Mitsubishi Electric Melsec A Series Manuale utente

MELSECASeries

Programmable Logic Controller

User's Manual

(Hardware)

A1SD71-S7

Positioning Module

MITSUBISHI ELECTRIC

IB(NA)-66489

Version B

INDUSTRIAL AUTOMATION

DANGER

CAUTION

zSAFETY PRECAUTIONS z

(Be sure to read these instructions before using the product.)

Before using this product, read this manual and the relevant manuals introduced

in this manual carefully and handle the product correctly with full attention to

safety.

Note that these precautions apply only to this product.

Refer to the user's manual of the CPU module for the PLC system safety

precautions.

Indicates that incorrect handling may cause hazardous

conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous

conditions, resulting in minor or moderate injury or

property damage.

Note that failure to observe the CAUTION level instructions may also lead

to serious results according to the circumstances.

Be sure to observe the instructions of both levels to ensure personal safety.

Please keep this manual in accessible place and be sure to forward it to the end

user.

[DESIGN PRECAUTIONS]

DANGER

zConfigure a safety circuit so that the safety of the overall system is maintained even

when an external power error or PLC error occurs.

An accident may occur by a false output or a malfunction.

(1) Outside of the PLC, construct mechanical damage preventing interlock circuits

such as emergency stop, positioning upper and lower limit switches.

(2) During zero return operation, the module is controlled by two data: zero return

direction and zero return speed, and speed begins to decelerate when the near

point dog turns on. If the zero return direction is set incorrectly, the module may

continue to operate without decelerating. To prevent damage to the module in

such cases, configure an interlock circuit outside the PLC.

CAUTION

zDo not bunch the control wires or communication cables with the main circuit or

power wires, or install them close to each other.

They should be installed 100 mm (3.9 inch) or more from each other.

Not doing so could result in noise that would cause malfunction.

[INSTALLATION PRECAUTIONS]

CAUTION

zUse the PLC in an environment that meets the general specifications contained in

this manual. Using this PLC in an environment outside the range of the general

specifications could result in electric shook, fire, malfunction, and damage to or

deterioration of the product.

zInsert the tabs at the bottom of the module into the mounting holes in the base

module, and tighten the screws using the specified torque.

If the module is not properly installed, it may result in malfunctions, failure, or

fallout.

zSecurely connect a drive unit connector and peripheral connector to the

corresponding connector of the module.

If not attached properly, a contact error may occur, resulting in incorrect input or

output.

zAlways attach a cover to connectors that are not used. If not covered, malfunctions

may occur.

zDo not directly touch the module's conductive parts or electronic components.

Doing so could cause malfunction or failure in the module.

[WIRING PRECAUTIONS]

CAUTION

zCheck the terminal layout and then wire the module correctly.

zBe sure there are no foreign substances such as sawdust or wiring debris inside

the module.

Such debris could cause fires, failure, or malfunction.

[STARTUP AND MAINTENANCE PRECAUTIONS]

DANGER

zConnect the battery correctly. Do not charge, disassemble, heat, short-circuit,

solder the battery or throw it into the fire, as these may cause injury or fires due to

heat generation, blowout or ignition.

CAUTION

zMake sure to switch all phases of the external power supply off before cleaning.

If you do not switch off the external power supply, it will cause malfunctions of the

module.

zDo not disassemble or modify the modules. Doing so could cause failure,

malfunction, injury, or fire.

zMake sure to switch all phases of the external power supply off before mounting or

removing the module. If you do not switch off the external power supply, it will

cause failure or malfunction of the module.

zWhen performing test operation, set the parameter for the speed limit value to a

slow setting and prepare for an immediate stop of the module should a dangerous

condition occur during operation verification.

[USAGE PRECAUTIONS]

CAUTION

zNote that the all parameter settings are controlled based on the initial values if

parameter setting is not made or a parameter error (set value is out of the range)

occurs.

[DISPOSAL PRECAUTIONS]

CAUTION

zWhen disposing of this product, treat it as industrial waste.

Manual

The following table lists the manuals relevant to this product.

