT, MELSECNET/H, SSCNETⅢ (/H), AnyWire, RS-232, RS-422 Graphic Operation Terminal GOT2000 Series GT27 Model To the top of HMIs with further user-friendly, satisfactory standard features. ◎Comfortable screen operation even if high-load processing (e.g. logging, device data transfer) is running. (Monitoring performance is twice faster than GT16) ◎Actual usable space without using an SD card is expanded to 128MB for more flexible screen design. ◎Multi-touch features, two-point press, and scroll operations for more user-friendliness. ◎Outline font and PNG images for clear, beautiful screen display. Product Specifications Screen size Resolution Intensity adjustment Touch panel type Built-in interface Applicable software Input power supply voltage Inverter 12.1", 10.4", 8.4" (15" coming soon) SVGA, VGA (XGA coming soon) 32-step adjustment Analog resistive film RS-232, RS-422/485, Ethernet, USB, SD card GT Works3 100 to 240VAC (+10%, −15%), 24VDC (+25%, −20%) FR-A800 Series High-functionality, high-performance inverter ◎Realize even higher responsiveness during real sensor-less vector control or vector control, and achieve faster operating frequencies. ◎The latest automatic tuning function supports various induction motors and also sensor-less PM motors. ◎The standard model is compatible with EU Safety Standards STO (PLd, SIL2). Add options to support higher level safety standards. ◎A variety of useful functions provide USB memory support and customization with a PLC function. Product Specifications Inverter capacity Control method Output frequency range Regenerative braking torque (Maximum tolerable usage rate) Starting torque 200V class: 0.4kW to 90kW, 400V class: 0.4kW to 500kW High-carrier frequency PWM control (Select from V/F, advanced flux vector, real sensor-less vector or PM sensor-less vector control), vector control (when using options) 0.2 to 590Hz (when using V/F control or advanced flux vector control) 200V class: 0.4K to 1.5K (150% at 3%ED) 2.2K/3.7K (100% at 3%ED) 5.5K/7.5K (100% at 2%ED) 11K to 55K (20% continuous) 75K or more (10% continuous), 400V class: 0.4K to 7.5K (100% at 2%ED) 11K to 55K (20% continuous) 75K or more (10% continuous) 200% 0.3Hz (3.7K or less), 150% 0.3Hz (5.5K or more) (when using real sensor-less vector, vector control) 22 FA Products Low Voltage Circuit Breakers Mitsubishi WS-V Series Molded Case Circuit Breakers, Earth Leakage Circuit Breakers Technologies based on long year experience realize more improved performance. ◎The new electronic circuit breakers can display various measurement items. ◎Improvement of breaking performance with new breaking technology“Expanded ISTAC”. ◎Compliance with global standard for panel and machine export. ◎Commoditization of internal accessories for shorter delivery time and stock reduction. Product Specifications. Frame Applicable standard Expansion of UL listed product line-up Commoditization of internal accessories Commoditization for AC and DC circuit use Compact size for easy to use Measuring Display Unit (MDU) breakers Magnetic Starter 32-250A Frame Applicable to IEC, GB, UL, CSA, JIS and etc. New line-up of 480VAC type with high breaking performance for SCCR requirement Reduction of internal accessory types from 3 to 1 Common use of 32/63A frame in both AC and DC circuit Thermal adjustable and electronic circuit breakers are same size as 250AF fixed type MDU breakers measure, display and transmit energy date to realize energy management. MS-T Series Exceed your expectations. ◎10A frame model is over 16% smaller with a width of just 36mm!! ◎New integrated terminal covers. ◎Reduce your coil inventory by up to 50%. ◎Be certified to the highest international levels while work is ongoing to gain other country. Product specifications Frame Applicable standards Terminal cover Improved wiring Operation coil rating Option units Robot 10 A to 32 A Certification to various standards including IEC, JIS, CE, UL, TÜV, CCC. Standard terminal cover improves safety, simplifies ordering, and reduces inventory, etc. Wiring and operability are improved with streamlining wiring terminal BC specifications. Wide range of operation coil ratings reduces number of coil types from 14 (N Series) to 7 types and simplifies selection. Diverse lineup includes Auxiliary Contact Block, Operation Coil Surge Absorber Unit, Mechanical Interlock Unit. MELFA F Series High speed, high precision and high reliability industrial robot ◎Compact body and slim arm design, allowing operating area to be expanded and load capacity increased. ◎The fastest in its class using high performance motors and unique driver control technology. ◎Improved flexibility for robot layout design considerations. ◎Optimal motor control tuning set automatically based on operating position, posture, and load conditions. Product Specifications Degrees of freedom Installation Maximum load capacity Maximum reach radius 23 Vertical:6 