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MITSUBISHI ELECTRIC
Controllers,
Servo Amplifiers
& Motors
Motion
Controller
MELSEC A
Return
Technical Catalogue
2002/2003
Mitsubishi Electric Motion Controllers
Motion Control
Systems
MELSEC A
Today’s mechanical engineers demand superior motion control systems to keep pace with the rapidly-growing use of automation in modern plants and machinery.
Mitsubishi motion controllers are capable of controlling up to 32 servo axes using our reliable high speed SSCNET. With reduced wiring and easy connections, a very simple and flexible but powerful system can be achieved.
Mitsubishi motion systems give you the accuracy, power and high response that are critical to the success and profitability of your business. They enhance your machines’ flexibility, reduce down times, optimise your machine administration and make it possible to achieve shorter delivery periods.
Further Publications within the Factory Automation Range
Technical
Catalogues
Technical Catalogues Servo Amplifiers
Product catalogues for servo amplifiers, motors and accessories
Technical Catalogues MOTION System Q
Product catalogues for motion controller and accessories for the MELSEC System Q
Technical Catalogues Inverters
Product catalogues for frequency inverters, control panels, and accessories
Technical Catalogues PLCs
Product catalogues for programmable logic controllers and accessories for the MELSEC series
Technical Catalogue Networks
Product catalogue for Master and Slave modules as well as accessories for the use of programmable logic controllers in open networks and MELSEC networks
Technical Catalogue HMI
Product catalogue for operator terminals, process visualisation and programming software as well as accessories
Additional Services
You will find current information on updates, alterations, new items, and technical support on MITSUBISHI ELECTRIC's web pages
(www.mitsubishi-automation.com).
The products section of the MITSUBISHI home site includes various documentations of the whole product range by MITSUBISHI ELECTRIC as well as the current version of this catalogue on hand. All manuals and catalogues can be downloaded. The content is updated daily and to date is provided in English and German.
About this catalogue
Due to the constantly growing product range, technical alteration, and new or changed characteristical features, this catalogue is updated frequently.
Texts, figures and diagrams shown in this product catalogue are intended exclusively for explanation and assistance in planning and ordering the motion controllers and the associated accessories. Only the manuals supplied with the units are relevant for installation, commissioning and handling of the units and the accessories. The information given in these documentations must be read before installation and commissioning of the units or software.
Should questions arise with regard to the planning of modules described in this product catalogue, do not hesitate to contact the German branch of MITSUBISHI ELECTRIC EUROPE B.V. in Ratingen or one of its distributors (see cover page).
© MITSUBISHI ELECTRIC EUROPE B.V. 11/2002 (3rd edition)
2 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
M
OTION CONTROLLERS
SYSTEM DESCRIPTION
SOFTWARE
ACCESSORIES
DIMENSIONS
APPENDIX
CONTENTS
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 3
SYSTEM DESCRIPTION
Mitsubishi Motion Control
Motion control geared to the needs of your specific application
Now you can have a motion control CPU and a PLC CPU in one integrated unit!
While the motion CPU (PCPU) handles the motion control via a connected servo amp of the MR-J2S-쏔B series and motors of the
HC-xxx쏔쏔 series the PLC CPU (SCPU) communicates with the programmer and the other system modules – for example
I/O modules and special function modules of the MELSEC AnS/QnAS series.Both CPUs share common registers and memory, which drastically enhances efficiency and overall system performance.
Motion controllers can tap huge performance reserves for optimising production processes and improving product quality.
Today,motion controller systems play a dominant role in machine tools,printing and paper processing machines,modern packaging machines,filling and canning machines in the food industry,grinding, polishing and engraving machines,X-Y-Z indexing tables and many automation and handling systems in semiconductor production lines.
Mitsubishi motion controllers can contol
4 (A171CPUN),8 (A172CPUN) or even up to
32 servo axes (A173UHCPU) simultaneously.
High speed synchronous communication network: SSCNET
SSCNET (Servo System Controller NETwork) is a high-speed synchronous serial communication network that delivers better performance and more reliability than conventional control networks.SSCNET
supports batch control of up to 32 axes and fast and simple connections with one-touch bus cabling.
I/O m
CPU
PLC
BUS
MELSEC intel ligent modul e n
Commo memo ry comm unicat ions modul e
Mot ion
CPU
(PCPU)
Mot ion
Bus
I/O m
MELSEC speci al funct modul ion e
SSCNET
Serv o amplifie r
Moto r
Serv o amplifie r
Moto r
Serv o amplifie r
Moto r
Powerful programming environment and programming tools
A powerful,Windows-based programming environment ensures a fast learning curve for new users,despite the power and complexity of the system.
The comprehensive range of standardised software tools cuts programming time.
All parameters and settings are configured with a standard software package;no separate servo setup software is required!
The motion controller and its associated servo drives and motors are also configured directly on the computer screen.The
individual combinations of system components are checked through automatically and any errors are signalled immediately, thus eliminating the possibility of system crashes!
Mitsubishi Electric’s specially-developed
SFC sequential function chart language isolates the system’s multitasking operation from external influences.This means drastically faster servo amp response times and ultra-short movement cycles.
Mitsubishi motion controllers can synchronise up to 32 axes simultaneously.Programming is performed quickly and efficiently online with a Virtual Mechanical
Editor.Mechanical master shafts,clutches and gears can be replaced by more efficient electronic versions.And you can forget about time-consuming text programming!
Complex mechanical processes can be solved with graphical cam disks (CAM).
The logic of the motion controller is programmed in instruction list (IL),ladder diagram (LD),function block diagram (FBD) or in IEC 1131.3-compatible structured text.
System configuration (see figure on the right)
앬
앬
앬
앬
The motion controller integrates motion and sequence control functionality in a single compact package.
(220mm wide, 130mm high and 110mm deep) (A172B CPU base use).
I/O capabilities can be expanded as follows by adding PLC extension units A 171SH : max. 512 points, A172SH : max. 1024* points and
A173UH : max. 2048* points. One extension unit can be connected.
*The real I/O points can be used within the range of the main base unit and one extension unit.
Supports MELSECNET II, MELSECNET/B, MELSECNET/10 and CC-Link networks
햲
Batch control of 50 W – 7 kW servo motors is possible in combination with the MR-J2-B servo amps in an SSCNET communications network. A171SH: max. 4 axes; A172SH: max. 8 axes; A173UH: max. 32 axes.
4 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
SYSTEM DESCRIPTION
System Overview (Configuration Example)
Cable
MR-J2HBUS 첸M-A
MITSUBISHI
POWER
A172SHCPUN
INPUT
100~240VAC
105VA
50/60Hz
OUTPUT
5 VDC
5A
RUN
ERROR
L.CLR
STOP
RUN
RESET RESET
A
172SENC
PXO 8 10
5
6
7
1
2
3
4
9
A
B
C
D
E
F
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
A 1SX40
0
4
5
6
7
1
2
3
8
9
A
B
C
D
E
F
CTRL PULSER
CPU Main base unit
A172B/A175B/A178B/
A178B-S1/A178B-S2*/A178B-S3*
*For A173UHCPU only
A172SENC SY. ENC
PLC bus connecting cable
A1SC 첸첸B
Servo amplifier
MR-J2S첸B
MR-J2첸B
A 172SENC
PXO 8
9
10
11
1
2 A 12
13
3 B
C 14
4
5 D 15
16
6 E
F
7
17
18
19
1A
1B
1C
1D
1E
1F
CTRL PULSER
Manual pulse generator
MR-HDP01
20
10
0
90
80
40
Serial absolute synchronous encoder
A172SENC SY. ENC
Pulse generator/ synch. encoder interface module
A172SENC
MITSUBISHI MITSUBISHI
Cable
MR-J2HBUS 첸M MITSUBISHI
4
5
6
2
3
0
1
A 1SX40
4
5
1
2
A
B
8
9
D
E
F
A1S series
I/O module
Terminal connector
MR-TM
MR-A-TM
4
5
6
2
3
0
1
A 1SX40
4
5
1
2
A
B
8
9
D
E
F
4
5
6
2
3
0
1
A 1SX40
4
5
1
2
A
B
8
9
D
E
F
A1S series
I/O module
A1S series special function module
Servo motors
ME
C
A
EXT
POWER
GRAPHIC OPERATIO
N TERMINAL
Graphical operator terminal
(GOT or
MAC E)
햳햴
MITSUBISHI
Notes:
햲 When using A171SH/A172SLH, restrictions are as follows.
MELSECNET II, MELSECNET/B : local station only (the range of address : each of B and W is 0 to 3FF)
MELSECNET/10 : Normal station only (the range of address : each of B and W is 0 to 1024 points.)
햳 With a graphic operations terminal, PCPU data (servo program, parameters, mechanical system programs etc.) cannot be displayed.
햴 When using the PLC extension base and bus connection type GOT, select the A168B as the PLC extension base.
When not using the PLC extension base, you can connect the bus connection type GOT directly to the extension connector of the CPU base unit.
햵 PLC extension base without extra power supply cannot be used.
MELSEC
A
1S61PN
POWER
MITSUBISHI
A
1SJ71AR21
SD
RD
CRC
OVER
AB.IF
TIME
UNDER
F.LOOP
R.LOOP
R
O
R
E
R
A
1SX40
0
5
7
2
3
A
B
8
9
D
E
F
6
7
4
5
1
2
FG
INPUT
100-240VAC
105VA
50/60Hz
OUTPUT
5VDC 5A
7
8
9
STATION
NO.
X10
7
8
9
X1
MODE
A B
C E
6 6 4 3
0:ONLINE(A.R.)
1:ONLINE(U.R.)
2:OFFLINE
3:TEST 1(F.L.)
4:TEST 2(R.L.)
5:TEST 3(B.M.)
6:TEST 4(B.S.)
7:TEST 5(S.R.)
