BNP-B3704A (ENG) MITSUBISHI CNC SINGLE-AXIS AMPLIFIER BUILT-IN CONTROLLER MODEL E SPECIFICATION AND SERVO SELECTION MANUAL ADVANCED AND EVER ADVANCING MITSUBISHI ELECTRICCONTENTS Chapter 1 Controller Specifications... 2.0.20... eee eee cence ee 4.4. Outline : 4.2 Controller specifications 1.21. Configuration of controller and related unit types and names 1.22 General specifications 1.2.3 Outline and installation dimensions for controller FCUA-MP10-001 . 1.3 Connector layout and external connection specifications .4 Controller operation control function 1.44 Controlaxis .......... 4.42 Command unit (Command and setting unit) 4.4.3 Command method .. 1.44 Feed function 1.45 Timer . 1.4.6 M function 4.47 Coordinate system setting 1.4.8 Machine error compensation 1.4.9. Protective functions 1.4.10 Operation mode . 4.4.11. External control 1.4.12 Status output .. 4.4.48. Axis control functions 4.4.14 Data connection .... 1.5 Servo control function ..... . 1.5.1 Smooth high gain control . 1.52 Absolute position control 1.5.3 Torque limit value changeover 1.5.4 Deceleration control during emergency stop . 1.5.5 Dynamic braking 1.6 Point table (program)... 4.6.1 Configuration of point table 1.62 Point table creation method 1.7 Built-in PLC : 1.74 User PLC:program .. 1,72 Standard PLC program 1.7.3 Digital input interface 1.7.4 Expansion digital input/output interface 1.8 Setting and display functions 1.9 Self-diagnosisChapter 2. Servomotor Selection 2.1 Configuration of servomotor name 2.2 Servomotor specifications 23 Outline of servomator . .. Chapter 3 Peripheral Device Selection 3.1 Main circuit related. : 3.1.1 Selection of power capacity, non-use breaker, magnetic contactor. 3.1.2 Wire size selection 3.2 Magnetic brake related 3.2.1 Power supply for magnetic brake 322 Surge absorber .... 3.2.3 Magnetic brake characteristics 32.4 Example of connecting power supply for magnetic brake 3.3 Regenerative resistor related 3.3.1 Selection of regenerative resistor 332 Regenerative brake characteristics Chapter 4 Installation . 4.1 _ Installation conditions of controller 4.1.1 Working environment conditions... . 4.1.2 Installation direction and clearance .. 4.41.3. Prevention of foreign matter entry ... 42 Heat radiation measures 4.3 Controller heating amount 4.4 Grounding measures and grounding treatment Chapter 5 Teaching Box CT200 Specifications 5.1 ‘General specifications ..... 52 Outline dimensions of teaching box CT200. 5.3 Functions of teaching box CT200 .... Chapter 6 Remote I/O FCUA-DX100 Specifications 6.1 General specifications 62 Outline dimension drawing 6.3 Connector layout and functions 64 Connection 65 Digital signal input circuit Appendixes Appendix 1 Peripheral device cable manufacturing drawings Appendix 2 Motor end detector cable Appendix 3. Explanation of digital input/output interface during use of standard PLC 23 24 25 28 34 BIBRRARE 38 39 44 42 42 42 42 44 45 Be8R SFSSRSCHAPTER 1 Controller SpecificationsChapter 1 Controller Specifications. 1.1 Outline The Mitsubishi single-axis amplifier buittin controller was developed for applications such as positioning control and auxiliary axis for multi-axis controllers. This is an all-in-one controller in which many functions are loaded in the compact box. Max. configuration of system Controller FOUA-MP 10-00 Cable Teachi ing box O10 FUa-C1200 MELSEC Power supply Commercial ‘Sphase 200 Personal ‘computer Remote YO unit Foua-Dx100 Terminating rector even 101 Hl Gtk (Ground) Machine MC ink Beonnection In development cannon lugs may also be user Jinzone cases, Motor ond detector cable sed, [<< Acannon plug-type ‘may also bo sod in some cases. ie iWExample of basic connections OFF ON ‘Controler FOUAMP10.00 R S10 ‘Ac200~2a0v —S Emergency stop Digtal output signal oe {Note 1) Any ofthe inputs XO to XV can be connected to the common (COM) 24V and OV (ground). (ote 2) When using the reference point near-point detection signal or stoke end signal, each are fixed to XA and X7. Teaching box FOUA-CT200 Regenerative rosistor {Not required for FCUAMP10.01) ‘Remote VO unit FCUADX100 (ote 3) The cable wil differ according to the servomotor being used.Chapter 1_Controller Specifications 1.2 Controller specifications 1.2.1 Configuration of controller and related unit types and names ECUA-MP10~01 Output capacity (Only for controler) 01: 100W class 93: 300W class 06: 600W class 10: 1000W class 20; 2000W class MP 10: Mitsubishi single-axis amplifier builtin controller Model E series 7200: Teaching box DX100: Remote /O unit ‘Table of servomotor, regenerative resistor and controller combinations [J] sencora : Option — oO ) Controller type_FCUA-MP10- oF 03 06 10 20 HAMEOSS ‘SOW HAME13 100, Uttra-tow inertia HA-ME23 ‘200W. HAME series HAME4S 400W, HAMETS 750W. HAFE/FHOsS | SOW HAFEIFHIS [—100W. Low inertia HAFEIFHS BooW. HAFE/FH series [HA-FE/FHOS “S00W. 3 HAFEIRHAS 400W. | HA-FE/FHES: ‘600W. 1 HA-SE/SH81 850. Medium inertia — SESH HASERHI21 2008 © 1000r/min. series HA-SE/SH20T 2000W. HA SEISHEE SOO, Medium inertia HASEISHIO2 T000Ww SSSTISH cores [HASE/SHI52 15000 HASEISHBO2 2000W HASE/SHES [ ‘500W. Medium inertia HASEISHIO3 7000W7 EASEISH ies [HASEISHISS 7s00H HA-SE/SH203 2000W. ‘Regeneration times (times/min.) q None (capacitor regeneration) Note 1 is MA-REOTS 750 70 Hy aes : WiR-RBS2 (Two in parallel) a 25 Note 1) There is no limit to the regeneration frequency if the execution torque is within the rated torque range.1.22 General specifications Tyee Four] weioot | mpio0s | wptoos | mero10 | wPio20 | oxtoo | cra00 > | _votiagerroquency ‘phase ACZOOW250V 6O/50He = = & | Telerabe votiage fluctuation ‘AGITO~258V (oOEOHE) = = og] | eae team tcen Within 25% = = Power facliy apecty eval os | or uw 7 35 = = Vatiage Dea = © | raereni vonage tectuaton Within 25% = 3 Fipple =5% PP) = Power capacity 1A (Note 2) [rete [Note 4) Continuous output current (ems) Ww 30 5.0 88 14.0 - - ‘Maximum output eurent wns 30 [es | wo | mo | eo | — = Conte meted Snuscidal wave PAM cont (le “Gapactor Regeneration method woo Eterna esstor regeneration - - Fagenarate eit; [Sandee | Noe) | MABOrS Tompaatt | | T ore Option MA-RBOS3 = = Totwabie egoreraion [Sender | Nowe) | 150 | 70 a 2 = = frequency timesimin) [Option = = 450 200 | = = 10 times or less of tor moment of inertia Recommended load moment of inertia | (Note, whan using fora machine to}, 28 tines or less - - (of moter moment oferta) “Ambient temperature (0= +850 (ith no freezing), Storage: 20 ~ +6590 = proent homey 2OHERH or las (wih no dew condensation) 5 [_Amoaphere No cortsive gases or dust E [Came “000m aries Wibration ‘mis (166) or ose Faly stuctue ‘Open type (repane cooing method) clon (Note 1) There is no lit tothe regi ton frequency Ifthe execution torque is within the rated torque range. ‘ote 2) This is the poner for crving the external devices such as the relays, connected to the digital inputoutput intertac. (ote 3) Maintain a capacity that ensures O.7A (internal control circuit ++ 225A (total of current consumed by connected relays, otc.) (Noto 4) The power ie supplied from the controller FCUAPI0}. A power supply device does not need to be prepared speciallyll a1.3 Connector layout and external connection specifications Display and setting Heat radiating fin window Unit instabation holes 4 Side cover ting nameplate (0) © Serial communication Connector SIO, 13H @ Motor ond catocior connection connector Terminal ove © Machine interface @ MC link sonnadtr 010 B terminal block nop Detailed explanation of connectors Name : SiO Connector type: Application: Connection of teaching box, MELSEC development device, commercial personal computer Recommended connector for cable side: r / t 1 1ST orm PS] ora gaz cmon] ® Sowopren aves | Fr} To [7]! Te —psm__f 6 | 0h CPs eno [san | Peo oem t asze0 w 3 ' — a Teacning box | ee] |! | hoe Fo Note: Select one of the methods and connect.Chapter 1_Controller S| ‘Name : CN2 ‘Connector type: Application: Servo F/B Recommended connector for cable side: Name : MC-B Connector type: Terminal block Application: MC link 8 (Connection of remote /O unit) Recommended connector for cable side: ‘Connection with machine Connection with remote controller model N YO unit FCUADX100 (in development) Name : TS. Connector type: Terminal block (M3.5 x 9) Application: Connection of input power supply, motor drive wire, regenerative resistor Recommended connector for cable side: ‘ Regenerative resistor ‘connection terminal Motor ‘connection terminal nec crxrO4 oD Frame ground terminaNamo : DIO. Connector type Application: Digital machine interface Recommended connector for cable si ‘ ‘SKIP signal exclusive common Emergency stop ‘exclusive commen ‘COMIY) ‘com (5) COM (6), < Either ‘common — DO24V" connection or ‘common — ground connection can be used for the input circuit. The SKIP and EMG emergency stop signal commons are separated from other commons. Input circuit (XO to X7, SKIP, EMG emergency stop) AS creme pits | | | reecinyChapter_1_Controller Specifications Example of "common —DC24V" DC24V, wie SI (+05 RG Example of "common — ground* po2av ‘a t oe ® = Coe Input signal conditions x0 7.EMG ‘sep ‘Max Input vonage 26y, 26 input ON voltage 2aV or mere 20V or more Input OFF voltage: Vorless, eV or las. Tolerable chattering tine “is off “es oF lo Input signal hold time (Note 1) ‘ans or more ‘Machine side contact capacity | +30V or more, 16mA or more | +30V or more, 16mA or more (Note 1) This will differ according to the PLC program length. ‘