Horizontal:4 Vertical:Floor-mount, ceiling mount, wall mount (Range of motion for J1 is limited) Horizontal:Floor-mount Vertical:2-20kg Horizontal:3-20kg Vertical:504-1503mm Horizontal:350-1,000mm CNC Mitsubishi Numerical Control Unit C70 Series iQ Platform compatible CNC to provide TCO reduction effect. ◎A CNC structured in building block method on iQ Platform. ◎High performance CNC integrated with high-speed PLC offers high-speed control to reduce cycle time. ◎A wide variety of FA products helps construct flexible lines. Product specifications Maximum number of control axes (NC axis + spindle + PLC axis) Maximum number of part system Maximum number of NC axes per part system Maximum program capacity Maximum number of files to store Number of input/output points Safety observation function 16 axes Machining center system: 7 systems, Lathe system: 3 systems 8 axes 2,000 kB (5,120 m) 124 files/252 files 4,096 points Safety signal comparison function, speed monitoring function, duplexed emergency stop For detailed information, please refer to: http://www.mitsubishielectric.com/fa/worldwide/index.html Three-Phase Motor High Performance Energy-Saving Motor Super Line Premium Series SF-PR High Efficiency & Compatible. New Launch of Super Line Premium Series SF-PR Model ◎Compared to general-purpose motor SF-JR model, generated loss is reduced by 37% on average, and it is compatible with highly efficient premium IE3. ◎Easy replacement is achieved as mounting dimension (frame number) is compatible with general-purpose motor SF-JR model. ◎One motor can accommodate different power sources of Japan and the U.S. Three ratings in Japan meet the Top Runner standards, while it corresponds to EISA in the U.S. ◎Can be driven by inverters as standard. Advanced magnetic-flux vector control by our FR-A800 achieves steady torque drive up to 0.5Hz. Product Specifications Number of poles Voltage・Frequency Exterior Protection system Electrically-driven power system Rotation direction Compatible standard 2-poles, 4-poles, 6-poles 200/200/220/230V 50/60/60/60Hz EISA 230V 60Hz or 400/400/440/460V 50/60/60/60Hz EISA 460V 60Hz Totally enclosed fan cooled type (inside, outside installation) IP44 Motor with 2-poles over 11kW is dedicated for a direct connection. Motors with 4-poles and 6-poles are for both direct and crossed belt connections. Counter-clock-wise (CCW) direction viewed from the edge of axis. JEC-2137-2000 (Efficiency is compatible with IEC 60034-30.) 24 Warranty 1. Warranty period and coverage We will repair any failure or defect (hereinafter referred to as "failure") in our FA equipment (hereinafter referred to as the "Product") arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit is repaired or replaced. [Term] The term of warranty for Product is thirty six (36) months after your purchase or delivery of the Product to a place designated by you or forty two (42) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work. [Limitations] a You are requested to conduct an initial failure diagnosis by yourself, as a general rule. It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure. s This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product. d Even during the term of warranty, the repair cost will be charged on you in the following cases; (i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem (ii) a failure caused by any alteration, etc. to the Product made on your side without our approval (iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry (iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced (v) any replacement of consumable parts (battery, electrolytic capacitor, etc.) (vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and natural disasters (vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company (viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for 2. Term of warranty after the stop of production a s We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The announcement of the stop of production for each model can be seen in our Sales & Service, etc. Please note that the Product (including its spare parts) cannot be ordered after its stop of production. 3. Service in overseas Our regional FA Center in overseas countries will accept the repair work of the Product; however, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details. 4. Exclusion of responsibility for compensation against loss of opportunity, secondary loss, etc. Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines and the Product and any other operations conducted by you. 5. Change of Product specifications Specifications listed in our catalogs, manuals or technical documents may be changed without notice. 6. Application and use of the Product a s For the use of our Servo System Controller, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Servo System Controller, and a backup or fail-safe function should operate on an external system to Servo System Controller when any failure or malfunction occurs. Our Servo System Controller is designed and manufactured as a general purpose product for use at general industries. Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used. In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation. Microsoft, Windows, Windows Vista and Visual Studio are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Intel, Pentium and Celeron are registered trademarks of Intel Corporation. PCI Express® is US registered trademarks and/or service marks of PCI-SIG. VxWorks and Wind River Workbench are registered trademark of Wind River Systems, Inc. in the United States. Lineo uLinux ELITE is a trademark of Lineo Solutions, Inc. All other company names and product names used in this document are trademarks or registered trademarks of their respective companies. 25 26 C Controller/Personal Computer Embedded Type Servo System Controller To ensure proper use of the products listed in this catalog, please be sure to read the instruction manual prior to use. Country/Region Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel : +1-847-478-2100 Fax : +1-847-478-2253 Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col.Zona Industrial, Tlalnepantla Edo, C.P.54030, México Tel : +52-55-9171-7600 Fax : +52-55-9171-7649 Brazil MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA. Rua Jussara, 1750- Bloco B Anexo, Jardim Santa Cecilia, CEP 06465-070, Barueri - SP, Brasil Tel : +55-11-4689-3000 Fax : +55-11-4689-3016 Germany MITSUBISHI ELECTRIC EUROPE B.V. German Branch Gothaer Strasse 8, D-40880 Ratingen, Germany Tel : +49-2102-486-0 Fax : +49-2102-486-1120 UK MITSUBISHI ELECTRIC EUROPE B.V. UK Branch Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K. Tel : +44-1707-28-8780 Fax : +44-1707-27-8695 Italy MITSUBISHI ELECTRIC EUROPE B.V. Italian Branch Centro Direzionale Colleoni - Palazzo Sirio Viale Colleoni 7, 20864 Agrate Brianza(Milano) Italy Tel : +39-039-60531 Fax : +39-039-6053-312 Spain MITSUBISHI ELECTRIC EUROPE, B.V. Spanish Branch Carretera de Rubí, 76-80-Apdo. 420, 08173 Sant Cugat del Vallés (Barcelona), Spain Tel : +34-935-65-3131 Fax : +34-935-89-1579 France MITSUBISHI ELECTRIC EUROPE B.V. French Branch 25, Boulevard des Bouvets, F-92741 Nanterre Cedex, France Tel : +33-1-55-68-55-68 Fax : +33-1-55-68-57-57 Czech Republic MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch Avenir Business Park, Radlicka 751/113e, 158 00 Praha5, Czech Republic Tel : +420-251-551-470 Fax : +420-251-551-471 Poland MITSUBISHI ELECTRIC EUROPE B.V. Polish Branch ul. Krakowska 50, 32-083 Balice, Poland Tel : +48-12-630-47-00 Fax : +48-12-630-47-01 Russia MITSUBISHI ELECTRIC EUROPE B.V. Russian Branch St. Petersburg office Piskarevsky pr. 2, bld 2, lit "Sch", BC "Benua", office 720; RU-195027 St. Petersburg, Russia Tel : +7-812-633-3497 Fax : +7-812-633-3499 Turkey MITSUBISHI ELECTRIC TURKEY A.Ş Ümraniye Branch Şerifali Mahallesi Nutuk Sokak No:5 TR-34775 Ümraniye, İstanbul, Türkey Tel : +90-216-526-3990 Fax : +90-216-526-3995 South Africa ADROIT TECHNOLOGIES 20 Waterford Office Park, 189 Witkoppen Road, ZA-Fourways, South Africa Tel : +27-11-658-8100 Fax : +27-11-658-8101 China MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Changning District, Shanghai, China Tel : +86-21-2322-3030 Fax : +86-21-2322-3000 Taiwan SETSUYO ENTERPRISE CO., LTD. 6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan, R.O.C. Tel : +886-2-2299-2499 Fax : +886-2-2299-2509 Korea MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. 1480-6, Gayang-Dong, Gangseo-Gu, Seoul, 157-200, Korea Tel : +82-2-3660-9510 Fax : +82-2-3664-8372/8335 Singapore MITSUBISHI ELECTRIC ASIA PTE. LTD. 307, Alexandra Road, Mitsubishi Electric Building, Singapore 159943 Tel : +65-6473-2308 Fax : +65-6476-7439 Thailand MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO., LTD. 12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng Bangpongpang, Khet Yannawa, Bangkok 10120,Thailand Tel : +66-2682-6522 to 6531 Fax : +66-2682-6020 Indonesia PT. MITSUBISHI ELECTRIC INDONESIA Tel : +62-21-3192-6461 Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia Fax : +62-21-3192-3942 Vietnam MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Unit 01 - 04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City, Vietnam Tel : +84-8-3910-5945 Fax : +84-8-3910-5947 India MITSUBISHI ELECTRIC INDIA PVT. LTD. Pune Branch Emerald House, EL-3, J Block, M.I.D.C., Bhosari, Pune, 411026, Maharashtra State, India Tel : +91-20-2710-2000 Fax : +91-20-2710-2100 Australia MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD. 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia Tel : +61-2-9684-7777 Fax : +61-2-9684-7245 L(NA)03097-A 1401 Printed in Japan (MDOC) New publication, effective Jan. 2014. Specifications are subject to change without notice.
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