5
6
3
4
0
1
2
OUT
A1SJ71AR21
FRONT SIDE
R-SD
IN
F-RD
F-SD
R-RD
4
5
6
2
3
0
1
Extension base unit
햵
A1S65B/A1S68B/A168B (for connecting an operator terminal)
A
B
8
9
C
D
A
1SX40
0
1
2
3
4
6
7
9
A
E
F
C
D
A
1SX40
0
5
6
7
2
3
4
5
6
2
3
0
1
4
5
6
0
1
2
3
E
F
8
9
B
C
A 1SX40
4
5
1
2
4
5
6
2
3
0
1
A
B
8
9
D
F
A
1SD75P1
RUN
RDY
BSY
AX1
MODE
RS-422
A 1SJ71UC24-S2
5
A1SD75P1
A1SJ71UC24-R4-S2
MELSEC
A
1S61PN
POWER
MITSUBISHI
INPUT
100-240VAC
105VA
50/60Hz
OUTPUT
5VDC 5A
Power supply module
A1S6 첸PN
2
3
0
1
4
5
6
A
1SX40
0
5
6
7
2
3
E
F
8
9
B
C
AnS series
I/O module
A1SJ71UC24-R4-S2
AnS series special function module
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 5
SYSTEM DESCRIPTION
왎 Motion Controller A171SHCPUN
MITSUBISHI
POWER
A171SHCPUN
INPUT
100~240VAC
105VA
50/60Hz
OUTPUT
5
VDC 3A
24 VDC 0,6A
RUN
ERROR
L.CLR
STOP
RUN
RESET RESET
A
172SENC
8 10
PXO
1 9 11
12
2 A
13
3 B
14
4 C
D
5
15
E 16
6
7 F 17
1C
1D
1E
1F
18
19
1A
1B
CTRL PULSER
A172SENC SY. ENC
7
8
9
A
4
5
6
0
1
2
3
B
C
D
E
F
A
1SX40
0
5
6
7
1
2
3
4
8
9
A
B
C
D
E
F
MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
Specifications
PLC CPU
PLC program capacity
Real I/O points
Processing speed
(sequence command)
Control axes
Servo program capacity
Servo amplifier
Servo motor capacity
Network
PLC extension
Order information
A171SHCPUN
A2SHCPU equivalent
14 k steps
512 points
0.25 µs/step
Max. 4
13 k steps
External servo amplifier connected by SSCNET
50 W to 7 kW
MELSECNET II/B (local station only)
MELSECNET/10 (normal station only)
CC-LINK
Max. 1 base unit
Art. no. 103872
왎 Motion Controller A172SHCPUN
MITSUBISHI
POWER
A172SHCPUN
INPUT
100~240VAC
105VA
50/60Hz
OUTPUT
5
VDC 5A
RUN
ERROR
L.CLR
STOP
RUN
RESET
RESET
A
172SENC
PXO 8
10
11
1 9
A 12
2
3 B 13
6
7
4
5
C
D
E
F
14
15
16
17
1C
1D
1E
1F
18
19
1A
1B
CTRL PULSER
A172SENC SY. ENC
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
A
1SX40
0
3
4
1
2
5
6
7
8
9
A
B
C
D
E
F
MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
Specifications
PLC CPU
PLC program capacity
Real I/O points
Processing speed
(sequence command)
Control axes
Servo program capacity
Servo amplifier
Servo motor capacity
Network
A172SHCPUN
A2SHCPU equivalent, but extended memory and extended I/O range
30 k steps
1024 points 햲
0.25 µs/step
Max. 8
13 k steps
External servo amplifier connected by SSCNET
50 W to 7 kW
MELSECNET II/B (local station only)
MELSECNET/10 (normal station only)
CC-LINK
Max. 1 base unit PLC extension
Order information Art. no. 104173
햲 The real I/O points can be used within the range of CPU base and one extension base unit.
6 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
SYSTEM DESCRIPTION
왎 Motion Controller A173UHCPU
MITSUBISHI
POWER
A173SHCPUN
INPUT
100~240VAC
105VA
50/60Hz
OUTPUT
5 VDC 5A
RUN
ERROR
L.CLR
STOP
RUN
RESET
RESET
A
PXO
1
2
5
6
3
4
7
172SENC
8 10
11
9
A
B
C
D
E
F
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
CTRL
PULSER
A172SENC SY. ENC
3
4
3
4
1
2
1
2
5
6
5
6
B
C
D
E
F
7
8
5
6
9
A
0
1
2
3
4
8
9
A
B
C
D
E
A
1SY10EU
5
6
3
4
7
0
1
2
8
9
A
B
C
D
E
F
A
1SY80
2
3
4
0
1
5
6
7
A
B
C
D
ERR
8
9
E
F
A
1SJ71AR21
CRC
SD
RD
F.LOOP
CPU
OVER
AB.IF
TIME
DATA
UNDER
E
R
R
F.LOOP
R.LOOP
O
R
2
3
0
1
4
5
6
7
8
B
C
D
E
F
9
A
6
7 8 9
STATION
NO.
6
7
8
9
X10
X1
MODE
A
B C
FE
6 4 3 2
0:ONLINE(A.R.)
1:ONLINE(U.R.)
2:OFFLINE
3:TEST 1(F.L.)
4:TEST 2(R.L.)
5:TEST 3(B.M.)
6:TEST 4(B.S.)
7:TEST 5(S.R.)
FRONT SIDE
R-SD
IN
F-RD
F-SD
OUT
R-RD
A1SJ71AR21
MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
Specifications
PLC CPU
PLC program capacity
Real I/O points
Processing speed
(sequence command)
Control axes
Servo program capacity
Servo amplifier
Servo motor capacity
Network
A173UHCPU
A3UCPU equivalent (192 kB RAM)
30 k steps x 2
2048 points 햲
0.15 µs/step
Max. 32
13 k steps
External servo amplifier connected by SSCNET
50 W to 7 kW
MELSECNET II/B (local station only)
MELSECNET/10 (normal station only)
CC-LINK
Max. 1 base unit PLC extension
Order information
햲
Art. no. 130121
The real I/O point can be used within the range of CPU base and one extension base.
왎 Motion Controller A173UHCPU-S1
MITSUBISHI
POWER
A173SHCPUN
INPUT
100~240VAC
105VA
50/60Hz
OUTPUT
5
VDC 5A
RUN
ERROR
L.CLR
STOP
RUN
RESET RESET
A
PXO
5
6
3
4
1
2
7
172SENC
8
9
A
B
C
D
E
F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
CTRL
PULSER
A172SENC SY. ENC
3
4
3
4
1
2
1
2
5
6
5
6
2
3
0
1
4
5
6
7
8
9
A
B
C
D
E
F
9
A
B
C
D
E
A
1SY10EU
0
5
6
7
3
4
1
2
B
C
D
E
F
8
9
A
A
1SY80
0
5
6
7
3
4
1
2
D
E
F
ERR
8
9
A
B
C
A
1SJ71AR21
RD
F.LOOP
CPU
OVER
AB.IF
TIME
UNDER
F.LOOP
R.LOOP
E
R
R
O
R
0
1
2
3
4
5
6
7
8
C
D
E
F
9
A
B
6
7 8
9
X10
6
7
8
9
X1
MODE
A
B C
6 4 3 2
FE
0:ONLINE(A.R.)
1:ONLINE(U.R.)
2:OFFLINE
3:TEST 1(F.L.)
4:TEST 2(R.L.)
5:TEST 3(B.M.)
6:TEST 4(B.S.)
7:TEST 5(S.R.)
FRONT SIDE
R-SD
IN
F-RD
F-SD
OUT
R-RD
A1SJ71AR21
MITSUBISHI MR-J2S-20B MITSUBISHI MR-J2S-20B MITSUBISHI MR-J2S-20B
Specifications
PLC CPU
PLC program capacity
Real I/O points
Processing speed
(sequence command)
Control axes
Servo program capacity
Servo amplifier
Servo motor capacity
Network
A173UHCPU-S1
A3UCPU equivalent (768 kB RAM)
30 k steps x 2
2048 points 햲
0.15 µs/step
Max. 32
13 k steps
External servo amplifier connected by SSCNET
50 W to 7 kW
MELSECNET II/B (local station only)
MELSECNET/10 (normal station only)
CC-LINK
Max. 1 base unit PLC extension
Order information Art. no. 130153
햲 The real I/O point can be used within the range of CPU base and one extension base.
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 7
SYSTEM DESCRIPTION
A173UHCPU
A173UHCPU-S1
CPU base unit
Power supply module
PLC extension base unit
Extension cable
Pulse generator/ synchronous encoder interface unit
A172SENC
Transistor output modules A1SY첸첸
Digital input modules A1SX첸첸
Battery A6BAT
Manual pulse generator MR-HDP01
Serial absolute synchronous encoder cable
Serial absolute synchronous encoder cables
SSC interface (ISA)
SSC interface (PCMCIA)
Cable for ISA board
MR-HENC
MR-HSCBL첸M
A30BD-PCF
A30CD-PCF
A270BDCBL03M
A270BDCBL05M
A270BDCBL10M
Cable for PCMCIA card
A270CDCBL03M
A270CDCBL05M
A270CDCBL10M
햲 For A173UHCPU only
A168B-S1
A1SC01B
A1SC03B
A1SC12B
A1SC30B
A1SC60B
A1S05NB
A172B
A175B
A178B
A178B-S1
A178B-S2 햲
A178B-S3 햲
A1S61PN
A1S62PN
A1S65B-S1
A1S68B-S1
Overview on Hardware Components and Accessories
Item Model
CPU module
A171SHCPUN
A172SHCPUN
Description
Sequence program capacity
Servo program capacity
PLC control real I/O point
Internal power supply
5 V DC internal consumption current
Sequence program capacity
Servo program capacity
PLC control real I/O point
Internal power supply
5 V DC internal consumption current
Max. 14 k steps
Max. 13 k steps
Max. 512
Input: 100 to 240 V AC, output: 5 V DC 3 A, 24 V DC 0.6 A
1.63 A
Max. 30 k steps
Max. 13 k steps
Max. 1024
Input: 100 to 240 V AC, output: 5 V DC 5 A
1.63 A
Sequence program capacity
Servo program capacity
PLC control real I/O point
Internal power supply
5 V DC internal consumption current
Max. 60 k steps
Max. 14 k steps
Max. 2048
Input: 100 to 240 V AC, output: 5 V DC 5 A
1.90 A
1 motion module slot and 1 PLC module slot can be fitted.
1 motion module slot and 4 PLC module slots can be fitted.
1 motion module slot and 7 PLC module slots can be fitted.
2 motion module slots and 6 PLC module slots can be fitted.
4 motion module slots and 4 PLC module slots can be fitted.
6 motion module slots can be fitted.
Input: 100 to 240 V AC, output: 5 V DC 5 A
Input: 100 to 240 V AC, output: 3 V DC 5 A, 24 V DC 0.6 A
For extension power supply and 5 slots, compatible with system up to one extension stage.
For extension power supply and 8 slots, compatible with system up to one extension stage.
For extension power supply and 8 slots, compatible with system to bus-connected one extension stage and
GOT.