‘The output is an open collector (sink output). Output circuit (YO to Y7) Output signal conditions 007 [_tsulation method Proteooupler Fated load vottage Do+2v Max. output curent comA ‘Output delay time 4048 nen eriving a relay col or lamp, et, Inger a protective resistance clamp diode to prevent rush currents, Internal rout poo lcom - Icom ~10- a1.4 Controller operation control function 1.4.1 Control axis No. of controllable axes: 1 axis 1.4.2, Command unit (Command and setting unit) The command unit is changed with the parameters. (In development) Type Linear axis | Rotary axis A 0.00imm | 0.001 deg. B o.oimm | 0.01 deg. c 4mm 1 deg. 1.4.3 Command method ‘The commands are issued with the point table method in which positioning commands can be issued easily. The positioning to the muttiple points (movement target values) designated in the point table can be done with the multi-point mode in which positioning is continuously executed from the randomly selacted points by the signal input from an external source, or single-point mode in which random points are selected by the input signal from an external source and then positioning is executed, Point table specifications ten Specifications No, of points Standard: 8 points, Max. 64 points Point internal command items | Positioning command, speed command, timer command, M command, acceleration/deceleration time Position command method | The end position of each point is commanded (absolute value command) Timer command method The time is commanded or the deceleration mode is designated M command method Direct commanding with M code ‘Speed command method Direct commanding of movement speed, or designation with parameter No. Acceleration/deceleration time | Direct commanding of acceleration/deceleration time 1.4.4 Feed function [Speed command method] ‘The speed is commanded as a movement speed to each point in the point program. There are two ‘commanding methods, ‘Speed command method Specifications Linear command “The movement speed is directly set in the point program. Parameter designation | The speed is commanded with a No. of a parameter where a speed | has been att-‘Chay 1_Controller Specifications [Feed method] ‘The axis is fed with the asynchronous feed method in which the feed rate per minute is set, [Command range] ‘Command unit A (0.001mm) B (0.0imm) C (mm) ‘Command mode Per-minute feed Per-minute feed Per-minute feed. Min, command unit 0,001 mm/min. 0.01 mm/min. 1 mm/min. ‘Command range 0.001 ~ 100000.000 (0.01 ~ 100000.00 1~ 100000 + The command units B and C are in development. [Automatic acceleration/deceleration] ‘The accoleration/deceleration is automatically applied to all commands. The linear acceleration/decalerat- or soft acceleration/deceleration pattern can be selected with parameters. Selection of whether the axis decelerates at each point or continues during continuous operation ofthe — point program is set with the timer in the point table. 1 ner scolraton! | Sot acotaton! t | deceleration t 1 deceleration ' \ ¥! i ey é I { | i ' 1 1 \ i ' \ Lb -- L leet Time scsi baci ten tne on tne ten te fon tne [Feedrate override] ‘An override of 0% to 300% can be applied on the feedrate. [Feedrate parameter] ‘The feedrate can be preset in the parameters. There are four parameter stages, and random values can be set in each stage. ‘The speed set in the first stage is handled as the clamp speed. A speed exceeding this clamp speed cannot be commanded in any case. For example, if speed parameter No. 1 is designated in the point program, the override will be valid only to 100%. ‘The four stages of speed parameter have the following special meanings. poameter Parameter correspondence Special handling ‘Stage 1_[ Equivalent to the point table No. designation -1| Clamp speed, PLC manual speed 1 ‘Stage 2_ [Equivalent to the point table No, designation -2| Clamp speed, PLC manual speed 2 ‘Stage S_| Equivalent to the point table No. designation ~3 Stage 4_| Equivalent to the point table No. designation ~4 =12-| ss | | 1.4.5 Timer | The timer time can be set for each point inthe point program. When positioning to that point is completed, the axis will wait at that point for the designated timer time. The timer time setting range is 0.001 to 99999.999 sec. ‘The following timer setting values have special meanings. Timer setting value Valid special function ° ‘The completion of positioning is confirmed with the command system, and then execution of the next point data is moved to. (Error detect OFF) ‘The deceleration and stop for servomotor positioning is confirmed, and then execution of the next point data is moved to. (Error detect ON) The axis does not deceleration and stop, and instead the execution of the next point data is moved to. However, if a differing speed is designated in the next point data, the axis will accelerate/decelerate to that speed. Co 1.4.6. M function ‘The M commands can be set for each point in the point program, The M code and strobe signal will be ‘output simultaneously with the start of movement to that point. A completion sequence Is required for the M command, The axis will wait at that point until the completion sequence is completed, The M command is output as a 2-digit BCD. 1.47 Coordinate system setting [Reference point return] ‘The axis can be returned to the position (reference point) set characteristically for the machine. Either dog-type reference point return or memory-type reference point return can be used. [Coordinate system for rotary axis} The coordinate system for the rotary axis is between 0° and 360". Note that the coordinate system display will be from 0 to 359.999, Short cut control is also possible, rC 1.4.8 Machine error compensation [Backlash compensation] The error (backlash) that occurs when the machine system’s movement direction is reversed is compensated. ‘The compensation amount is specified with the feedback pulse unit of the position detector, The setting range is 0 to +9999 pulses,Chapter 1_Controller Specifications 1.4.9 Protective functions {Emergency stop] ‘When emergency stop is applied, all commands will be stopped, and the machine movement will be decelerated and stopped. ‘The movement will also decelerate and stop as with emergency stop when the power is shut off. [Stroke end] ‘A limit switch and dog are set in the machine, and when the limit switch kicks the dog, the machine movernent will stop. An alarm will simultaneously be output to the machine side. ‘The stroke end information is retained, and when the axis is escaped from the dog by feeding in the “77% MLL reverse direction in the manual mode, the alarm state Movable area will be canceled, Ifthe alarm state is still entered, the program operation will be prohibited, and moving in <¢——— ——_ the fist direction wil not be possible even with the Mevenen Movement possible manual mode. ‘current poston [Soft limit] This is a memory-type stroke end function. The movable range is set in the parameters with coordinate values, The difference with stroke end is that with soft limit the movement decelerates and stops before the fimit point. ‘There are set maker and user parameters, and the one with the narrower range is valid. “The setting range Is -99999.999 to +99999.099mm. If the same data with signs is set for the max. value and min, value, the soft limit function will be invalidated. Y ‘upper iit {intertock] If the interlock signal is turned OFF with an external input, the machine movement will immediately decelerate and stop. When the signal tums ON again, the movement will resume immediately. ‘The interlock signals include the manual interlock signal that is valid during manual operation, and the automatic interlock signal that is valid during program operation. The + direction and ~ direction signals aro separate for each signal, eo 1 Time 1 Interlock ON] _oFF_[ON signal ~ Decelerates and stops when ‘Movement resumes when the the interlock signal tums ON, interlock signal tums OFF. -14- O[Edit lock] The internal data can be protected with the edit lock signal. Lock signal Prohibited items Program lock | Writing of point program Program lock 2 __| Reading and writing of point program! Parameter lock 1__| Changing of parameters for set maker PLC lock 1 ‘Writing of PLC program PLC lock 2 Reading and writing of PLC program’ 1.4.10 Operation mode [Program operation mode] This mode automatically operates the point program. Before starting, the No. of the point (0 to 7) where ‘operation Is to be started is designated, and the start signal is input. The axis will move to the position ‘commanded by the selected point No, Whether to continuously execute the next point No. or to stop the operation is controlled with the ‘continuous operation signal. In the multi-point mode, the program will be continuously operated to the last point No. In the single-point mode, the operation will stop when the commands in the designated point No. are completed. To operate the next point No., the point No. designation must be changed, and the start sequence repeated. [JOG teed} In the JOG feed mode, the axis can be moved in the manual mode when the movement direction and feedrate are input. When the input of the movement direction is ended, the axis will immediately decelerate and stop. [Incremental feed] {n the incremental feed mode, the axis will move a set amount when the movement direction, movernent scale and feedrate are input. When the movement direction is re-input, the movement will resume, [Reference point return] In the reference point return mode, the reference point return (zero point return) can be executed with the same inputs as JOG feed. Whether to use pertime dog-ype or memory-type is set with the parameters. {PLC operation mode] In this mode, the point program is created with the PLC, and the point program is operated, The point program is created in the file regi =15-Chapter 1_Controller S| 1.4.11 External control IMC reset] This resets the controller. When this signal is input, the following reset operations will take place. 