You can order them as necessary.

Relevant manual

Manual name Manual No.

(Model code)

Positioning module type AD71(S1/S2/S7),A1SD71-S7(S7)

User's Manual IB-66563

(13JE98)

Detailed Manual

Manual name Manual No.

(Model code)

Teaching unit for positioning module type AD71TU

Operating Manual IB-66067

(13J706)

Positioning module type AD71(SW0-AD71PE) Operating

Manual IB-66099

(13J707)

1. Outline

This manual provides the specifications, part names and I/O interfaces for A1SD71-S7

positioning module (hereinafter referred to as A1SD71).

After unpacking A1SD71, confirm that all products shown below are included.

Product name Quantity

A1SD71-S7 positioning module 1

External wiring connector

(Model)

Connector FCN-361J040-AU

Connector cover FCN-360C040-B

FUJITSU COMPONENT LIMITED

2. Performance Specifications

The performance specifications of the A1SD71 are shown below.

Item Specifications

Number of I/O points 48 points (number of occupied slots: 2)*

Number of control axes 2 (simultaneous or independent)

Interpolation Linear interpolation (for simultaneous 2 axes)

Capacity 400 points pea axis

Positioning

data Setting

method Input from A6GPP, A6PHP, A7PHP, A7HGP, A7LMS,

AD71TU or sequence program

RAM memory backup 15 minutes without battery (25 )

Lithium battery guarantees power failure backup for a

total of 300 days. Battery guaranteed for five years.

Method Absolute and/or incremental method.

Positioning

units

Command method can be selected for each axis from

the following four types.

1 to 16,252,928 (pulse)

Max 162(m)

(command unit: 0.1 to 10 m/pulse)

Max 16200 (inch)

(command unit: 1 10-5 to 0.001 inch/pulse)

Max 16200 (degree)

(command unit: 1 10-5 to 0.001 degree/pulse)

Positioning

speed

Command method can be selected for each axis from

the following four types.

10 to 200000(pulse/sec) (command unit: 10 pulse/sec)

10 to 120000(mm/min) (command unit: 10 mm/min)

1 to 12000 (inch/min) (command unit: 1 inch/min)

1 to 12000 (degree/min) (command unit: 1 degree/min)

Item Specifications

Acceleration

and

deceleration Automatic trapezoidal acceleration and deceleration

Acceleration

and

deceleration

times

64 to 4999(ms)

Backlash

compensation 0 to 65535 position command unit (0 to 255 pulses if

unit is pulse)

Positioning

Error

compensation

The A1SD71 calibrates mechanical errors in the

positioning control mode and velocity/positioning control

switching mode.

Zero return With zero address change function.

Zero return direction and speed can be selected.

Jog operation function Jog operation by jog start signal input.

Inching function Operation using manual pulse generator.

M function M code output

Internal current

consumption 5 VDC 0.8A

External supply voltagel,

current 4.75 to 26.4 V max 50 mA

Size mm (inch) 130(H) 69.5(W) 93.6(D) (5.12 2.74 3.69)

Weight kg (lb) 0.38 (0.84)

Remark

* I/O allocation for the 2 slots are as follows.

First-half slot : 16 vacant points

Second-half slot: 32 special-function module points

Refer to the user’s manual of the PLC CPU for the general specifications.

3. Input/Output Interface

number

I/O Internal circuit X

axis Y

axis

Signal Description

5A 7A Common 5 to 24 VDC (external supply)

5B 7B

Drive unit

ready

(READY)

(1) LOW indicates the servo drive unit is ready and feed

pulses are receivable.

(2) The A1SD71 checks the drive unit ready signal prior

to start. If not ready, the A1SD71 turns a zero return

rquest ON.

(3) Arrange for drive unit errors, e,g, a control power

error, to set this signal HIGH.

(4) Switching the signal to HIGH during positioning stops

the operation. Resetting the signal will not restart the

operation.

6A 8A

Stop signal

(STOP)

(1) Low to stop positioning. Signal duration 20 msec or

more.