Length: 55 mm
Length: 300 mm
Length: 1200 mm
Length: 3000 mm
Length: 6000 mm
Length: 450 mm
I/O signal 33 points (FLS, RLS, STOP, DOG/CHANGE: 8 points each tracking input: 1 point)
Dynamic brake command output: 1 point
Manual pulse generator/synchronous encoder interface: 1
Serial absolute synchronous encoder interface: 1
Please refer to the AnS/QnAS technical catalogue for further details
Please refer to the AnS/QnAS technical catalogue for further details
Replacement battery for CPU
5 V DC 25 pulses/rev, 100 pulses/rev at magnification of 4
Resolution: 16384 pulses/rev, permissible rotation speed: 4300 r/min, absolute type
For connection of MR-HENC and A172SENC 2 m, 5 m, 10 m, 20 m, 30 m
(please refer to the MR-J2S technical catalogue for further details)
ISA bus loaded type 2CH/board
PCMCIAI Type II 1CH/card
For A30BD-PCF, 3 m
For A30BD-PCF, 5 m
For A30BD-PCF, 10 m
For A30CD-PCF, 3 m
For A30CD-PCF, 5 m
For A30CD-PCF, 10 m
Standard
UL/cUL
CE marks
UL/cUL
UL/cUL
CE marks
UL/cUL
UL/cUL
UL/cUL
Order no.
103872
104173
103121
130153
137680
24979
24980
24981
24982
68294
24983
86313
125554
104174
129431
131239
131240
65051
65052
38071
38070
86621
—
134153
131237
134154
134155
134156
131212
131213
131214
—
—
4077
128728
138304
8 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
Overview on Servo Amplifiers and Motors
MELSERVO MR-J2S첸B
The recommended combinations of servo amplifiers and servo motors are listed in the tables below.
For further details to the servo amplifiers please refer to the MELSERVO Technical
Catalogue.There you can find detailed specifications to all servo motors .
MITSUBISHI
SYSTEM DESCRIPTION
Motor Series
HC-KFS K
HC-MFS M
HC-SFS S
HC-RFS R
3000
3000
3000
2000
Servo Motor Type
HC-MFS43
HC-MFS73
HC-SFS52
HC-SFS102
HC-SFS152
HC-SFS202
HC-SFS352
HC-SFS502
HC-KFS053
HC-KFS13
HC-KFS23
HC-KFS43
HC-KFS73
HC-MFS053
HC-MFS13
HC-MFS23
HC-SFS702
HC-RFS103
HC-RFS153
HC-RFS203
HC-RFS353
HC-RFS503
1.5
2.0
3.5
5.0
0.4
0.75
0.5
1.0
0.75
0.05
0.1
0.2
0.05
0.1
0.2
0.4
7.0
1.0
1.5
2.0
3.5
5.0
쏹
쏹
쏹
쏹
IP55
IP55
IP65
IP65
쏹
쏹
For further details please refer to the MR-J2-Super Technical Catalogue.
Amplifier Pairing MR-J2S
10B
쏹
쏹
20B 40B
쏹
쏹
쏹
쏹
60B
쏹
70B 100B 200B 350B 500B 700B
쏹
쏹
쏹
쏹
쏹
쏹
쏹
쏹
쏹
쏹
쏹
쏹
쏹
MOTION CONTROLLER MELSEC A 9
MITSUBISHI ELECTRIC
SYSTEM DESCRIPTION
CPU Specifications
The motion control systems A171SHCPU for up to 4 axes,A172SHCPUN for up to 8 axes and A173UHCPU (-S1) for up to 32 axes all have an integrated CPU that functions as a positioning unit (PCPU).This CPU controls all the movement functions,such as absolute and incremental positioning, multi-axis interpolation,zero point return and servo status monitoring.
The logic CPU (SCPU) of the motion controller system can be programmed in instruction list (IL),ladder diagram (LD), function block diagram (FBD),structured text or the motion sequential function chart (SFC) IEC 1131.3 standard-compliant sequencing language.
왎 PCPU Motion SFC Specifications
Item
Program capacity
Text total (Operation control+Transition)
Motion control program
Code•Motion control program
Text
Number of Motion SFC programs
Motion SFC program Motion SFC program name/program
Motion SFC chart size/programs
Motion SFC steps/program
Motion SFC chart comments
Once execution type
Scan execution type
Number of transition programs
Code-size/program
Text-size/program
Number of blocks (lines)/program
Number of characters/block (line)
Number of operand/block (line)
Number of servo programs
Device
Program steps/program
Positioning points
Number of multi executed programs
Number of multi active steps
Executed task
Normal task
Event task
NMI task
Number of motion register (#0)
Number of coasting timer (FT)
Number of motion slot I/O (PX/PY)
A172SHCPUN
287 kbytes
224 kbytes
52 kbytes
PCPU SRAM
PCPU SRAM
256 (No- 0 to 255)
Max. approx. 7.5 k steps
(varies with the number of operationcontrol program and transition program steps)
16 bytes
(program name is used as a file name)
Max. 64 kbytes (included Motion SFC chart comments)
Max. 4094 steps
Max. 80 characters/symbol
4096 (F0 to F4095)
4096 (FS0 to FS4095)
4096 (G0 to G4095)
Max. approx. 64 kbytes (32766 steps)
Max. approx. 64 kbytes
Max. 8192 blocks (in the case of 4 steps(min)/block)
Max. 128 characters (comment included)
Max. 64 (operand: constants, word devices, bit devices)
4096 (K0 to K4095)
A173UHCPU (-S1)
Approx. 56 kbytes
4096 with F and FS combined (F/FS0 to F/FS4095)
13312 14334
Max. 13312 steps (Speed control, speed change control)
Approx. 800 points/axis
Max. 256
Max. 256 steps/all programs
Executed in motion main cycle
Approx. 400 points/axis
Fixed cycle (1.7 ms, 3.5 ms, 7.1 ms, 14.2 ms)
16 external interrupt points (input from interrupt input module installed in motion slot.)
Execute with interrupt from PLC 1 point (when PLC dedicated instruction [ITP] is executed.)
16 external interrupt points (input from interrupt input module installed in motion slot.)
Add event task and NMI task 16 points (set in SFC parameter)
8192 points (#0 to #8191) (#8000 to #8191 is dedicated device)
1 point (FT) (888 µs timer (32 bit))
Total 64 points Total 256 points
10 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
SYSTEM DESCRIPTION
왎 SCPUs (PLC) Specifications
Specifications
Control method
I/O control method
Programming language
Sequence instructions
Basic instructions
Applied instructions
Motion instructions
Direct mode
Refresh mode
A171SH
Related operation using stored program
A172SH
Refresh mode/direct mode (possible to select)
A173UH A173UH-S1
Refreshmode(directmodecanbeusedpartiallyinaccordancewiththeinstruction
Sequence control dedicated language (relay symbol language, logic symbol language, MELSAP II (SFC))
26 26 22 22
131
106
4
0.25 to 1.9 µs/step
131
106
4
0.25 to 1.9 µs/step
252
204
4
—
252
204
4
—
0.25 µs/step 0.25 µs/step 0.15 µs/step 0.15 µs/step
I/O points 햲
Real I/O points
Watchdog timer (WDT)
Memory capacity (built-in RAM
Main sequence
Sub sequence
Microcomputer program
Internal relay (M) 햲
Latch relay (L)
Step relay (S)
Link relay (B)
Points
Timer (T)
Specifications
2048 (X/Y0 to 7FF)
512 (X/Y0 to 1FF)
10 to 2000 ms
64 kbytes
Max. 14 k steps
—
Max. 26 kbytes
1000 points (M0 to M999)
1048 points (L1000 to L2047)
0 point (none at initial)
1024 points (B0 to B3FF)
256
100 ms timer
10 ms timer
100 ms timer retentive timer
2048 (X/Y0 to 7FF)
1024 (X/Y0 to 3FF)
10 to 2000 ms
192 kbytes
Max. 30 k steps
—
Max. 58 kbytes
Total 2048 points
(set in parameters)
1024 points (B0 to B3FF)
256
Setting time
0.1 to 3276.7 s
0.01 to 327.67 s
0.1 to 3276.7 s
Device
T0 to T199
T200 to T255
None at initial
8192 (X/Y0 to 1FFF)
2048 (X/Y0 to 7FF)
(withintherangeof1extensionbase)
200 ms
192 kbytes
Max. 30 k steps
Max. 30 k steps
—
Total 8191 points
(set in parameters)
8192 points (B0 to B1FFF)
2048 (default 256)
100 ms timer
10 ms timer
100 ms timer retentive timer
Extension timer
8192 (X/Y0 to 1FFF)
2048 (X/Y0 to 7FF)
(withintherangeof1extensionbase)
200 ms
768 kbytes
Max. 30 k steps
Max. 30 k steps
—
Total 8191 points
(set in parameters)
8192 points (B0 to B1FFF)
2048 (default 256)
Setting time
0.1 to 3276.7 s
0.01 to 327.67 s
0.1 to 3276.7 s
Time set by word device (D, W and R)
Device
T0 to T199
T200 to T255
None at initial
T256 to T2047
Device Counter (C)
Points
Specifications
Set in parameter
256 256
Normal counter
Setting range
1 to 32767
Interrupt program counter 1 to 32767
Device
C0 to C255
None at initial
Set in parameter
1024 (default 256)
Normal counter
Interrupt program counter
Extension counter
Data register (D) 햲
Link register (W)
Annunciator (F)
File register (F)
Accumulator (A)
Index register (V, Z)
Pointer (P)
Interrupt pointer (I)
Special relay (M)
Special register (D)
Set in parameter
1024 points (D0 to D1023)
1024 points (W0 to W3FF)
256 points (F0 to F255)
2 points (V, Z)
256 points (P0 to P255)
32 points (I0 to I31)
256 points (M9000 to M9255)
256 points (D9000 to D9255)
1024 points (D0 to D1023)
1024 points (W0 to W3FF)
256 points (F0 to F255)
Max. 8192 points (R0 to R8191) (set in paramater)
2 points (A0, A1) 2 points (A0, A1)
2 points (V, Z)
256 points (P0 to P255)
32 points (I0 to I31)
256 points (M9000 to M9255)
256 points (D9000 to D9255)
Set in parameter
8192 points (D0 to D8191)
8192 points (W0 to W1FFF)
2048 points (F0 to F2047)
2 points (A0, A1)
14 points (V, V1 to V6, Z, Z1 to Z6)
256 points (P0 to P255)
32 points (I0 to I31)
256 points (M9000 to M9255)
256 points (D9000 to D9255)
Extension file register blocks 햳 — —
Max. 10 blocks
(depends on memory size)
Comment points Max. 4032 points (64 kbytes), 1 point = 16 kbytes; set in 64 points unit
Extension comment points
Self-diagnostic function
햳 Max. 3968 points (63 kbytes), 1 point = 16 kbytes; set in 64 points unit
Operation error monitoring and detection of errors in CPU, I/O, battery etc.