1) The axis movement decelerates and stops. 2) The resettable alarms are reset, 3) The M strobe is reset. 4) Program operation stops. Designate the point No, when restarting, 5) The resetting signal is output. [Operation start} ‘The program or PLC operation is started, The operation is also removed during automatic off. [Feed hold] If this signal is turned OFF during program or PLC operation start, the operation will stop, and the (> automatic off state will be entered. The operation will not resume even if the signal is turned ON again.“ The axis will decelerate and stop. When the timer is being executed, the timer count will be held and stopped. [Continuous operation] When this signal is turned ON, the next point No, will be continuously executed after the point No. positioning being executed is completed. When this signal is turned OFF, the program or PLC operation will be stopped and the block stop state will be entered after the point No. positioning being executed is completed. 1.4.12 Status output [Servo READY} This signal is output when the servo system enters the operation READY state, [in-automatic start] Oo This signal is output when the program operation or PLC operation starts, This signal will turn OFF during feed hold and block stop, This signal will also tun OFF when execution of the last point No. Is completed. [In-automatic off] if the feed hold signal turns OFF during program operation or PLC operation, this signal will turn ON. ‘The operation off state will also be entered if the operation mode is changed to the manual mode, [In-atarm] This signal tums ON when the controller detects and alarm. The following signals will also be output depending on the alarm type. 41) Servo alarm 2) System alarm 8) Program error 4) Operation error ~16-[Battery alarm} When the power is turned ON, errors are checked for in the battery. If an error is found, this signal will | be output. Lin-reset] This signal is output when the controller is reset. [Movement command completion] This signal will turn ON when the movement command is completed during program operation or PLC operation. This is used to process the M command after movement is completed. [Position switch] ‘A maximum of 8 points can be set in the parameters for the memory-type dog signal. If the machine o Position is within the setting range, this signal will turn ON. This is used for the area signal. [Power off movement over] This signal will be output with an alarm if the machine positions at power off and power on exceed the tolerable error in the absolute position detection system, 1.4.13. Axis control functions [Servo OFF] The drive section is turned OFF with the servo OFF input signal. This function prevents the servomotor from being overload by the ctamp force when the movement axis is mechanically. clamped. Whether to compensate (return to original position) the movement amount during servo OFF or to update the machine position when the state is changed from servo OFF to servo ON is selected with A parameters. The axis will be interlocked during servo OFF. ‘ Movement during Movement 00 OFF uring sorve OFF —»s-- —» 1+ Update movement amount during servo OFF to machine The movement amount rg postion counter, sen OFF ie compensated, a Sone OFF point gtums to postion whore Seno OFF ‘010 was tured OFF) Pe [Follow-up function] ‘The machine movement during the emergency stop state is monitored, and the machine position is updated. Thus, reference point retum does not need to be redone after emergency stop. [Rotary axis control] ‘The coordinate system for the rotary axis is handled as 0 to 359.999", Short cut control in which a short cut direction is selected for the command and moved is selected with parameters, -17-Chapter _1_Controller Specifications 1.4.14 Data connection [Serial connection] ‘A 1-channel serial interface can be used. This teaching box or personal computer can be connected to this channel. ‘ Interface : RS-282-C (accordance) 1-channel FS-422 (accordance) 1-channel Baud rate : 9600BPS (fixed) Protocol: &-bit data + even parity + 1-bit stop (fixed) [MC link B connection} ‘Serial connection of the remote /O unit DX100 (DI: 32-point, DO: 82-point) is possible. 1.5 Servo control function 1.5.1 Smooth high gain control Using an outstanding response and stable position loop control (SHG contro!) method, the positioning time and machine vibration during acceleration/deceleration can be reduced, and the tracking can be improved. 1.5.2 Absolute position control Absolute position detection is possible when using the servomotor with absolute position detector. This motor position is retained even during servo OFF or when the power is turned off Either the dog-type or dog-less type (stopper, reference point) can be selected for the zero point initialization method. 1.5.3 Torque limit value changeover ‘Two preset torque limit values can be changed over with parameters. O 1.5.4 Deceleration control during emergency stop external emergency stop is input, or i an undervoltage or servo alarm (excluding some) occurs, the motor will be decelerated and stopped according to the set time constant. if the time constant setting is long, stopping with ttle shock is possible, Note that position loop step stop must be set for the axis with mechanical brake. 1.5.5 Dynamic braking ‘The dynamic brake will function when alarm that cannot be controlled with deceleration stop occurs. ~18-1.6 Point table (program) 1.6.1 Configuration of point table ‘One movement is a point table unit, A maximum of 8 points can be continuously programmed. Point data {absolute value) ‘Command postion [Speed [timer [m Revel Jeommana| command command| $620 2899600890 1.6.2 Point table creation method ‘The point program is input to the controller with the teaching box. For PLC operation, the point data with ‘the same configuration is oreated in the file register, and random movement can be controlled with the PLC. ‘The position to actually move the axis can be input in the point table command position using the teaching box’s teaching function, 1.7 Built-in PLC ‘The Mitsubishi single-axis amplifier builtin controller “Model E* is configured of the control blocks *PLC control section’, “System control section" and “Servo control section" as shown on the right. Operations including starting and stopping are started after the PLC analyzes the signal input from the controller and outputs a ‘command to the "System control section’, The "PLC control section’ operates according to the “standard PLC program’ set as a default, or according to the ‘user PLC program’ created by the user. The “standard PLC program* can be randomly edited, and used as the base for creating the ‘user PLC program’. The default state can be returned to with the touch of a button, Refer to the separate material ‘PLC Instruction Manual (BNP-82072)" for how to create the "user PLC program’. -19- Digital inputfoutput signal DIO Input O1 so Output 004.7.4 User PLE program [Specifications] Language Ladder language Program size 500 steps/RAM 20 types of basic commands, 41 types of function commands D.D.B. interface Possible Usable No. of commands [Development tools] The following tools can be used for user PLC program development. MELSEC development device: AGGPP/AGPHP, A7PHP, A7HGP Personal computer (PC98) software for MELSEC development : SWOINX-GPPA ry Ve 2 Standard PLC program ‘The ‘standard PLC program’ is the basic usage method. This program is arranged so that point table operation and manual operation is possible with external input signals.1.7.8. Digital input interface i The digital input signal interface is used to control the controller operation from an external source, notify the operation state to the external source, or to control the peripheral devices. For the digital input interface, 8 common input points, 8 common output points, 1 skip signal input point, and 1 emergency stop input point are mounted on the controller unit. When using the ‘standard PLO program*, the following functions are assigned to each point. Dow Connection DIO Reset cr ‘Operation mode designation code 1 ‘Operation mode designation code 2 {Note 1) Operation mode designation code &,, ‘Machine start and miscellaneous function completion {xis stat +, oF point No, code + Digital nut ‘xis start =, or point No, coce 2 signal ‘Speed designation, or point No. code 4 Skip (This cannot be changed even ‘When using user PLO} Emergency stop (his cannot be changed even when using user PLC) ‘Servo READY Inautomatic start Inautomatio of Digital ‘Movernent completed ‘output signal ‘Miscellaneous code (M) strobe M code 1 output Mode 2 output M code 4 output 0¥ (ground (Note 4) The details assigned to XS to X7 wil differ according to the operation mode. Refer to "Appendix 3 Explanation of digital input/output interface during use of standard PLC" for details. ~ateChapter _1_Controller Specifications 1.7.4 Expansion digital input/output Interface By serially connected (MC link B) the remote 1/0 unit FCUA-DX100, the interface can be expanded by 32 input points and 32 output points. Refer to "Chapter 7 Remote l/O unit specifications" for details. 