(2) A1SD71 stops positioning by using this signal and

switches the start signal OFF (HIGH). When switching

from HIGH to LOW, positioning is not started.

6B 8B

Zero-point

signal

(DOG)

(1) Used to detect near-point DOG during zero return.

(2) In case of zero phase method of zero returning, a zero

point will be a position where the first zero signal of

resolver is given after the DOG is turned OFF.

1A 3A

1B 3B

Manual

pulse

generator

A phase

PULSE A

2A 4A

2B 4B

Manual

pulse

generator

B phase

PULSE B

Input pulse voltage level

2ms or more

1ms

or more 1ms

or more

(Duty ratio 50%)

Pulse width:

Phase difference:

Timing:

Positioning

address (present

value) increase if

A phase leads B

phase.

Input pulse rise/fall time 500 s.

The manual pulse changes a positioning address as

shown below.

0.5ms or less

A phase

B phase

Positioning

address -1 -2

Positioning

address +1 +2

High: Voltage 4.5V or more, Current 3mA or more

Low: Voltage 1.0V or less, Current 0mA

+20%

-10%

[Increase] [Decrease]

A phase

B phase

A phase

B phase

9A 10A

Input

9B 10B

Zerophase

signal

(PGO)

(1) Used as the zero signal at zero return. The zero-

phase grid signal of the pulse encoder is normally

used LOW at zero.

(2) Used when the zero return method uses stopper stop

and zero return complete is extemally input.

number

I/O Internal circuit X

axis Y

axis

Signal Description

11A 13A

11B 13B

Start

(START)

(1) LOW while positioning.

(2) ON (LOW) during feed pulse output and dwell. Used

as a brake release signal for servos with mechanical

brakes. Feed pulse is output after this signal goes ON.

12A 14A

12B 14B

Error

counter

clear

(CLEAR)

Given before and after zero return.

Resets deviations in the servo error counter.

20ms

(1st time) 20ms

(2st time)

Before feed

pulse output After feed

pulse output

CLEAR

17A 20A (+)

24V poert

17B 20B (+)

5 to 15V

power

5 to 24 VDC (external supply)

17B and 20B for 5 to 15 VDC.

17A and 20A for 24 VDC.

Power is supplied from either of them.

Miswiring may cause module failures.

Point

A type B type

15A 18A

15B 18B

Forward

feed pulse

PULSE F

Feed

pulse

PULSE

B type

Forward and reverse feed pulse.

The operation direction follows the direction

sign (SIGN).

SIGN

PULSE

25ms + direction travel - direction travel

16A 19A PULSE F

Output

Internal circuitInternal circuit

16B 19B

Reverse

feed pulse

PULSE R

Direction

sign

SIGN

A type

PULSE R

4. Names of Each Part

The following shows the name of each part.

A1SD71-S7

READY

SERVO X

-ERR Y

X BUSY

Y BUSY

X ZERO

Y ZERO

HOLD

BAT

WDT ERR

LOCK

OFF

M.PRO

No. Name Description

LED Contents

READY Lights when the A1SD71 ready signal goes ON.

SERVO

-ERR Lights when the READY signal from the servo unit for the X or Y

axis goes OFF.

X BUSY Lights when the X-axis BUSY signal goes ON.

Y BUSY Lights when the Y-axis BUSY signal goes ON.

X ZERO Lights when the X-axis zero return request signal goes ON.

Y ZERO Lights when the Y-axis zero return request signal goes ON.

HOLD Lights when there is an A1SD71 hardware fault.

LED indicator

READY

SERVO X

-ERR Y

X BUSY

Y BUSY ER

X ZERO

Y ZERO

HOLD

BAT

WDT

BAT

WDT ERR Lights when the battery error signal or WDT error signal goes ON.

2) Keyswitches

M PRO

OFF

LOCK

Sets memory protect for the setting data and positioning data areas.

Cancels memory product for the setting data and positioning data

areas.

Prohibits a pulse train output from the A1SD71.

3) RS-422

connector Used for connections with a peripheral device such as an A6GPP,A6PHP,

A7PHP, A7HGP, A7LMS and AD71TU.

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