Operation mode in error Select of stop or continue
Output mode when switching from STOP to RUN Select of re-output operation status before STOP (default) or output after operation execution
Clock function 햴 Year, month, day, hour, minute, weekday (automatic leap year adjustment)
Program/parameter conversion to ROM Not available
1024 (default 256)
Setting range
1 to 32767
Device
C0 to C255
1 to 32767 None at initial
Count value set by C256 to C1023 word device (D, W and R)
8192 points (D0 to D8191)
8192 points (W0 to W1FFF)
2048 points (F0 to F2047)
2 points (A0, A1)
256 points (P0 to P255)
32 points (I0 to I31)
256 points (M9000 to M9255)
256 points (D9000 to D9255)
Max. 46 blocks
(depends on memory size)
햲
햳
The positioning dedicated device range varies with the positioning software.
This changes depending on the sequence parameter.
햴 The year data by the clock element is only the lower two digits of the year. When used in sequence control, the data must be compensated for the sequence program in some applications of using the data.
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 11
SOFTWARE
Components for Motion Controller Programming
The motion controller supports any of the personal computers on the market and an general use,so it can be used with familiar environment.The most appropriate programming environment for users is provided.
On the following pages you can find an overview on all hardware and software peripheral equipment.
SSC IF ISA board
A30BD-PCF
Desktop computer
SW3RNC-GSVPROE software package
SSC IF PCMCIA board
A30CD-PCF
A171SHCPUN
A172SHCPUN
A173UHCPU
MITSUBISHI
POWER
A173SHCPUN
INPUT
100~240VAC
OUTPUT
5 VDC
5A
RUN
ERROR
L.CLR
RESET
STOP
RUN
RESET
A
1
2
3
4
5
6
7
172SENC
8
9
A
B
C
D
E
F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
CTRL
PULSER
A172SENC SY. ENC
A
1SX40
0
5
6
7
1
2
3
4
B
C
D
E
F
8
9
A
A
1SY10EU
0
1
2
3
4
5
6
7
B
C
D
E
F
8
9
A
A
1SY80
0
1
2
3
4
5
6
7
D
E
F
ERR
8
9
A
B
C
A 1SJ71AR21
RUN
RD
F.LOOP
CPU
CRC
OVER
AB.IF
TIME
DATA
UNDER
F.LOOP
R.LOOP
R
O
E
R
R
7 8
X10
STATION
NO.
7
8
MODE
A
C
6 4 3 2
0:ONLINE(A.R.)
1:ONLINE(U.R.)
2:OFFLINE
3:TEST 1(F.L.)
4:TEST 2(R.L.)
5:TEST 3(B.M.)
6:TEST 4(B.S.)
7:TEST 5(S.R.)
X1
FRONT SIDE
R-SD
IN
F-RD
F-SD
OUT
A1SJ71AR21
R-RD
MITSUBISHI
MELSERVO amplifiers and motors
MITSUBISHI MITSUBISHI MITSUBISHI
Notebook
Operating system software
HD
HD
왎 System Requirements
A PC/AT compatible personal computer with Windows operationg system an the specifications listed in the table is needed to operate the software properly.
Specifications
Operating system
CPU
Memory capacity
Hard disk capacity
Display
Application software
12 MOTION CONTROLLER MELSEC A
Description
Windows NT 4.0, Windows 98, WIN2000
133 MHz Pentium or higher
32 MB or more
About 150 MB free space
Standard graphics adapter with 800 x 600 pixles and minimum 256 colours
Microsoft Word 97 and Excel 97 (for document printing)
MITSUBISHI ELECTRIC
SOFTWARE
왎 Operating System Software Packages
The following table lists an overview of the required operating system for the motion
CPUs.
The systems are chosen on the basis of the operating mode and the number of axes to be controlled.
Application
Software SV13 (Motion-SFC)
Software SV22 (Motion-SFC)
Software SV13 (without Motion-SFC)
Software SV22 (without Motion-SFC)
PC/AT compatible
Model
A171SHCPUN
—
—
SW0SRX-SV13G
SW0SRX-SV22F
Order no.
—
—
127843
139766
Model
A172SHCPUN
SW3RN-SV13D
SW3RN-SV22C
SW0SRX-SV13D
SW0SRX-SV22C
Order no.
137346
137344
127844
86757
Model
A173UHCPUN
SW3RN-SV13B
SW3RN-SV22A
SW2SRX-SV13B
SW2SRX-SV22A
Order no.
137343
137342
137337
137341
왎 Programming Software Package
The programming software package includes all the programs listed in the table below for effective programming of your motion control system.
The package also includes a separate
CD-ROM with a comprehensive online help function (SW3RNC-GSVE-HELP).
Order no.
SW3RNC-GSVE Software Package Contents
Installation
Project management
System setting
Servo data setting
Program editing
Communication
Monitoring
Testing
Backup
Cam data creation
Digital oscilloscope
Communication system
Communication API
Printing
Ladder editing
햲 Microsoft Word 97 and Excel 97 or above are required.
Description
Installation of motion OS
Comparision of the motion OS
New creation, setting and reading of projects
Batch management of user files in project units
Setting of system configuration (motion module/servo amplifier/servo motor, etc.)
Setting of high-speed read data
Setting of servo parameters and fixed parameters, etc. (Explenatory diagrams displayed with one-touch help)
Setting of limit switch output data (Output pattern displayed with waveform display function)
Editing of the Motion SFC program, setting of the Motion SFC parameters
Reduced display of the Motion SFC program, display of comments, enlarged display
Monitor of the Motion SFC, debugging of the Motion SFC
Editing of mechanical system program
Monitoring of mechanical system program execution state
Setting of SSCNET communication CH.
Writing , reading and coparision of programs and parameters in respect to the motion controller.
Current value monitor, axis monitor, error history
Servo monitor, limit switch output monitor
Servo start-up, servo diagnosis
Jog operation, manual pulser operation, zeroing test, program operation
Teaching, error reset, current value change
Backup of motion controller programs and parameters in file
Batch writing of backed up files into the motion CPU
Backup of motion creation wit Cam pattern selection and free curve setting
Graphic display of Cam control status
Data sampling synchronized to operation cycle
Waveform display, dump display and file saving of collected data
Communication task, communication manager, common memory server, SSCNET communication driver
Support of cyclic communication, transient communication, high-speed refresh communication
Communication API functions compatible with VC++/VB
Printing of program, parameter and system settings
(Convert into Word 97 or Excel 97 document form, and print)
Editing of sequence program
Monitoring of sequence program execution
132876
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 13
SOFTWARE
Software Contents and Functionality
Software: conveyor assembly (SV13)
The SV13 software includes functions for speed control,linear interpolation of up to
4 axes,circular interpolation of 2 axes etc.
This software is particularly well suited for controlling standard conveyor and production systems.
Software: virtual mechanical system environment (SV22)
The SV22 software supports synchronous control of multiple servo motors and electronic cam disk programming.The SV22 software can also be used to replace mechanical master shafts,clutches and gears with electronic equivalents.Virtual
and real master axes are also supported.
Specifications
Number of control axes
Interpolation function
Control method
Control unit
Method
Position command
Positioning
Speed command
SV13
A173UHCPU (-S1): max. 32 axes
A171SHCPUN: mm, inch, degree, pulse x 10 -5
-5 pulses degrees
SV22
Compensation
Program
Backlash compensation
Electronic gear
Language
Capacity
S-curve acceleration/deceleration S-curve ratio: 0 to 100 %
(0 to 65535) x Position command unit (0 to 65535 pulses with unit converted into pulses)
Function to compensate for real travel error against command value
A173UHCPU (-S1): 14 k steps (14336 steps)
A171SHCPUN:
A173UHCPU (-S1): 100 points/axis
Tool
Zeroing function
JOG operation function
Manual pulse generator operation function
M-function
Limit switch output function
Absolut position system
PC/AT compatible computer or notebook
Available
A173UHCPU (-S1): 3 units
M-code output function
ON/OFF settings can be made for each axis up to 10 points, 8 output points for each axis
Made compatible by fitting battery to servo amplifier (absolute or incremental system can be specified per axis)
14 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
SOFTWARE
Application Ranges of the Programming Software Packages
SW3RN-GSV13P
Motion SV13
Software: conveyor assembly
With this software constant-speed control,speed control,1 to 4-axes linear interpolation and 2-axes circular interpolation,etc are possible.Ideal for use in standard conveyors and assembly machines.
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
Application examples:
Electronic component assembly
Inserter
Feeder
Molder
Conveying equipment
Paint applicator
Chip mounter
Wafer slicer
Loader/Unloader
Bonding machine
X-Y table
앬
앬
앬
앬
앬
앬
앬
앬
Special features:
Linear interpolation (1 to 4-axes)
Circular interpolation (1 to 2-axes)
Constant-speed control
Fixed-pitch feed
Speed change control
Speed control
Speed-positionswitching
Teaching function
SW3RN-GSV22P
Motion SV22
Software with virtual mechanical system environment and cam control
This software package provides simultaneous control of multiple servo motors and offers software cam control.Ideal for use in automatic machinery.The software provides the option to replace formerly used mechanical vertical shafts,clutches,and gearings by electronic systems.Moreover,virtual and real master axes can be realized.
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
Application examples:
Press feeder
Food processing
Food packaging
Winding machine
Spinning machine
Textile machine
Printing machine
Book binder
Tire molder
Paper-making machine
앬
앬
앬
앬
앬
Special features:
Synchronous control
Electronic shaft
Electronic clutch
Electronic cam
Draw Control
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 15
SOFTWARE
Application Ranges for Motion SV13 Software Environment
Simple programming using dedicated commands
By using easily understood dedicated servo command and sequence commands positioning and locus control can be programmed for your needs.
Control which is considered difficult and complex can be carried out simply using a variety of canned motion control functions.
X-Y table control
● 2-axes linear interpolation
● 3-axes linear interpolation
● 2-axes circular interpolation
● Constant speed locus control
Sealing
r1 r2
X-axis
● Constant speed locus control
● Linear and circular interpolation
● High speed, high precision locus control
● Constant speed positioning
Z-axis
Fixed-pitch hole drilling
Y-axis
Feed control
2nd speed
3rd speed
Speed change
Cushion time Pause
1st speed
Time
● Speed-switching control
● No limit of speed switching points
Rotary table indexing
Rotary table
Pause
● Control unit: degree setting
● Shorter indexing
● Rotation direction indexing
Servo motor
● Speed-position control
Servo motor
Speed
Position sensor
Position
Sensor Time
Roll feeder
Press machine
● Fixed-pitch feed
● High speed, high frequency positioning
● High speed response
Time
Roll feeder
Drehzahl
Servo motor
16 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
SOFTWARE
Motion SV13 Software Functionality
SCPU control range
(Sequence CPU)
Sample sequence program
M2001 M2002
SVST J1J2 K10
Start accept
Servo program start instruction
Start axis designation
Number of start program designation
Please refer to page 22 regarding control flow of "Motion SFC SV13".