1.8 Setting and display functions [Setting and display unit] The teaching box CT200 can be connected as a setting and display unit. Refer to *Chapter 5 Teaching ‘box CT200 specications for details. ‘A 2.digit 7-segment LED is mounted on the upper front of the controller, so the operation state and ‘occurrence alarm Nos., etc., can be easily displayed. 1.9 Self-diagnosis [Selt-diagnosis display] ‘The various alarms detected in the controller are displayed. ‘The cause of stopping or why starting is not possible is displayed. During emergency stop, the cause is displayed, (1) Main unit 7-segment ‘The state of the alarm occurring is displayed on the 2-digit 7-segment LED on the main unit. The No. of the alarm that is occurring is sequentially displayed. (2) Setting and displayed unit ‘The No. of the alarm that is occurring is displayed. [Servo monitor] ‘The status of the servomotor such as speed and load current is displayed on the teaching box CT200 monitor, [input/output interface] ‘The status of the digital input/output interface is displayed on the teaching box CT200 monitor. With forced definition, a random interface can be forced defined. [History monitor] ‘The latest 24 alarms that have occurred are saved as alarm history, and can be displayed on the teaching box CT200. ‘A maximum of 128 points of changes in the input/output interface can be recorded and displayed on the teaching box CT200. [PLC monitor} ‘The ladder monitor function can be used by connecting the following MELSEC peripheral devices. + MELSEC development device AGGPP/AGPHP, A7PHP, A7HGP + Personal computer (PC98) + personal computer (PC98) software for MELSEC development SWCINX-GPPA ~22-| CHAPTER 2 Servomotor SelectionChay 2_Servomotor Selection The servomotor capacity, positioning method, and use of reduction gears can be selected according to the application. Utra-tow inertia, ermal |, ‘Medium inertia, medium capacity Series name | oarctiy HME! seves| miners, mall eapacty HAFEIFH series Prrectepies Motor type HAME HAE. AFH Motor ~ W~ OW ely | ocekW~ oak 05K ~ 0.6K Positioning ‘neremental, Fostion Inorernental Inorementat ‘reremental 2.1 Configuration of servomotor name Ha - SH [70] [2] [B) [al - ¥]- Sabet Sait od None | Sea she no teyray i Tape Seah ah no roway Symbol Detector None Termenta a ‘Symbol Reduction gears None None 3 wh Sri | Negrete baton None None 3 veh a Srabol| ted peed oO 7 {000 min 2 “an in A 2000 in. OW 6 ‘00W To0W 3 50W 00 10 | 100007 ‘20007 12 | 120007 00" 15 _| 1500" oO 20 | 20000 ‘Symbol Output | Symbol | Output a 1: 2 3 4 52.2 Servomotor specifications TAME ees Featxee trowel mal expec Poston detain method Troma vee ral weoss [ wero | wees | meee | Mere cont. [Pacdovout ean] aos} ox] o2| oa] ove uous, Prats ove Wri] 016 | ose | oe | 1a] 2a teristics Rated torque (xghem)} 162 | 325 | saa] tao] 244 ated opoed i) sooo ox speed a) 00 ow [ om] 19] 0] va m Mex torque en) (stem 487 974 195 390 | 73.4 Power a (evisooi] 230 | maze | arco | vase | rane Moment of Gaon’ 0021 | oo | on | ose | ove ineia "Jao? potent] cee | oe | oaa | are | 200 Speedipotion deecor Encoder 1000P Fv rsoirion 000760) toate’ par reader [Srocte Fuliyove,eltooing (ro fam) J tient ompaatre OW aoe [wont to] a] om] 12] se] os MC10-01 Pe mo we10-03 eee camestse | eros i ca] os or| or{ 1 = 25-Chapter 2_Servomotor Selection ¢ HA-FE/FH series TAFE eles TAH oes Features Toone, eral capaci ‘Lowe, sal cxpany Postion detection method Tremont oso velueneemental hype wal reoss| Pero | Feza | remo | revo | reoo | rosa] ria | rca | race | pres | ress con [Rawdon wen] 00s | oa | a2] os| oa] os | om] oa| o2| os| oa| 08 reous Tratorroque evn] ore | oae | oor | oae| x3 | 19 [ore | ace | oe | oos| va | 10 teristics [Rated torque agtem)] 162 | a25| 65] e7| 130] 195 | 162 | a2s| ss] 97 | 130] 193 Rated epood (ing ‘30001 Max. speed na) 000) 048 | 005 | +9| 29] 28] 57 | oas| os | 19] 29] ae] 57 ‘4a | ov | 195] 202] 29] ses | aa6 | a7 | 19s | 202| 20 | sos 8\8 Max. torque (Nm) faghom] Power rate ‘wwvscey] a0] o2 | ty | sea] za] aor | a0] we] nr er| walon| Vononaf) teen? ccs | 010 | 05 | oso | oss | 12 [oss | o10| oss | oso | ose] 12) ~~ inertia [ao acgrom™] o2s | ose | 14| 20] a9] 48] 025 | ove | 14] 20] 39) 48 Seeed/posion detector Encoder 1000P fev, esoution AO00PIe Encoder 2008/ie, resolution 6000P Hey Mounted part Encoder, Ving Eneoder Vang oe rade | Jambient temperature oo~ 40 oO~ ae Weight volts] s[ 28] 26] <2] «8| 19] 15] 20] 26] 42] 48 wero [oo 5 wei008 a ee a MPi0-10 wPi020 iPower faciity capacity eva’ oa] os| o7| ov] ta| 1] os] o3[ ov] o7| mj i+ HA-SE/SH series TASE 1000 nin. sees | HASE 2000 cin series FASE 9060 in. eres Features Mem ierla, medium aabaciy Fosiion detection method ‘noremental Hee waa] seat ] Sever | sea0r | seca | Sete | sever | seaoe] ses | Sc10s | Seves | oeaus lcont- [Ratedovpot mw] oss} 12{ 20] os] +o] 15] 2o[ os] 10] 15] 20 ruove, lated torque (Wl 12} 115 | tox | 200 | ave] 716 | 96s [150 | a1 | are | 60s teristics [Rated torque (kgtom|| 2.8 | i170 | 1760 [ 244 | 4a7 | 731] o74| t62| 325 | 407 | 650 [Rated speed (cin g| 1000 "2000 3000, Max. speed ‘cin 7200 7200 2000 Za] oa | wa] 76] ea] oe] cos | arr] oes | vas] waa Na. torque (Nn) fetem 248.0 | 3510 | sa5.0 | 73.1 | 146.0 | 2190 | 2920 | 467 | 974 | 146.0 | 195.0 |Power rate (kWisec.)] 22.3 | 19.3 | 27.8 se] ne] we] 132 26 52 77 59 ‘Moment of LJ a-om®] 205 | eas | 1910] 08 | 196] 25| 035| 90| 196] cos | cos inertia Gor (kgtom*if 118.0 | 2740 | 526.0 [ 292] 724 | 1180 | 2740 [202 | 7a4 [ 1180 | 2740 Speedipostion detector Encoder 1000, resoltion 4000Pev Mounted pars Enooder, ol sea Suture Falyosed,setcooing JP [Ambiont temperature 70 ~ 406 woiant wl_«] a] =] |] #| «| as] |] #] «| a weIGaT P1009, Cerassie | ~ weroas zy M1010 M1020 Power factity capacty GWA! til 17] as] a] i7) sw] 35[ mm] i] a7] 35] TASH 1000 min, coves | RASH 5000 tain aren TREH 8000 nin. eo [Features Medium inertia, medium capacity Poston delecion method ‘Absoite valifnarernental Hype Tal sver | Saves | sreor | Shee | etivce | sitse | avene | sree | Gavea | Stes [ Sans cont [Rated ovtpet toil os] 12] 20] os] ol 15] 20] os] +o] 15] 20 uous, Jratectorque (wml 12 i158 | vs | 200| ave] 716 | 955 | 150 | a1] ave | Gas isistes [Faec torque Gatem] —eza | avo | 1750 | 24 | «a7 | 7a1 | ova | sea | eas | aa7 | e50 Fated speed ‘cing "1000 2000 3000 Max. speed ‘cin "200 2200 2000 tex wus oem) vote =] 4 [ora [re aa [ ore [ms [av] oes [ a [an - 248.0 | 351.0 | 505.0 | 731 | 146.0 | 2190 | 2020 | 407 | 97.4 | 146.0 | 195.0 Power ate (Wieoi| 223) tos] aa] sa[ na] we] w2{ 26] s2{ 77} so Vonentot| Joon] as | ses [110] o8| 196] os] ess| oa | woo | mos | ons ineria" * [GO atom 1180 | arao | sa50 | so2| rea | w1e0 | 270 | wo2| rea | v1a0 | 2740 |Speed/position detector Encoder 4000P/rev, resolution 16000P/rev_ [Mounts pars Encoder, ol sea Stu Falyosed,stlzo0 [Ambient temperature 70 ~ 406 [Weight tks)} 16 24 42 46 21 & 12 16 21 ion MCIo08 Corppasse | wcr005 EES == = MC10-10, ol ese a a MC10-20 LS E ee Fomor tacty capaciy WA] ia | a7 | ss} aa| a7 a7] ss| aa] a7] a7] a5Chapter 2_Servomotor Selection 2.3 Outline of servomotor HA-ME0SS, HA-ME13 31 Unit: mm = PCR-S20FS ‘PCR-LS20L.At Detector cable 0.3m Changed dimensions] ‘Type HA-ME053 765 HAME13 945 (with 1.26-4ineulatea.§ ———> ‘imp terminal) HA-ME23, HA-ME43 Unit: mm Grounding 34_,| 1 ES terminal ©} +--+ -P yy ONS 2| GY a z |_peres0rs Moog power supply lee wire PCRLSZOLAI {oi 1254 isated Detector cable 0.3m ‘imp terminal) Changed dimensions |, Type HA-ME23 96.5 HA-ME43 124.5HA-ME73 Grounding 1.34_.