Mitsubishi Electric Melsec A Series User manual

MELSECASeries
Programmable Logic Controller
User's Manual
(Hardware)
A1SD71-S7
Positioning Module
MITSUBISHI ELECTRIC
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
1
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
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
Pin
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]
5V
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.

Pin
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
2
1
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
A
2
1
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
A
A1SD71-S7
READY
SERVO X
-ERR Y
X BUSY
Y BUSY
X ZERO
Y ZERO
HOLD
BAT
WDT ERR
LOCK
OFF
M.PRO
1)
4)
5)
2)
3)
No. Name Description
LED Contents
READY Lights when the A1SD71 ready signal goes ON.
X
Y
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.
1)
LED indicator
READY
SERVO X
-ERR Y
X BUSY
Y BUSY ER
R
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.