PCPU control range
(Motion CPU)
Sample servo program
5
1
2
3
4
5
K10
ABS-2
Axis
Axis
M-code
ABS-2
Axis
Axis
Speed
M-code
CPEND
CPSTART2
Axis
Axis
Speed
ICN-2
Axis
Axis
ABS
Axis 1,
Axis 2,
Auxiliary P 1,
Auxiliary P 2,
M-code
1,
2,
1,
2,
1,
2,
1,
2,
1000.00
10000.0
12500.0
(µm)
(µm)
18500.0
7500.0
13500.0
14750.0
10
D2000
D2002
11
0.0
0.0
800.00
12
(mm/min.)
(µm)
(µm)
(µm)
(µm)
(µm)
(µm)
(µm)
(µm)
(mm/min.)
2-axes constantspeed control
Combined speed
Incremental linear interpolation
Absolute auxiliary point setting
Circular interpolation
M code output
Indirect designation
Positioning parameter
System setting
Servo parameters
Fixed parameters
Parameter block
JOG operation data
Limit switch output data
Axis 2
14750
12500
7500
2500
10000 16000
13500 18500
Axis 1
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 17
SOFTWARE
SV22 Software with Virtual Mechanical System Environment and Software Cam Curve Control
Software is used for mechanism operation
Control of hardware such as main shafts,gears,cluthes and cams is handled by the software mechanical modules,conventional problems ar solved.
앬
앬
앬
앬
The machine is more compact and costs are lower.
There no worries over friction and service life of main shafts, gear and clutches.
Changing initial setup is simple.
Eliminating mechanical precision errors and boosting system performance.
Control through advanced software cam
Since cam control is handled by software,there are no problems with error caused by conventional cam control.The ideal cam pattern control can be achieved.Ideal in applications such as raising or lowering control of nozzles in contact with liquid surfaces,control of amount of filler or smooth conveyance control.Changing of cams when product types alter is also easy to handle by simply adjusting the cam pattern.
Easy programming on sceen by using a mouse
The screenshot below shows an typical example of an monitor screen with mechanical support language.
Simplified Synchronous Control
The servo motor can be operated simultaneously with other motor control conditions.Using the mechanical support language,synchronous control settings can be made simply,and synchronous operation is carried out with little traching delay.
Position variation between 2-axes during synchronous control is shown in the diagram below.
A
3000 rpm
T
Motor revolutions
B
0.35ß
Position variation between 2-axes
150.5ms
1-axis position variation
2-axes position variation
0.13ß
Synchronous control mechanical system program
Drive module Transmission module
(Virtual servo motor)
1-axes
Output module
2-axes
18 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
SOFTWARE
Application Ranges for Motion SV22 Software Environment
Easy on-screen programming using the mechanical support language.
Loaded with a mechanical support language that allows easy programming of the machine mechanism.Ideal for controlling automated machines such as food machines and wrappers.
By freely combining a variety of software mechanism modules and cam patterns, complex synchronization control and coordinated control can be achieved easily and low cost.
Filling machine
The extremely high-speed controllers and ultra-precision positioning performance of these Mitsubishi systems make them ideal for dynamic filling processes.The
flexibility of the system – for the example the ability to choose from a variety of movement profiles and cam disks – enables quick format changes,which means you can fill different containers on a single machine.
Raise/lower nozzle
Fill
Conveyor
Nozzle
Filler
Rolling mill
The ability to synchronise the speeds of multiple motors is essential for maintaining the synchronised feed rates needed to keep the rolling mill output thickness precisely constant.
V V + Draw
Press conveyor
Mitsubishi motion controllers are also the ideal solution in applications where a large number of different axes need to be synchronised for optimum performance.In
addition to precisely synchronising multiple axes (see example on the right) they guarantee smooth,jerk-free and extremely high-precision positioning.
Press machine
Synchronous encoder
Main press motor
Import conveyor
X-axis servo motor
Material transport
Y-axis servo motor
Palletising and sorting
At the press of a button the system sorts and stacks the chosen stacking plan,supporting a choice of different stacking and warehousing plans.Curve interpolation for single or multiple axes enables dynamic positioning performance.
Seperate servo motors for lifting and feeding
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 19
SOFTWARE
Motion SV22 Software Functionality
SCPU control range
(Sequence CPU)
Sample sequence program
M2001
Start accept
SVST J1 K2000
Servo program start request
Sample servo program
Virtual
K2000
ABS-1
Axis
Speed
1, 100000
1000
Positioning parameter
Parameter block
JOG operation data
PCPU control range
(Motion CPU)
Sample mechanical system program
Drive module Transmission module
(Gear)
Virtual servo motor in the mechanical system program start
(Virtual servo motor)
Operation results from the transmission module are output to the amplifier unit which sets the output module.
(Clutch)
Output module
Servo motor control
Servoverstärker
Servo motor
(Cam) (Roller)
Servo amplifier
Servo motor
Mechanical Module List
Mechanical Module
Name Appearance
Function
Used to drive the virtual axis in the mechanical system program by the servo program or JOG start.
Virtual axis
Roller
—
—
Used to drive the virtual axis by input pulse from an external synchronous encoder.
This is a virtual "link shaft".
The rotation of the drive module is transferred to the transmission module.
This is the auxiliary input axis for input to the transmission module "differential gear".
It is automatically displayed when the differential gear and the gear are connected.
Used when the speed control occurs at the final output.
Ball screw
Rotary table
Cam
Used when the liner positioning occurs at the final output.
Used when the angle control occurs at the final output.
Used when the control other than those shown above occurs based on the cam pattern setting data.
There are two cam control modes: the two-way cam mode and the feed cam mode.
20 MOTION CONTROLLER MELSEC A
Mechanical Module
Name Appearance
Function
Gear
Direct clutch
Speed change gear
Transfers the drive module rotation to the output axis.
The travel valve input from the drive module multiplied by the set gear ratio, and transferred to the output axis so that it moves in the set direction.
Engages/disengages the output module with the drive module rotation.
When switching the clutch ONN/OFF, there is a direct clutch for direct tranfer and a smoothing clutch for acceleration/deceleration processing which occurs in accordance with the smoothing time constant setting.
Depending on the application, ON/OFF mode, address mode or external input mode can be selected.
As the smoothing method, the time constant setting mode or degree of slippage setting method can be selected.
Used to change the speed of the output module.
The speed from the input axis side multiplied by the set speed change ratio and transferred to the output axis.
The rotation of the auxiliary input axis substracted from the rotation of the virtual main shaft and transferred to the output axis.
The rotation of the auxiliary input axis substracted from the rotation of the virtual main shaft and transferred to the output axis. (for connection to the virtual main shaft)
MITSUBISHI ELECTRIC
SOFTWARE
Virtual Mechanical System Environment (SV22)
Item
Control units
Cam
Drive module
Output module
Drive module
Virtual axis
Output module
Types
Resolution per cycle
Memory capacity
Stroke resolution
Control mode
Mechanical Modules
Virtual servo motor
Synchronous encoder
Roller
Ball srew
Rotary table
Cam
Virtual servo motor
Synchronous encoder
Virtual main shaft
Virtual auxiliary input shaft
Gear 햲
Clutch 햲
Speed change gear 햲
Differential gear 햲
햳
Cam
Roller
Ball screw
Rotary table
A171SH
Pulses mm, inches
8
8
8
4
4
4
Fixed as "degree" mm, inches, pulses
4
1
Total 5
Total 8
4
4
4
4
Total 4
4
Max. 64
256, 512, 1024, 2048,
32 kbytes
32767
Two-way cam, feed cam
햲 One gear, speed-change gear or differential gear can be used per module.
햳
햴
One differential gear connected to the virtual main gear can be used per virtual servo motor.
With extended file registers from the tenth block.
A172SH
8
8
8
8
8
8
16
16
16
8
8
1
8
Total 9
Total 16
Total 8
A173UH
32
32
32
32
32
32
64
64
64
32
32
4
32
32 kbytes 햴
A173UH-S1
Total 36
Total 64
Total 32
32
32
32
32
32
32
64
64
64
32
32
4
32
132 kbytes 햴
Total 36
Total 64
Total 32
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 21
MOTION SFC
Motion SFC Programming
The Motion SFC function to describes the motion control program in flow chart form.By describing the program of the
CPU (PCPU) which controls the motion in a suitable Motion SFC for the event processing,serial operation of the machine is controlled by PCPU,aiding the event response.
Easy-to-read and comprehend flow chart description.
앬
앬
Programming can be carried out with an image that describes the flow chart with the machine operation procedures.
A process control program can be created easily, and the control details can be visualized.
Multi-task processing
앬
앬
The Motion SFC allows for multi-task program operation.
By using parallel distribution in one program, multiple steps can be executed simultaneously.
Controlling the series of machine operations with PCPU
앬
앬
Using the Motion SFC, the servo control, operation and I/O control can be carried out in a batch with the PCPU.
There is no need to start the servo program from CPU (SCPU) that controls the sequence.
Motion SFC description
Flow chart description which is easy-to-view and understand
앬
앬
앬
As the outline operation of the process control is described as a flow chart, the entire operations can be viewed at a glance.
The operation details can be described as a comment so an easy-to-understand program can be created.
The program has a hierarchical structure, so detailed operations can be described for each step.
Enhanced operation function
앬
앬
앬
앬
The operation expression can be described in the original state.
Compatible with 64-bit floating point operation.
Various arithmetic functions including trigonometric functions, square root and natural logarithm are provided.
The motion registers (#0 to #8191) have been added for
Motion SFC operations.
G100
F30
G200
K100
Seal processing
P10
F10
P20
F20
G120
F40
G300
F150
P10
Reduced display
G150
G160
K200
G210
P10
F: Operation control step
G: Transition (condition wait)
K: Motion control step
G100
Beginning wait
F30
Data calculation
G200
Work ready
K100
Operation start
G120
Cancellation Wait
F40
Cancellation data set
Comment display
[F 30]
// 1 axis real processing data calculation
// Processing status set
SET M100=X12+M120
[G 200]
PXO //Work ready completion sensor ON?
[K 100]
1 ABS-2
Axis
Axis
1,
2,
Combined speed
D 100µm
D 200µm
D 300mm/min
Extended display
22 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
MOTION SFC
Powerful event processing functions
Minimized variation in control response time
With the conventional SV13/SV22,the series of machine operations were controlled by the SCPU so a variation occured in the response time per seguence scan.However,this can be minimized by the strengthened Motion SFC event processing function,so the scan time can be suppressed,and variations in product machining can be reduced.