| | serine 145, 140__,) Unit: mm rf | PRR é CI | om |PCR-S20FS t PCR-LS20LA1 Datector cable 0.3m {ith 1.2544 insulated ‘rimp termina) SE AT Bai ft ie PSY UE. ‘Motor r supply lead wire ae teepreeChapter 2_ Servomotor Selection HA-FE053(B), HA-FHOS3(B)-Y HA-FE13(B), HA-FH19(8)-Y Grounding torrinal L Note Terounaing terminal poe Unit: mm ‘Note 1), Dimensions shown in parentheses are for ie absolute position detector. ‘Note 2) Dimensions shown in parentheses are for the moter wth magnetic brakes, 4 —- SS55 S$ 8 a | § 4 5 T ly | hPower supply ead wire ' 1 \tesdout tame Detector cable Power supply lead wie EB] leadout ame VoTR: sx1.23*- 05m of [J vetector cable osm {win 12544 insuaied (wit tp connecter) ‘rime terminal = With nerementa detotor + Wh abeohute postion detector Changed dimensions L Changes simensions L Te, Note 2) oo FAFEOSSE) 704 (196) HAHOSSE)Y 08 (149) HAFETO(8) 118 (169) HAFHIO(B}Y, 723 (158) HA-FE23(B), HA-FH23(B)-Y HA-FE33(B), HA-FH33(B)-Y Grounding terminal + With incremental detector L 54 (39), Note 4) \geuee ES wncersije \wtasatisne “HES SE] esses Signy exe owe 050 (with tip connector) ‘Crose-cection AA a Unit: mm Power supoly load wire VOTR: Gxt.25°- 0.6m (with 1.25-4 Insulated crimp terminal) With absolute position detector nersine | inersere | Type Note 2) Type C HAFE2S (6) 1426 (163) HA-FH23(8)-Y_ 431 (168) vaeresve) |v 00 Trig) | 05 ‘Note 1) Dimensions shown in parentheses are forthe absolute postion detector ‘Note 2) Dimensions shown in parentheses are forthe motor with magnetic brakes, =90-HA-FE43(B), HA-FH43(B)-Y HA-FE63(B), HA-FH63(B)-Y Grounding L 40 100 ering! }36(43) Note 1) 10 35 25,8 al ‘136- TNs) - ving x A-os le roan eo] NI Detector cable eactout ame @ tead-out frame “\ potector cable 0.5m Fovaenboosiiees Ms x08 screw Depth 20 Power supply lead wire VOTF: 31.25% - 0.5m. ox ain (with 1.25-4 insulated ‘im termina) + Wi incremental detector + With absolute postion detector Granged diversions | ranged dimensions | Type Note 2) Type HAFEAS) 760 (187) TAHOE 135 (82) HAFESS(6) "5 02) HA-FHES(@) 170 (07) [Note 1) Dimensions shown in parentheses are for the absolute position detector. [Note 2) Dimensions stiown in parentheses are forthe motor with magnetic brakes. -3t-Chapter 2_Servomotor Selection HA-SE81(B) HA-SH81(B) Unit: mm HA-SE52(B)~HA-SE152(B) HA-SH52(B)~HA-SH152(B) HA-SE53(B)~HA-SE153(B)_HA-SH53(B)~HA-SH153(8) Motor te “000 wnin. sees | 2000 dinin. sees | 9000 rn. ses Senet _[ teeter visvoee) | tasrene) | 20@7) | staaen | 1a tkSireey | hesmnesey | 290%. | 254000 164 wang [ese | ses [oom | 0 [= ‘Note 1) Dimensions shown In parentheses are for the motor with magnetic brakes. [Note 2) There are no changes In the dimensions forthe incremental specifications and absolute value specifications. HA-SE121(B)~HA-SE201(B) HA-SH121(B)~HA-SH201(B) ‘Unit: mm’ HA-SE202(B) HA-SH202(8) HA-SE203(8) HA-SH203(8) NSSTO2RDP Granged dimensions] L Motor o0 wa | xe | xc | > | ce | we | oon nin. | 2000 amin, | 9000 tin. ‘SE motor SH motor FASE I2vE) | W-SEARaI) | HASERDOE Hester |Hasnaoate [naswzaae) | 27769) | 2sztezo | ves | us | eo | 2 | 8 | | IE HASEZD(8) Hs shen ‘Note 1) Dimensions showa in parentheses are for the motor with magnetic Brakes. ‘Note 2) There are no changes in the dimensions for the incremental specifications and absolute value specifications, ‘ea9(40e) | ss0ee7) | 198 | 115 | 80 | 22 | 99 | 99 | 206CHAPTER 3 Peripheral Device SelectionChapter 3_ Peripheral Device Selection 3.1 Main circuit related 3.1.1 Selection of power capacity, non-fuse breaker, magnetic contactor Power facility Magnetic Controller commeitekvay | Nor-tuse breaker | eaters. FOUAMP10-01 08 NF3O type 5A FOUAMP10-03 o7 NF3O type 10A exio FCUA-MP10-06 1 NF3O type 10A " FOUAMP10-10 17 NFSO typo 150, FOUA-MP10-20 36 NFO type 208 Skis 3.1.2 Wire size selection Wire (mm?) Terminal block Controller RST | U,V,W | PC | Magnetic brake | Screw size FOUAMP10-01 2 2 2 FOUAMP10-03 2 2 2 M35 FOUAMP10-06 2 2 2 1.25 oe + FOUA-MP10-10 2 2 2 FOUAMPI020 | 35 a5 23.2 Magnetic brake related \ 3.2.1. Power supply for magnetic brake Refer to the following table and select the exciting DC24V for the magnetic brakes, | ‘Motor Powor supply ee SS eu — 100 ow eo Dskernor coan~ acon | 2000 ~ so 7 O7her ner am, Sana Daher nor aa Taher moe eam, (Reference example) The ZKF-OW, type power supply unit which generates the exciting power supply DC24V for the magnetic brakes from ACZ00V is given as the example, pS] la le +s ret TR : Transformer 498 (ZKFSOW,) Installation RF : Rectifier ‘3-06 (ZKF-30W,) . hole R_ ; Protective resistor or varistor 2.08 (wiring hole) L_ : Exciting coil for brakes S_ : Switch ‘ZKF-W, type power supply unit ‘outline dimension drawing ZKF-W, type power supply unit outline dimensions Ta | Ome | ovr | om [Se [Be [Ae Lape fefole|efefuls [ge we) ow “ ea, = epee ee ee ee ae zarsow, | 7 1a | 15 | 225 | 190] 95 | 15] 50 | | oo | 2 | se 3.22 Surge absorber Always use a surge absorber to cut the DC for the miagnetic brake power supply. (Outline dimension drawing (mm) 185, 4741.0 “Tiss. 08, aowax aaOMAK |Chapter 3_Peripheral Device Selection 3.2.3 Magnetic brake characteristics ‘The characteristics for the magnetic brake used for holding in the motor with magnetic brakes are listed below. When used for the vertical axis feed, the brake prevents the axis from falling when the power is turned OFF, and also prevents collisions to provide a double safety means for the dynamic brakes. during emergency stop. Do not use these brakes for braking other than stopping or emergency stop, of else the Ife will drop remarkably. TAFT ores HASCeniee tem Furness seisrisa—is2 [Seitz 201 Fomns) | Fumes | fumes | SoSiso~tss | estan Type (Note 2) ‘Spring biking type safety brakes: tod vlogs Doe Doe Crating oot [When cad BOO) 7 @ = By rectatence When hot (95°C) 144 tot 7 49 30, Capac wm) 7 7a a 8 25 ‘Aaton euret @ | ars 02 08 os 04 Drop eurnt w | _c06 008 an axe 02 Sais ticionl oa Weataha) [osm | ie | eae | raven | ma 00 avert sine pee 3) aceon | oman | corn | omen | sascn Faanse delay tina (Note) | _—_008 008 oa oor rr Braking caay [AC OFF (Ro. a) 008 030 0x2 ox ae ‘ne "nete 4) | OC. OFF (Figs. 5, o) 0.01 0.03 0.03 0.03 0.03 Tolerable braking | Per braking (E1) 3.9 (0.4) 18 (1.8) 46 (4.7) 390 (40) 4400 (450) ne) Pe now sea | voce | seo. | e000 400) | «1000 Goon) Brae pay troiarstan tea) | _oa~as | o2~a0 | oa~is 02~08 30000 tines [e000 mes | 0.000 times [20000 mes] 20G00 ume vith braking [oh braking wih baling | braking | with braking Bake te (oe 1) Smountot’® —Jamcurtot 38 [amount 47 |emeunt of 0 | amount of 2000] 7 Gem) per | em) per [bom per | Nem) par” | Ne) por O raking [braking [Braking [braking | braking ‘Note 1. The braking gap wil widen because ofthe brake lining wear caused by braking, but the gap cannot be adjusted. Thus, the Iie of te brake ie up when adjustment is required, The 20,000 time life is equivalent to § timesiday for 10 years, andthe ile inversoly proportional to the work amount per braking. 2 The motor doos not have a manual release mechanism. if handing Is required during alignment ofthe machine ete. prepare a separate DCZ4V power supply, and electrically release the brakes. '& For the motor with magnetic brakes, this isthe valve loaded on the motor without brakes. ‘A This is the valve at 20°C for the inital attaction gap. '. The braking work amount (E1) ofthe brakes i indioated with the following expression (Work amount = 0,041 x (motor GO? + load GD4) x (apld traverse motor epeed® x 10° “The work amount (E2) per hour is calculated by multiptying the work amount (Et) per braking with the No. of braking times per hou 6, Aways prepare a separate power supplies forthe machine interface DIO signal and magnetic brake, =96-3.2.4 Example of connecting power supply for magnetic brake + Examples of connecting the brake exciting power supply are shown in Figs. ato c, ais forthe AC OFF, and b and c are for the DC OFF. + The braking delay time will be shorted with OC OFF, but a surge absorber must be installed on the brake terminal. 2BVAC Aci00V RF or suey Acz00V , Lv Fig. a_ Example of AC OFF brake exciting power supply RF Acioov ow ‘Acz00V s VAR Magneto brake Magneto brake Fig. ¢ Using stabilizing power supply T_: Transformer RF: Reotifier VAR: Surge absorber -37-Chapter 3_Peripheral Di Selection 3.3 Regenerative resistor related 3.3.1. Selection of regenerative resistor ‘The controller does not have a regenerative resistor, so one of the following must be used, Refer to the next section “Regenerative brake characteristics" to select the regenerative resistor. Controller | Pegenerative | Tolerable Changed dimensions (mm) resistor type | power A B c D E F G H J FCUA-MP10-03,06] MR-RBO1S- 10W 110 | 101 | 65 | 18 | 35 | 16 | 45 | 18 | 32 FCUA-MP10-10,20| MR-RBO3S- 30w 192 | 173 | 152| 26 | 54 | 22] 6 26 | 32 Exterior installation of a regenerative resistor is required for the FCUA-MP10-03 (300W) W or more. Always prepare a regenerative resistor. ) c J hole Panel the installation fiting is removed {or the MF-REO1G, installation 28 shown fon the right wil be pessibie. 1M sorew «Always use a twisted wire for the regenerative resistor, and keep the length as short as possible (5m or less). + The regenerative resistor will radiate a heat of approx. 