Mitsubishi Electric MR-455C Instruction manual

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,
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Beijing, China
Tel: 86-10-6518-8830 Fax: 86-10-6518-3907
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Jakarta, Pusat 10340, Indonesia
Tel: 62-21-3192-6461 Fax: 62-21-3192-3942
Vietnam
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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
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LIMITED Hanoi Branch
Unit 9-05, 9th Floor, Hanoi Central Office Building,
44B Ly Thuong Kiet Street, Hoan Kiem District,
Hanoi City, Vietnam
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(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
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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.