Multi-CPU method that strengthens event processing function
The multi-point I/O control and monitoring operations can be appointed to the SCPU by the ladder program,and the servo control and high-speed response control can be appointed to the
PCPU by the Motion SFC program.This balances the scan process and event process,and further utilizes the multi-CPU configuration.
MELSEC
I/O module
MELSEC intelligent module
MELSEC communication module
MELSEC display unit
SCPU scan process
Ladder description suitable for scan process
(importance laid on condition control)
쏹
쏹
Multi-point I/O control
Various condition processing
Common memory
D
T
B
F
X
Y
M
C
W
PCPU scan process MELSEC
I/O module
(PX/PY)
Motion related module
SSCNET related device
Motion SFC description suitable for event process
(Importance laid on sequential control,pursuit of event responsiveness)
쏹
쏹
Servo control
High-speed response control
Event processing
This process waits for the conditions to be established (event to occur) with the changes in the input signal state or device value, and carries out high-speed response control (signal output control,servo motor start and speed change,etc.) when the conditions are established.
앬
앬
앬
앬
Examples of events
Input signal turned ON.
Operation results reached constant value.
Set time elapsed.
Positioning was completed.
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 23
MOTION SFC
Selective Functions
High-speed response using step execution method
The sequence program uses a scan execution method to execute all steps with constant scanning.However,with the Motion SFC, the step execution method executes only the active steps following the shift conditions.Thus,the operation process can be reduced,and processing and response control can be realized.
Sequence program
All steps are executed with constant scan
X000
M100
M101 M2001 M2002
M102
M103
M2001
M2001
PLS M100
SET M101
SVST J1 J2 K1
RST M101
SET M102
SVST J1 K2
RST M102
SET M103
SET Y008
RST M103
Motion SFC program
Only active steps are executed following shift conditions
Work movement control
[G 1]
PX0 //Start (PX0=ON) wait
[K 1]
1 ABS-2 axis 1, axis 2,
D 200 m
D 202 µ m
Combined speed D 204 mm/min.
[G 2]
PX1 //1st process machining completion (PX1: ON) wait
[K 2]
1 ABS-1 axis 1, speed D 202 mm/min.
[G 3]
PX2 //2nd process machining completion (PX2: ON) wait
[F 1]
Set PY8 //Completion signal (PY8) ON
END
Exclusive shifting unique to motion control
앬
앬
앬
If shift is applied immediately after the motion control step, the shift will be executed without waiting for the motion control operation to end.
If WAIT is executed immediately after the motion control step,
WAIT will executed after waiting for the motion control operation to end.
If WAIT ON/WAIT OFF is commanded just before the motion control step, the details of the motion control will be pre-read, and preparation for starting will be carried out. The operation will start immediately when the designated bit device turns
ON/OFF.
Shift
K100
G100
WAIT
K200
G200
Execute G100 without waiting for K100 operation to end
Execute G100 after waiting for K200 operation to end
WAIT ON/OFF
ON MO
K300
Pre-read K300 and prepare to start
Start immediately when designated bit (M0) turns
ON
Selective branching and parallel branching
앬
앬
앬
When all routes shift after branch, or WAIT is issued for all routes, selective branching will be applied. Parallel branching is applied in all other cases.
With selective branchinf, the route for which the shift conditions are established first are executed.
With parallel branching, several routes connected in parallel are executed simultaneously. The process waits at the connection point, and shifts to the next process after execution of all routes is completed.
Selective branching Parallel branching
K1
G1
K2
G4
G2
K3
G3
K4
G6
G0
K2
G1
F2
K3
G2
G4
F1
G3
Judge G1 to G3 conditions, and execute only established route
Simultaneously execute all routes for step
K2 to F1 in parallel
Multi-task processing
앬
앬
앬
앬
With the Motion SFC, when several programs are started, the process is carried out with multi-task operation.
Multiple steps can be simultaneously executed with parallel branching even within one program.
A program that excutes multiple processes simultaneously, or a program that groups the control axis for independent movements can be created easily.
A highly independent programming is possible according to the process details, so an easy-to-comprehend program can be created.
G
F
K
G
MAIN
F
G
F
P
F
G
F
P
24 MOTION CONTROLLER MELSEC A
K
G
F
REAL
F
F
G
P
P
G
K
F
F
SUB
G
G
K
MITSUBISHI ELECTRIC
MOTION SFC
High-response to external inputs
I/O output
앬
앬
앬
This is used to measure the response time of the output signal in respect to the input signal from an external source.
With the sequence program, there is a delay and variation equal to the response time 20 ms and approximately the scan time.
With the Motion SFC, the response time and variation are approximately 3 ms.
Sequence program
X10 M100
X10
(S-I/O input)
OFF
PLC scan time 20 ms
ON
Applicable CPU: A172SHCPUN
Input module: A1SX40-S1 (OFF->ON response: up to 0.1 ms)
Output module; A1SY40 (OFF->ON response: up to 2 ms)
Y0
(S-I/O output)
OFF
~20 ms
(approx. PLC scan time)
ON
Great reduction in servo program start time
Start up of servo program
앬
앬
앬
This is an example of starting the servo program using the input signal from an external source as a trigger.
When starting with the sequence program, a delay and variation equal to 20 ms and approximately the scan time occurs from the input of the external signal to start-up of the speed command.
With the Motion SFC, the speed command will start up with a response time of less than 10 ms and variation of approximately 3 ms.
Sequence program
X10 M2001
SVST J1 K100
PLC scan time 20 ms
X10
(S-I/O input)
OFF
ON
Applicable CPU: A172SHCPUN
Input module: A1SX40-S1 (OFF->ON response: up to 0.1 ms)
Speed command
~20ms
(approx. PLC scan time)
10 ms/div
PX10
(P-I/O input)
OFF
PY0
(P-I/O output)
OFF
~3 ms
Motion SFC program
ON PX0010
K100
PX10
(P-I/O input)
OFF
Speed command
Motion SFC program
[G 100]
6ms ~ 9ms
ON
ON
5 ms/div
ON
10 ms/div
Continuous start-up of servo program
앬
앬
앬
This shows an example of starting-up the 1-axis and 3-axes linear interpolation program K300 immediately after starting-up the 1-axis and 2-axes linear interpolation program K200.
When continuously starting-up the servo program with the sequence program, a delay and variation of approximately 30 ms will occur. This is because the PLC scan time is 20ms, and the refresh cycle for the start acceptance flag M2001, which is the interlock is 10 ms.
An interlock is not required with the
Motion SFC, and the start delay will be approximately 7 ms.
Speed command
Axis
Axis
1
2
Sequence program
M10 M2001 M2002
M20 M2001 M2003
SVST J1J2 K200
RST M10
SET M20
SVST J1J3 K300
PLC scan time 20 ms Speed command
Axis
1
Axis 2
Motion SFC program
K300
G100
K300
Axis
3 Axis 3
Applicable CPU: A172SHCPUN
Input module: A1SX40-S1 (OFF->ON response: up to 0.1 ms)
10ms/div
~30ms
(approx. PLC scan time + 10 ms)
7ms
10ms/div
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 25
MOTION SFC
Operation (SV13/SV22 with Motion SFC)
SCPU control range
(Sequence CPU)
PCPU control range
(Motion CPU)
Sample sequence program
Motion SFC program start request instruction
SFCS K0
Number of start program designation
Sample Motion SFC program
Transfer
[G100]
M2009 // Servo ON reception flag?
[K 10 : Real]
1 INC-2
Axis 1, 10000 PLS
Axis 2, 20000 PLS
Combined speed 30000 PLS/s
[F100]
//Command speed calculation
(Negative speed change)
DOL=# 100L+# 104L
[G200]
M2044 // On virtual mode?
[K 100 : Virtual]
1VF
Axis
Speed
1
D 0 PLS/s
END
Motion SFC program also can be automatically started by the parameter setting.
Please refer to pages 17 and 20 regarding control flow of
"SV13 (without Motion SFC)" and control flow of "SV22 (without Motion SFC)".
SV13/SV22 real mode
Servo motor start
Axis 2
20000
10000
10000 20000
Axis 1
Sample mechanical system program
Drive module
(virtual servo motor)
Transmission module
SV22 virtual mode
Virtual servo motor start
Output module
(Cam) (Roller)
26 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
MOTION SFC
Application examples
System configuration
Personal Computer
ISA bus
SSC interface
Motion controller
MITSUBISHI
POWER
A173SHCPUN
INPUT
100~240VAC
OUTPUT
5 VDC 5A
RUN
ERROR
L.CLR
STOP
RUN
RESET
RESET
A 172SENC
PXO
1
2
3
4
5
6
7
C
D
E
F
8
9
A
B
10
11
12
13
14
15
16
17
1C
1D
1E
1F
18
19
1A
1B
CTRL PULSER 2
3
2
3
4
5
4
5
0
1
0
1
6
7
6
7
8
9
8
9
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
A 1SY10EU
0
1
2
3
4
5
6
7
C
D
E
F
8
9
A
B
A 1SY80
0
1
2
3
4
5
6
7
2
3
2
3
4
5
4
5
0
1
0
1
6
7
6
7
8
9
8
9
3
4
3
4
5
6
5
6
7
8
7
8
9
A
9
A
0
1
0
1
ERR
8
9
A
B
C
D
E
F
A 1SJ71AR21
RUN
SD
RD
F.LOOP
CPU
CRC
OVER
AB.IF
TIME
DATA
UNDER
F.LOOP
R.LOOP
O
R
E
R
R
STATION
NO.
8
MODE
0:ONLINE(A.R.)
1:ONLINE(U.R.)
2:OFFLINE
3:TEST 1(F.L.)
4:TEST 2(R.L.)
5:TEST 3(B.M.)
6:TEST 4(B.S.)
7:TEST 5(S.R.)
OUT
A1SJ71AR21
FRONT SIDE
IN
R-SD
F-RD
F-SD
R-RD
X10
C
6 4 3 2
8
X1
A172SENC
SY. ENC
MITSUBISHI
Servo amplifier
MITSUBISHI MITSUBISHI MITSUBISHI
I/O
Sensor input/ drill output
Machine
(e.g. printed board hole opener)
X-Y table
Z-axis
X-Y imposition
Drill axis
Drill breakage sensor
Hole opening confirmation
Machine's key points
1. High-speed forwarding of a hole breakage data from a personal computer.
2. High-speed monitor function in a personal computer.
3. High-speed start of Z-axis after X-Y table positioning is completed.
4. High-speed start of X-Y axis after printed a board hole opening
(Z-axis rises from printed board position).