100 deg. so do not directly install it on a wall susceptible to heat. Either use a non-combustible wire, or enforce non-combustible treatment (silicon tube, etc) to prevent contact with the regenerative resistor. =38-3.3.2 Regenerative brake characteristics ‘The regenerative energy generated during deceleration is absorbed by the capacitor in the controller or radiated and consumed by the regenerative resistor. The regeneration method for each controller capacity is shown below. j L ‘Standard Option | contre | gente | resem | amare) ona nomen iene Erna sanneoot| SE vont sett FUR MPI0-08 MR-RBO1S s MR-RBOSS- “0 FOUENPOO| reat 7 20 FUUA-MP10-10 | resistor -Fwo MA-RBOGS units 64 FUUA-MP10-20 ‘connected in paraliel. 25 om Note) The tolerable regeneration frequency refers the tolerable frequency {times/min.) in one minute to stop from the rated speed. [Selection of regenerative resistor] Use the following as a guideline to determine whether the optional regenerative resistor is required, (@) For horizontal axis N_ : No. of positioning times in machine side specifications (times/min.) Load inertia/motor moment of inertia Operation speed/rated speed n D1: Tolerable regeneration frequency for standard specifications (times/min.) D2: Tolerable regeneration frequency for standard specifications (times/min.) ‘Standard specifications whenN< 2x x (1 Standard specifications when N > m+t n BD pte met “ia! (b) In the following cases, obtain the regenerative power during operation, and use so that the tolerable heating value Is not exceeded. + When the operation speed frequently changes + When a constant regenerative state is entered such as during vertical feed Controller | Standard | Option FUUAMP10.03 | _10W 30W. FUUAMPt0-06 | __10W 30w FUUAMP10-10 | _60W FUUAMP10-20 | GOW.Chapter 3_Peripheral Device Selection [Calculation of regenerative power) The regenerative energy when a Vertical moving axis lowers can be calculated with the following ‘expression, E : Regenerative energy w Motor shaft conversion inertia. (kgecm’) : Rapid traverse motor speed (¢/min) Unbalance weight (kg) Vertical axis full stroke (nm) 298 (misec*) ue [2eNe ee tote we ge TL. 08 60 1000) If the vertical frictional force is large during lowering, subtract the frictional force from the unbalance weight, and use the result as the unbalance weight. mo ‘The tolerable repeatable positioning frequency D, can be expressed with the following expression using _/ the calculated regenerative energy E and the regenerative resistor’s tolerable heating value Wr. Compare this with the actual operation pattern, and select the regenerative resistor. ) D, = 60 x WHE (times/min.)CHAPTER 4 Installation -4t-Chapter 4_ Installation 4.1 Installation conditions of controller ‘The controller and remote 1/0 are designed to be installed in a fully-closed cabinet. When installing in the cabinet, observe the following items. 4.1.1. Working environment conditions + Ambient temperature : 0 to 55°C (with no freezing) + Ambient humidity: 90%RH or less (with no dew condensation) + Vibration + 8.9m/s* {0.6G} or less Inner panel temperature specifications. To ensure the servo drive's life and reliability, the average inner panel temperature should be 40°C or less. 4.1.2 Installation direction and clearance (GZZZZLZLLL Install each unit so that the front can be seen. ‘oornm'or more Refer to the drawing on the right, and secure ventilati ccontoter ‘space around each unit for heat radiation and wiring sore or oe (Wing tones) WZZZZZZZZ 080m ‘10mm o¢ more 4.1.3, Prevention of foreign matter entry Enforce the following measures on the cabinet, ‘+ Dust proof and oil proof the cable inlets with packing, etc. ‘= Take care so that the outdoor air does not enter the inside the unit from the heat radiation holes, etc. + Block all clearances. O + Securely install the door packing. + Ifthere is a rear cover, always attach packing. + Oil will easily accumulate on the top, and may enter the cabinet from the screw holes, so take special measures such as oil proofing packing. + After instaling each unit, avoid machining in the peripheral area, The cutting chips, etc., may adhere to the electronic parts and lead to faults. Cable inlet (example) ~42-4.2 Heat radiation measures (1) The average temperature in the cabinet should be 55°C or less to ensure the reliability and life of each unit. (2) Mix the air in the cabinet with a fan if the heat tends to accumulate at the top. Example of heat radiation measures (1) In-panel average temperature : T = 55°C (2 Panel ambient temperature: Ta = 0°C ~ 45°C (9) Internal temperature rise value : AT = T-Ta (max) = 10°C Procedure for heat design to verification (1) Expression for calculating cooling performance Cateulate total heating value of each mounted unit (W) of sealed cabinet (sheet steel) T Wt =U x Ax AT cate Soo vance Ot ca ‘AT: Internal temperature rise value (10°C) Salestete ootng perfomance of cabinet’) Ut WI x °C «nan. With internal mixing fan we a, Wim? x °C". Without internal maxing fan p< Compare W and Wi> A : Valid heat radiation area m? (Area in which cabinet heat can be we wt tatatec) Selection of heat exchanger When calculating the valid heat radiation area, do not include the Ly Mounting design sections that contact with other t items. (2) Precautions for heat radiation measures during Colecton of ier tempera ee dtbalon dala Fronaune aes ‘+ Consideration of cabinet convection ats 190 (Glimination of heat spots) * Collect high temperature air to panel intake at > 106 port on heat exchanger Tannen (8) Judgment criteria for internal temperature rise distribution data ——<—S ‘AT (average value) < 10°C Compliation AT max (max. value) = 15°C R (inconsistency ATmax - ATmin) < 6° (Judgment of existence of heat spots) Example of mounting and introduction to temperature (AT) measurement positions (Reference) ‘© : Temperature rise measurement point (example) Heat ‘exchangerChay istallation 4.3 Controller heating amount ‘The loss generated during a rated load of the controller is shown below. Use the values below during the heat design of the fully-closed control panel, taking the worst conditions into consideration. In the actual machine, the heating amount will be the value between the rated operation and zero torque according to the duty during operation. If the motor is not used at the max. speed, the nominal output of the motor will drop. The power capacity will also drop from the values in the table, but the heating amount of the servo driver will not change. Controtier Controtier heating amount | #8 requed 10" | AP gimension Type Coreg | toa aw (oe (eum) FCUA-MP10-01 25 15 Os 280W x 300D x 300H FCUA-MP10-03 35 15 07 350W x 400D x 300H FCUA-MP 10-06 40 15 0.8 400W x 400D x 300H_ FCUA-MP10-10 50 15 1.0 400W x 400D x S00H FCUA-MP10-20 90 20 18 400W x 400D x 1000H The heat radiated during regeneration is not included in the controller's heating amount. The heating amount of the brake resistance is shown with an approximate expression below, so ifthe starting frequency is high and the controller's heating amount cannot be ignored, secure a heat radiation area that includes the following value. (GDB + GOE) x NP xf, Sexe MI @DE ; Motor shaft conversion load moment of inertia [kgf-cm*] Dil: Moment of inertia of motor itself Ukgfecm’] N+ Motor speed [r/min] 4, No. of decelerations Itimes/min.]| 4.4 Grounding measures and grounding treatment The shield of the shield cable connected to the controller must always be connected to the grounding to prevent malfunctioning by noise and to stabilize the system operation. The shield can be connected to the grounding with either a lead wire or a clamp fitting. Treat the shield ! ‘cable referring to the following drawings. Example of connection with lead wire (1) Peel part of the cable sheath to expose the shield ‘as shown in the drawing, and press that part against the grounding plate with the cable clamp Grounding plate ‘iting. @ If the cable is thin, bundle several together and clamp. @ Take care to not damage the wire when tightening the cable, and tighten with an appropriate strength. (4) Connect each grounding plate and ground to one point, When manufacturing the clamp fitting and grounding plate, refer to the "Clamp fiting outline and dimension Grawings* on the next page. These parts can also be orcered from Mitsubishi. ~45-Chapter 4_ Installation Normally, the shield wire only needs to be connected to the case frame of the connector. However, the effect can be enhanced by directly connecting it to the grounding plate as shown on the right. Install a grounding plate near each unit, peel part of the cable sheath to expose the shield, and press that part against the grounding plate with a clamp fiting, as shown on the right. f the cable is thin, bundle several together and clamp, Directly install the grounding plate to the cabinet or connect with a grounding wire 0 that a sufficient frame grounding can be achieved, Contact Mitsubishi when the grounding plate and clamp fitting set AERSBAN- CSET is required. 