5. High-speed save operation when drill breakage.
Conventional programming method (SV13)
Start
PLS M0
M0
SET M1
M1
DMOV D842 D202
M4 M2001 M2002
D = D202 D200
1
2
SVST J1J2 K0
RST M1
M2 M1601
= K1 D813
M3 M1602 M1622 M2003
X0000
6
X0001
7
X0001
7
4
RST M4
SET M2
3
SET Y20
RST D813
RST M2
SET M3
5
SVST J3 K1
RST M3
SET M4
8
RST Y20
9
CHGV J3 K-100000
X-Y table start
K0
ABS-2
Axis 1, D 0 µm
Axis 2, D 2 µm
Combined speed D 4 mm/min
M-Code
Programming method with Motion SFC SV13
Start
SFCS K0
Z-axis start
K1
CPSTART1
Axis
Speed
3
FIN
Acceleration
/deceleration
ABS-1
Axis
D 10 mm/min
200 msec
3, D 12 µm
ABS-1
Axis
Speed
3, D 14 µm
D 20 mm/min
ABS-1
Axis
Speed
CPEND
3, D 12 µm
D 10 mm/min
Processing action 쐃 to 쐎 of the conventinal method corresponds to the new method 쐃 to 쐎 .
Start
P0
1
2
[G0]
//X-Y axis start wait
//(Z-axis current value
//= Printed board rising position)
(D842L =D200L)
[K0]
ABS-2
Axis
Axis
1, D 0 µm
2, D 2 µm
Combined speed D 4 mm/min
[G1]
NOP //Positioning completed wait
X-Y table start
3 [F0]
SET Py20 //Drill-axis start
4
[G2]
//X-Y table in-position check
Z-axis start
5
[K1]
CPSTART1
Axis
Speed
3
D 10 mm/min
FIN
Acceleration 200 msec
/deceleration
ABS-1
Axis
ABS-1
Axis
Speed
ABS-1
Axis
Speed
CPEND
3, D 12 µm
3, D 14 µm
D 20 mm/min
3, D 12 µm
D 10 mm/min
7
[G3]
PX1 //Breaking check
8
9
[F1]
//Z-axis save operation
(Negative speed change)
CHGV(K3, -100000)
RST Py20 //Drill stop
END
6
[G4]
PX0 //Hole opening completed wait
[F1]
RST PY 20 //Drill-stop
8
P0
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 27
SOFTWARE
Overview of the different System Software Packages
왎 System Setting
System configuration
Set the system configuration (motion module,servo amplifier, servo motor) from the menu selection.
Servo data setting
Set the servo parameter and fixed parameters,etc.
Display explanations of parameters with one.point help.
왎 Programming
Program editing/instruction wizard
Program for each step and transition
Selection from menu using command wizard is also possible
Cam curve programming
Create cam data with cam pattern selection and free curve setting;display cam control status waveform
GX (IEC) Developer
Program editing and monitoring is possible with the proven programming software GX (IEC) Developer.
28 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
SOFTWARE
왎 Debugging
Motion SFC monitor
Color display of step in execution on flow chart
Device monitoring and testing of execution and designated step
Motion SFC debugging mode
Greatly reduced debugging time with powerful debug function
(one-step execution,forced shift,brake,forced end)
왎 Start-up adjustment and monitoring
Status display and test operation
Current value monitor,axis monitor,error history monitor
Various tests suchs as zeroing and JOG with a simple mouse click
Digital oscilloscope
Data sampling synchronized with motion control cycle
Waveform display,dump display,file save,printing
왎 Operation and maintenance
Data back-up
Back-up motion controller programs,parametersw and internal information in a abatch as a file
Document printing
Conversion of system settings,programs and parameters int Word or Excel file and printimg
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 29
ACCESSORIES
왎 Pulse generator/synchronouos encoder interface unit
A
172SENC
PXO
1
2
8
9
A
10
11
12
3
4
B
C
13
5
D
14
15
6
7
E
F
16
17
18
19
1A
1B
1C
1D
1E
1F
A172SENC
The pulse generator/synchronouos encoder interface unit
A172SENC is used for input of an external Encoder (e.g.Encoder of master drive) or an manual pulse generator.In addition this module processes the signals from the limit and dog switches which are connected to this module.
CTRL
PULSER
앬
앬
Special features:
Loaded in motion slot
One point each is built in for the various input on the 8 axes, and for the tracking input, manual pulse generator and synchronous encoder
A172SENC
SY. ENC
Specifications
Motion control signal input, tracking input
Output point
Dynamic brake command output
Max. load current
Response time
Usable unit
Manual pulse generator/synchronous encoder input
Synchronous encoder input
Adaptive type
Heigh level voltage
Low level voltage
Input frequency
Usable unit
Adaptive type
Internal consumption current (5 V DC)
Weight
Dimensions (W x H x D)
Order information
Input point
ON voltage/current
OFF voltage/current
Response time
A172SENC
Motion signal: 32 points
(8 points each for upper limit switch, lower limit switch, STOP signal, proximity dog)
Tracking input: 1 point
V DC 10.2 to 26.4
Min. 7 V / min. 1.0 mA
Max. 1.8 V / max. 0.18 mA
Motion control signal input
OFF → ON: max. 2 ms, ON → OFF: max. 3 ms
Tracking input
OFF → ON: max. 0.5 ms, ON → OFF: max 0.5 ms
1 point
V DC 21.6 to 30 mA 100
OFF → ON: max. 2 ms, ON → OFF: max. 2 ms
1
Voltage output type (5 V DC) / differential outout type (26L31 or equivalent) possible to select by connector wiring
V DC 3.0 to 5.25
V DC 0 to 1
Max. 100 k pulses/s (magnification of 4) mA 420 (Manual pulse generator / synchronous encoder is contained) kg mm
1
Serial absolute synchronous encoder input (MR-HENC)
Art. no. 86313
30 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
ACCESSORIES
왎 Connection Cables
왎 Terminal Connectors
Connection Cables
The cable MR-J2HBUS첸M-A connects the motion controller to the servo amplifier.
Specifications
Type of cable
For connection
Available lengths
Order information
MR-J2HBUS첸M-A
SSCNET cable
CPU unit to MR-J2S-B/MR-J2-B m 0.5 / 1.0 / 5.0
Art. no. 70009 / 86733 / 70006
For the connection of servo amplifier to servo amplifier the cableMR-J2HBUS첸M is required.
For detailled informations please refer to the technical catalogue MR-J2-Super.
MR-J2HBUS첸M
SSCNET cable
MR-J2S-B/MR-J2-B to MR-J2S-B/MR-J2-B
0.5 / 1.0 / 5.0
70014 / 70012 / 70011
Connectors
By this bus end plug the SSCNET is terminated.The termination is required to ensure a faultless network operation.
The plug is connected to the end of the bus on the last servo amplifier.
Specifications
Connector type
MR-A-TM
SSCNET connector for the last servo amplifier
(MR-J2S-B/MR-J2-B)
Order information Art. no. 70004
왎 Manual Pulse Generator
20
30
10
40
0
90
80
MR-HDP01
By this serial handwheel an external incremental setting value can be generated.
Specifications
Pulse resolution
Output voltage
Consumtion current
Weight
MR-HDP01
25 pls/rev (100 pls/rev at magnification of 4)
Input voltage > 1 V
Max. 60 mA kg 0.4
Order information Art. no. 128728
왎 Serial absolute synchronous encoder
MR-HENC
This serial absolute synchronous encoder facilitates the integration of an external system (e.g.frequency inverter) in a motion system.The inverter is operated as real master axis,e.g.synchronized in a group.
Specifications
Resolution
Direction on increase
Protection
Permissible rotation speed
Perm. angular acceleration
Weight
MR-HENC
16384 pls/rev.
Counter clockwise
IP52
4300 r/min
4000 rad/s kg 1.5
Order information Art. no. 138304
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 31
DIMENSIONS
Motion Controller A171SH/A172SH/A173UH
MITSUBISHI
POWER
A172SHCPUN
INPUT
100~240VAC
105VA
50/60Hz
OUTPUT
5 VDC 5A
- EMG
- EMG. COM.
RUN
ERROR
L.CLR
RESET
STOP
RUN
RESET
A
172SENC
0 8
9
10
11
6
7
4
5
1
2
3
A
B
C
D
E
F
12
13
14
15
16
17
TRA
18
19
1A
1B
1C
1D
1E
1F
A
1SX40
0
6
7
4
5
1
2
3
8
9
A
B
C
D
E
F
LISTED
IND.CONT.EQ.
80 M 1
C
!
WARNING
Hazardous voltage.
FRONT
SSCNET
1
2
PULL
CTRL PULSER
A172SENC SY. ENC
D
E
F
9
A
B
C
7
8
4
5
6
0
1
2
3
200
W
4 X (M5 X 25)
93.6
110
16.4
Extension Base Units
MELSEC A
1S62PN
POWER
MITSUBISHI
A
172SENC
0
1
2
8
9
10
11
3
4
A
B
C
12
13
14
5
6
7
D
E
F
15
16
17
TRA
18
19
1A
1B
1C
1D
1E
1F
A
1SX40
0
1
INPUT
100~240VAC
105VA
50/60Hz
OUTPUT
5 VDC 5A
!
WARNING
Hazardous voltage.
CTRL
PULSER
A
1SX40
1
2
A
1SX40
A
1SX40
A
1SX40
A
1SX40
A
1SX40
A
1SX40
4 X (M5 X 25)
A172SENC SY. ENC
400
W
Type
A172B
A175B
A175B
W (in mm)
220
325
430
315
420
93.6
110
16.4
32 MOTION CONTROLLER MELSEC A
MITSUBISHI ELECTRIC
Serial Absolute Synchronous Encoder MR-HENC
68
56
91
4 x ø5,4
B
19,5
102
135
5
33
B
1,15
2
B
Manual Pulse Generator MR-HDP01
3,6 t = 20
30
20
10
0
90
80
70
60
40
50
16 20 27
3 x ø4,8
ø72
ø62
3 x M4x10
8,89 7,6
M3 x 6
DIMENSIONS
MITSUBISHI ELECTRIC
MOTION CONTROLLER MELSEC A 33
ORDER FORM
MITSUBISHI ELECTRIC EUROPE B.V.
Industrial Automation / German Branch
Gothaer-Str. 8
D-40880 Ratingen
Fax: +49 2102 486-7170
Order declaration
Pos.
Number Item (type) Article number
Company: . . . . . . . . . . . . . . . . . . . . .
Department: . . . . . . . . . . . . . . . . . . . . .
Street:
Address:
Phone:
Fax:
. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . .
Description Remarks
Notes when ordering:
When ordering, please use only the type designations and order numbers shown in this catalogue.
34
MITSUBISHI ELECTRIC
INDEX
A
Absolute encoder
description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Application examples
programming comparison . . . . . . . . . . . . . . . . . . . . . 27
SV13 applications . . . . . . . . . . . . . . . . . . . . . . . . . . 16
SV22 applications . . . . . . . . . . . . . . . . . . . . . . . . . . 19
O
Operating system software . . . . . . . . . . . . . . . . . . . . . . . 13
P
Programming
application examples . . . . . . . . . . . . . . . . . . . . . . . . 16
components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
screenshots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
software overview . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Program start procedure . . . . . . . . . . . . . . . . . . . . . . . . . 25
Pulse generator interface unit. . . . . . . . . . . . . . . . . . . . . . 30
C
Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
CAM curve programming . . . . . . . . . . . . . . . . . . . . . . . . 28
Conveyor assembly (SV13) . . . . . . . . . . . . . . . . . . . . . . . . 14
Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
CPUs
specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
D
Dimensions
E
F
overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
motion controllers . . . . . . . . . . . . . . . . . . . . . . . . . . 32
accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Encoder interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Event processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Functions
motion SFC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
R
Response times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
H
Hardware components . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
V
Virtual mechanical system environment (SV22). . . . . . . . . . . 18
M
Manual pulse generator MR-HDP01
description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Mechanical modules (software). . . . . . . . . . . . . . . . . . . . . 20
Motion control (description)
Motion controllers (hardware) . . . . . . . . . . . . . . . . . . . . . . 6
Motion SFC programming . . . . . . . . . . . . . . . . . . . . . . . . 22
S
Servo
SFC (Sequential Function Chart) . . . . . . . . . . . . . . . . . . . . 22
Software
functionality SV13 . . . . . . . . . . . . . . . . . . . . . . . . . . 17
functionality SV22 . . . . . . . . . . . . . . . . . . . . . . . . . . 20
specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
packages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
screenshots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Specifications
motion controllers (overview). . . . . . . . . . . . . . . . . . . . 6
PCPUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
SCPUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Synchronous control . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
System
configuration (software) . . . . . . . . . . . . . . . . . . . . . . 28
overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
MITSUBISHI ELECTRIC
MOTION CONTROLLER 35
HEADQUARTERS
MITSUBISHI ELECTRIC
EUROPE B.V.
German Branch
Gothaer Straße 8
EUROPE
D-40880 Ratingen
Phone: +49 (0) 21 02 / 486-0
Fax: +49 (0) 21 02 / 4 86-1 12 e mail: [email protected]
FRANCE
EUROPE B.V.
French Branch
25, Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone: +33 1 55 68 55 68
Fax: +33 1 49 01 07 25 e mail: [email protected]
MITSUBISHI ELECTRIC ITALY
EUROPE B.V.
Italian Branch
C.D. Colleoni - P. Perseo Ing. 2
Via Paracelso 12
I-20041 Agrate Brianza (MI)
Phone: +39 039 / 60 53 1
Fax: +39 039 / 60 53 312 e mail: [email protected]
MITSUBISHI ELECTRIC
EUROPE B.V.
Spanish Branch
Carretera de Rubí 76-80
SPAIN
E-08190 Sant Cugat del Vallés
Phone: +34 (9) 3 / 565 31 60
Fax: +34 (9) 3 / 589 15 79 e mail: —
MITSUBISHI ELECTRIC
EUROPE B.V.
UK Branch
Travellers Lane
UK
GB-Hatfield Herts. AL10 8 XB
Phone: +44 (0) 1707 / 27 61 00
Fax: +44 (0) 1707 / 27 86 95 e mail: —
JAPAN MITSUBISHI ELECTRIC
CORPORATION
Office Tower “Z” 14 F
8-12,1 chome, Harumi Chuo-Ku
TOKYO 104-6212
Phone: +81 3 / 622 160 60
Fax: +81 3 / 622 160 75
MITSUBISHI ELECTRIC
AUTOMATION
500 Corporate Woods Parkway
Vernon Hills, Illinois 60061
Phone: +1 (0) 847 / 478 21 00
Fax: +1 (0) 847 / 478 22 83
USA
EUROPEAN REPRESENTATIVES
GEVA
Wiener Straße 89
AUSTRIA
A-2500 Baden
Phone: +43 (0) 2252 / 85 55 20
Fax: +43 (0) 2252 / 488 60 e mail: [email protected]
Getronics b.v.
Control Systems
BELGIUM
B-1731 Asse-Zellik
Phone: +32 (0) 2 / 4 67 17 51
Fax: +32 (0) 2 / 4 67 17 45 e mail: [email protected]
TELECON CO.
4, A. Ljapchev Blvd.
BULGARIA
BG-1756 Sofia
Phone: +359 (0) 2/ 97 44 05 8
Fax: +359 (0) 2/ 97 44 06 1 e mail: —
INEA CR d.o.o.
Drvinje 63
HR-10000 Zagreb
Phone: +385 (0)1/ 3667140
Fax: +385 (0)1/ 3667140 e mail: —
AutoCont
Control Systems s.r.o.
CROATIA
CZECHIA
CZ-70200 Ostrava 2
Phone: +420 (0) 69 / 615 21 11
Fax: +420 (0) 69 / 615 25 62 e mail: [email protected]
louis poulsen industri & automation
Geminivej 32
DK-2670 Greve
DENMARK
Phone: +45 (0) 43 / 95 95 95
Fax: +45 (0) 43 / 95 95 91 e mail: [email protected]
UTU Elektrotehnika AS
Pärnu mnt.160i
EE-11317 Tallinn
Phone: +372 (0) 6 / 51 72 80
Fax: +372 (0) 6 / 51 72 88 e mail: [email protected]
UTO ELEC OY
ESTONIA
FINLAND
FIN-28101 Pori
Phone: +358 (0) 9 / 550 800
Fax: +358 (0) 9 / 550 8880 e mail: —
UTECO A.B.E.E.
5, Mavrogenous Str.
GR-18542 Piraeus
Phone: +30 10 / 42 10 050
Fax: +30 10 / 42 12 033 e mail: [email protected]
GREECE
EUROPEAN REPRESENTATIVES
Meltrade Automatika Kft. HUNGARY
55, Harmat St.
HU-1105 Budapest
Phone: +36 (0)1 / 2605 602
Fax: +36 (0)1 / 2605 602 e mail: [email protected]
MITSUBISHI ELECTRIC
EUROPE B.V. – Irish Branch
IRELAND
Ballymount
IRL-Dublin 24
Phone: +353 (0) 1 / 419 88 00
Fax: +353 (0) 1 / 419 88 90 e mail: [email protected]
Getronics b.v.
NETHERLANDS
Control Systems
Donauweg 2 B
1043 AJ Amsterdam
Phone: +31 (0) 20 / 587 6700
Fax: +31 (0) 20 / 587 6839 e mail: [email protected]
MPL Technology Sp. z o.o. POLAND ul. Sliczna 36
PL-31-444 Kraków
Phone: +48 (0) 12 / 632 28 85
Fax: +48 (0) 12 / 632 47 82 e mail: [email protected]
Bd. Lacul Tei nr. 1 B
RO-72301 Bucuresti 2
Phone: +40 (0) 1 / 201 7147
Fax: +40 (0) 1 / 201 7148 e mail: [email protected]
INEA d.o.o.
Stegne 11
SI-1000 Ljubljana
SLOWENIA
Phone: +386 (0) 1- 513 8100
Fax: +386 (0) 1- 513 8170 e mail: [email protected]
ARATRON AB
Box 20087
S-16102 Bromma
Phone: +46 (0) 8/ 40 41 600
Fax: +46 (0) 8/ 98 42 81 e mail: —
ECONOTEC AG
SWEDEN
SWITZERLAND
CH-8309 Nürensdorf
Phone: +41 (0) 1 / 838 48 11
Fax: +41 (0) 1 / 838 48 12 e mail: [email protected]
GTS TURKEY
Darülaceze Cad. No. 43A KAT: 2
TR-80270 Okmeydani-Istanbul
Phone: +90 (0) 212 / 320 1640
Fax: +90 (0) 212 / 320 1649 e mail: [email protected]
MIDDLEEASTREPRESENTATIVE
SHERF Motion Techn. LTD
Rehov Hamerkava 19
IL-58851 Holon
Phone: +972 (0) 3 / 559 54 62
Fax: +972 (0) 3 / 556 01 82
ISRAEL
EURASIAN REPRESENTATIVES
Avtomatika Sever
Krapivnij Per. 5, Of. 402
RUS-194044 St Petersburg
Phone: +7 812- 5418418
Fax: +7 812 1183239 e mail: [email protected]
CONSYS
Promyshlennaya St. 42
RUSSIA
RUSSIA
RUS-198099 St Petersburg
Phone: +7 812/ 325 36 53
Fax: +7 812/ 325 36 53 e mail: [email protected]
ICOS RUSSLAND
Ryazanskij Prospekt, 8A, Of. 100
RUS-109428 Moscow
Phone: +7 095/232-0207
Fax: +7 095/232-0327 e mail: [email protected]
NPP Uralelektra
Sverdlova 11A
RUS-620027 Ekaterinburg
Phone: +7 34 32 / 53 27 45
Fax: +7 34 32 / 53 24 61 e mail: [email protected]
RUSSIA
Poslannikov per., 9, str.1
RUS-107005 Moscow
Phone: +7 095 / 786 21 00
Fax: +7 095 / 786 21 01
RUSSIA e mail: [email protected]
JV-CSC Automation
15, M. Raskovoyi St., Floor 10,
UKRAINE
Office 1010
U-02002 Kiev
Fax: +380 44 / 238 83 17 e mail: [email protected]
TEHNIKON
Oktjabrskaya 16/5, Ap 704
BELARUS
BY-220030 Minsk
Phone: +375 (0)17/ 2275704
Fax: +375 (0)17/ 2276669 e mail: [email protected]
AFRICAN REPRESENTATIVE
CBI Ltd
Private Bag 2016
SOUTH AFRICA
ZA-1600 Isando
Phone: +27 (0) 11 928 2000
Fax: +27 (0) 11 392 2354 e mail: [email protected]
Specificationssubjecttochangewithoutnotice.
Art. no. 139825-C, Printed in Germany 11.02
MITSUBISHI ELECTRIC
INDUSTRIAL AUTOMATION
Gothaer Strasse 8 Phone: +49 2102 486-0 Fax: +49 2102 486-7170 www.mitsubishi-automation.de
D-40880 Ratingen Hotline: +49 1805 000-765 [email protected] www.mitsubishi-automation.com
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