26 hole Note 1) Screw hole for wiring to cabinet grounding plate Note 2) The grounding plate thickness is 1.6mm Outtine of clamp fitting Shield shigath Cable Clamp fitting A | B | © | Accessory tittings L AERSBAN-DSET | 100 | 86 | 30 | Two clamp fittings A ‘Clamp fitting A | 70 AERSBANESET | 70 | 56 | — | One clamp fitting B Clamp fitting B | 45 -46-CHAPTER 5 Teaching Box CT200 Specifications -47-Chapter 5 Teaching Box CT200 Specifications “The teaching box C7200 is a man-machine interface used to set the parameters and point data, ete., in the controller and to view the operation status of the controller, 5.1 General specifications ‘Ambient temperature ‘Oto +45°C (no freezing), storage ~20 to +65°C ‘Ambient humility ‘9036RH or less (no dew condensation) Environment [Atmosphere No corrosive gases or dust Altitude 1000m or less Vibration ‘8.9m/s* (0.6G) or less ‘Structure Fully-closed The power is supplied from the controller unit. 5.2 Outline dimensions of teaching box CT200 12 7 Vala depth 4 - {65 must not be 5 ‘exceeded) VC Outline drawing of CT200 cable Cut dimension when installing on panel (GT 200 side 2ot holo 5 Panel cut 8 438 Santo unit fp Fate ft ‘section [5 7 cn € 42 385 ROIO Installation dimension drawing looking from front ~48-5.3 Functions of teaching box CT200 Hem Detaits Parameter Setting, display and saving of parameters Point table Creation, editing and teaching of point table Monitor Machine position, servo status ‘Alarm display, operation stop/emergency stop cause isplay, servo monitor, input/output interface diagnosis, istory monitor LOD display (t8-character x 4-tine) Self-diagnosis Cc Function key {|| @@aF) GW) Gera) en ‘Operation keys Axis start keys: fal |_ __Gomms) —( Reset key )Chapter 5_ Teaching Box CT200 Specifications [Memo]CHAPTER 6 Remote I/O FCUA-DX100 Specifications cos |Chapter 6_Remote /O FCUA-DX100 Specifications ‘The remote I/O FCUA-DX100 is a unit used to expand the machine input/output signals (DIO). ‘An MG link B exclusive serial connection is used to connect with the controller. 6.1 General specifications Working ambient temperature 0 to 55°C Storage ambient temperature -20 to 65°C Working ambient temperature 40 to 75%RH (with no dew condensation) ‘Storage ambient temperature 40 to 909%RH (with no dew condensation) Vibration resistance 0.5G or less (during operation) Impact resistance 8.06 or less (during operation)/ 10G of less (during transportation) Working atmosphere No corrosive gases or dust Power static. akV (P= P) Power voltage DC2aV + 5% Ripple +5% (P - P) Tolerable momentary power failure time ‘Consumed power 2AV OTA ‘ Only control circuit consumption amount. During operation of all points in machine input/output interface circuit, 6.2 Outline dimension drawing VW6.3 Connector layout and functions ©6080 Front view PARE Base view ingvONOTONDNONONENTON (Rear) DIL (Machine input signal connector) © _RIO2 (Serial connection connector #2) DSt (Baud rate changeover switch) © _ DOIN (0C24V power input connector) €81 (Channel changeover switch) DO-L (Machine output signal connector) RIO (Serial connection connector #1)Chapter 6_Remote 1/0 FCUA-DX100 Specifications 6.4 Connection Machine contro! panel, Remote YO unit power distribution FCUA-DXx100 panel, eto. 300 cable o2avt Fo. ‘Sabiizing power supply separately) so \ iouoaoNanOy youOTEOU (i BaseInput (D1) connector DEL | BTA 20_ [x09 _fau9, 1s xo Pa as_}x02 [m2 11 [x03 [a3 A20pin_ B20 pin 16_| x04 | x14 | a bios bas 14 [x05 ras 13x07 Dur | 12_[xos_[ xis. 11} x09 Png ' 10__|xoa [xia ' xos | xB. i oO coc _| x1 tf 7 [xo [aap ¢_[xor hae 01 pin 801 pin s__|xor | xr + Connector type: Rat 4050 4 ao (able connetor: 7940850056 1 ot foaten cauleng am) |[-2 Preevitec TT); 1b ot 1 it t Contact output (DO) connector th DOL 1 A t fro ‘ 19 Tvox [vit ' ‘Ao pin B20 pin 3s_[vo2_| v2 ' ar ¥03 [is 1 tt 16_ [vos [vis 1 35_{¥os [vis i oO Fae V¥06 Pn 1 1s_lyor Tz ' xz vos vie | i Tos {919 ' [0 _Tyoa ya ! 9 [vos | vip ' Uf 3 |yac [ric ! bn 7 f yon | v1. i forpnBotpin tye rie HE H+ ‘Connector type : Flat opin ryor_| vir | i ‘Gable connector: 7940-65008C 4 { (bath cauiking 9m) [3 ' 2 _[azavl Ro { 1_[azavl_aG ' 1DO2AV power supply ' Input connector ! 12 Pin No_[ Signal | 1 1___Pct2av IN 2 2 RG 3 3 FG Connector: DS1008 (Japan AMP) Sane a eNO Cable connector: 21782883 (Japan AMP) Gannecton tor Contact common = DO+24VChapter 6 Remote 1/0 FCUA-DX100 Specifications 6.5 Digital signal input circuit [Input circuit] Either "contact common DC24V connection* or ‘contact common GND connection" can be used for the input circuit, For contact common For contact common DC24V connection GND connection .-- DO2AY connection --SNEgonmection : wl a ef 2a] [conor _ i |e LB | ork x } work ae io ee Input signal conditions CY Input voltage during external contact ON 6V or less Me Input current during external contact ON 9mA or more Input voltage during external contact OFF 20V or more Input current during external contact OFF 2mA or less Tolerable chattering time ‘ms or less (refer to T1 in following figure) Input signal hold time: 40ms or more (refer to T2 in following figure) Input circuit operation delay time ‘Sms < T3514 = 20ms ‘Machine side contact capacity +30V or more, 16mA or more 2 7 i L_ iil 4 i tril | TS 4 Ba a" oO [Output circuit] ‘The digital signal output circuit is an all-point sink (open collector) output, Use within the following (Machine side) speetfications range. Output conditions Insulation method Non-insulated Rated load voltage DC+24v Max, output current 60mA Lamp ‘Output delay time 40us ‘ sane oh = When using an inductive load such as a relay, always connect a diode (withstand voltage 100V or more, 100mA or more) in parattel with that load, + When using a capacitance load such as a lamp, connect a protective resistor (R= 1500) in serial with the load to limit rush currents. (Make sure that the current, including the instantaneous current, is less than the above tolerable current.) = 56 -| Appendix 1 Peripheral Device Cable Manufacturing Drawingsndix_1_ Peripheral Device Cable Manufact Drawings Reference drawings for FCUA-R010 cable manufacturing ‘Application: Cable between controller and teaching box CT200 Assembly drawing View of C1200 side connector Contro! uit side (C1200 side [ a Lusi Or Co ROO Connection drawing (C7200 side Control unit side SND GND. RoI sor GND GND BV 5yReference drawing for FCUA-R022 cable manufacturing Application: Cable between controller and GPP ‘Assembly drawing Expansion unt ede PP side Option (compatible connect et) Fouacsoce List of par Ne[_Patnametypo | Waker [Oy + [Semester [cumtome su] + Connector case 2 | Sannedtoease Titman] 1 Wire 3 |urzozre awaasxior | Mower | Connector 4 | stezan (a rose ft Connector case 5 | pte20n.cA (20) Hose | Nove () Connection drawing ax, cable length: sor Expantion unt side GPP side THO a] xo TxD 14] XOX RxD 10] 1x0 XD 16) Txo« sR 11] oT Bsr 17] ore ome 9] osx OTR DsRe GND co ND oxo GND ‘GND SND ‘GND crsins-2320) 5 LE case trame Notes for manufacturing (1) For the wire, use a 10-pair twisted strand equivalent to the UL20276 standard AWG28 (0.08mm*) covered with a shield. (2) The above parts are the recommended parts, Equivalent parts may be used if the specifications are compatibie. (®) Attach the nameplate with protective cover, on which the cable name is stamped, at the position ‘specified in the assembly drawing, (@) Fold the wire, shield back over the sheath, and wrap copper foil tape around it. Then, clamp with the connector case frame. (©) The part 1 connector and part 2 connector case are pressure welded types. if soldered types are preferred, use the connector 10120-3000VE and connector case 10320-52F0-008 (both made by Sumitomo 3M). Case frameReference drawing for FCUA-R300 cable manufacturing Application: Cable between controller and machine distribution panel ‘Assembly drawing ‘Option (compatible connector st) FCUA-CN300 (Note that only the remote VO unit ‘side connector is compatible) et of parts Ne| Part namefype Maker [Gv ‘Connector 1 | etaespose Sumitomo aM | + 2 [Wie B05 Note) [a Connection drawing ‘Max. cable length: 50 ‘Tha No. 1 pin cable is colored. emote VO unit side Machine distribution @ panel side FCUA-R300-014 Note (2) Notes for manufacturing (1) The above parts are the recommended parts. Equivalent parts may be used if the specifications ‘are compatible, (2) Attach the nameplate, on which the cable name is stamped, at the position specified in the assembly drawing,Reference drawing for FCUA-R301 cable manufacturing Application: Cable between controller and recommended terminal block Assembly drawing ‘Option compatible connector se) FCUR-CS901 (Note that only the remote UO unit ‘side conneotor is compatible) Us of pats Ne| Pat namefype Maker [W. Connector 1 oreo Sumitomo sm] 2 2 [Wie 840-8 Rowe | Strain lief 3 | Sean rte Sumitomo sm] 1 Connection drawing “The No. 1 pin cable Is colored. Mex, cable length: 60m Fema vounsse GG DO reserencea Note 2) Notes for manufacturing (1): The above parts are the recommended parts. Equivalent parts may be used if the specifications are compatible. (@) Attach the nameplate, on which the cable name is stamped, at the position specified in the assembly drawing, () The recommended terminal block is VO terminal BX1F-T40 (Izumi Denk).Appendix 1_Peripheral Device Cable Manufacturing Drawings. [Memo]Appendix 2 Motor End Detector Cableppendix 2_Motor End Detector Cable Reference drawing for FCUA-R060 cable manufacturing Applicable motor: HA-FE series Conttor . Motor sige connector side connector PA PAR PB PBR Pz PZR THM 24g PU PUR pv PvA Pw. PWR +58V 45y, GND 48v GND 7” CASE GND PLATE Note 4) If the cable length is 10m or more and 30m or less, connect +-5V/GND in parallel as shown with in the drawing, Note 2) Treat the driver side connector shield to the case grounding plate, Controller side | Motor sige | Cable specifications ‘Connector 10120-3000VE MR-20RF, Case 10820-52F 0-008 MB20LK2 | Use a 0.280 twisted Manufacturer | Sumitomo 3M Honda Tsushin_| Pair shield wir, Both connectors can be supplied with option CS060.Reference drawing for FCUA-R061 cable manufacturing Applicable motor: HA-FH series Contzollor Motor sie connector side connector mo | 6 12 MO*| 16 13 wa] 7 4 Max! 17 3 MOH] 5 24a | 18 sat | 9 4 18 +ov | 19 +5y | 10 8 GND} 1 2 +sv | 20 7 + GND] 11 1 Eto 20 7” CASE GND PLATE Note 1) If the cable length is 10m or more and 80m or less, connect +5V/GND in parallel as shown with in the drawing, Note 2) Treat the driver side connector shield to the case grounding plate, Gonironer side | Motor side | Cable specifications Connector 10120-3000VE_| PCR-E20PMAS-SL Case 10920-52F0-008 | PCR-S20PMLA2 | Use a 0.280 twisted Manufacturer | Sumitomo 3M Honda Tsushin | Pair shield wire, Both connectors can be supplied with option S061Appendix 2_Motor End Detector Cable Reference drawing for FCUA-R074 cable manufacturing Applicable motor: HA-SE series Contoter Metor side connector side connector PA | 2 esa e PAR | 12 tt be | 3 aU 4 PBR | 13) " 1 pz | 4 e c: pze | 14] v 5 15 pu | 6 e PUR | 16 t pve | 7 : 7 1 @TIO> PvR | 47 pw | 8 ce - PWR) 18 T s5v | 19 HER Or b H 1 i LL 1 ssy_| 10| t eno] 1 ff \ +5v | 20: GND| 11 a b A > conse eno musre Note 1) Treat the driver side connector shield to the case grounding plate. Conuotier side Motor side Cable specifications ‘Connector: 10120-3000VE ‘MS-3057-12A Case "10320-52F0-008 | _MS3108B20-298 | Use a 0.25Q twisted Manufacturer ‘Sumitomo 3M. (TT CANON ai shiold wire. Both connectors can be supplied with options CS054, CS050. A~10Reference drawing for FCUA-R075 cable manufacturing Applicable motor: HA-SH series Conteotor side connector Mo | 6 MD#| 16 wR | 7 MR] 17 MOH 24G BAT +8v s5y GND +5y. GND ‘CASE GND PLATE Motor side connector Note 1) Treat the driver side connector shield to the case grounding plate, Both connectors can be supplied with options CS054, CS050. Gana ste | Waiore| cant pecans Connector 10120-3000VE MS-3057-12A Case 40320-52F0-008 MS310882029S | Use a 0.280 twisted Manufacturer ‘Sumitomo 3M. iTT CANON, pair shield wire, A-11Appendix 2_ Motor End Detector Cable Reference drawing for FCUA-R062 cable manufacturing Applicable motor: HA-ME series Controller Motor side connecter ide connector pa | 2 PAR | 12 PB 3 Per | 13 pz_| al PZR | 14] te + 15 5 "1 in 5 n n HW un pu_| 6 e 16 Pur | 46 & 18 Pv pvr | 47 pw | 8 10 Pwr | 18 & +5v | 19 ul i sy | 10 tt GND] 1 iv t! Dg +sv | 20. GND] 11 20 A> caseono nunte Note 1) Treat the driver side connector shield to the case grounding plate, Controller side ‘Motor side connector connector Connector 10120-3000VE MR2ORF Case 10320-62F0-008 MR-2OLK2 Use a 0.280 twisted Manufacturer Sumitomo 3M Honda Tsushin pair shield wire. Both connectors can be supplied with options OS054, C050. Cable specificationsAppendix 3 Explanation of Digital input/output Interface during Use of Standard PLCAppendix 3_Explanation of Digital input/output Interface during Use of Standard PLC [Outline] ‘The standard PLC is the PLC program stored beforehand in the control software, ‘At shipment from the factory, the standard PLC is already registered in the PLC memory. The standard PLC can be easily read into the PLC memory from the control software at any time, and can also be revised. The standard PLC is modified so that program operation and manual operation can be done with basic operation method. The digital input/output interface is as described below, [Digital input/output interface assignment table] Input signals Device ‘Abbr. Signal name Connector pin No. XO RST Reset DIO-208 xt MDI Operation mode 1 9A x2 M2 Operation mode 2 0A ‘Operation mode 3 xs Mp4 («006) (or reference near-point detection) 17a Program operation start and miscellaneous. xa st function completion 168 x5 Pi - 168A, Differs according to operation mode x6 P2 14a x7 P4 («OT 4/4) une ena to operation mode 413A x8 SKIP ‘Skip input 2A x9 =EMG Emergency stop 7A = 4. Signals with an asterisk are handled as B (back) contacts. 2 Ifreference near-point detection or the stoke end signals are not required, each of these can be used as the MD4 and P4 signal. Use the parameters to set which signal is used. 8, The details of the P1 to P4 signals differ according to the selected operation mode. O ) Output signals Device ‘Abbr. Signal name Connector pin No. Yo SA ‘Servo READY DIO-1A Yi STL In-automatic operation 410A Y2 SPL In-automatic off 9A ¥3 DEN Movement completed 8A Ya ME Miscellaneous function (M strobe) TA YS Mt 6A Y6 M2 M code output 5A Y7 Ma aA An14[Detailed explanation of signals] (1) Xo (RST) ‘The reset state will be entered when this signal is ‘The following reset operations will take place during resetting, + The axis movement decelerates and stops. + The resettable alarms are canceled. + The miscellaneous function strobe is reset. + The program operation stops, and a point No. is designated for restarting. (2) Xt to X3 (MD1 to MD4) ‘The operation modes are as follows according to the X1 to XB combinations (ON/OFF). ‘When using X3 as the reference near-point detection signal («D0G), the operation modes will be those possible with the X1 and X2 combinations. put. Device | Signal name Combination Operation mode Xt MD1 x3 [xe [xi xe Mb2 OFF | oFF | OFF ‘Single-point operation x3 (4) oFF | OFF | ON Multi-point operation orF | on | OFF Reference point return corr | on | oN JOG) ON | oFF | OFF Incremental ON | OFF | ON | Automatic initialization setting ‘oN [on | FF ‘on | on [ on (9) x4 (ST) This functions as both the program start signal and miscellaneous function completion signal. Program operation signal : The point program operation is started. Miscellaneous function completion signal: This signal notifies the machine controller that the miscellaneous function (M) has been commanded, received by the PLC, and the designated operation completed by the PLC. AW153 Explanation of Digital (4) XS to X7 (P1 to P4) XS to X7 have the following meanings depending on the operation mode. — For program operation (single-point operation, multi-point operation) mode — Ifthe single-point operation or mutti-point operation is selected for the operation mode, the No. of the point to be started is designated with the combination of XS to X7 (ON/OFF). In this case, the selection is set before the input of the start signal. For multi-point operation, the operation will start and continue from the designated point No. When X7 is used as the stroke end signal (sOT+/-), the point No, designation possibte will be that with the combination of X5 and X6. ut/output Interface during Use of Standard PLC. Device | Signal name Combination _| 5. ignated point No. x5: Pt x7_|_xe_| x6 x6 P2 oFF | OFF | OFF Point No. 1 x7 (Pa) wa oF | OFF | oN Point No. 2 oFF | oN | oFF Point No. 3 oFF | on | on Point No. 4 ‘on | oFF | OFF Point No. ‘on | oFF | ON Point No. 6 ‘on | ON | OFF Point No. 7 on | on | oN Point No. 8 — For manual operation (reference point return, JOG, incremental) mode — If the manual mode (zero point return, JOG, step) is selected for the operation mode, the combinations will have the following meanings. When X7 is used as the stroke end signal (+OT.+/-), the ‘speed parameter 1 selection and ‘feed scale x 100" settings will be fixed. Combination x5 x6. x7 Operation mi ‘ON ON OFF ON Reference point return ‘Speed parameter | Speed parameter JOG puis start + | Axis start - | 1 Selection 2 selection m Incremental Feed scale x 100 | Feed scale x 10 A-16 O[Output signals] (1) Yo (SA) This signal notifies that the servo system can be normally operated. If this signal is not ON, it means that the servo (position contro)) is not functioning. (2) Y1 (STL) This signal notifies that the machine controller has been started by the program operation start, and that ‘@ movement command or miscellaneous function (M) command is being executed. (@) Y2 (SPL) This signal notifies that the machine controller has been started by the program operation start, and has been interrupted by a program stop signal, etc, during execution of a movement command or miscellaneous function (M) command. (4) Y3 (DEN) This signal notifies that the machine controller has completed the axis movement command. This is used to process a miscellaneous function (M) command after movement is completed during program operation or PLC operation, (6) ¥4 (MF), Y5 to Y7 (M1 to Ma) This is the miscellaneous function (M) strobe and M code output signal, The timing of each is as follows. ‘Speed Fpeereraion, ian, Sesleration time time 1 M strobe (4) i i L ! tL M code XC conimand value {7 ' t s~¥n ‘Completion ! | | | Samer” pf A-17x MITSUBISHI ELECTRIC CORPORATION (96.10) ROD Printed in Japan