MITSUBISHI ELECTRIC

Controllers,
Servo Amplifiers
& Motors

Motion
Controller
MELSEC A

Technical Catalogue

2002/2003
Mitsubishi Electric Motion Controllers

Today’s mechanical engineers demand superior motion control

systems to keep pace with the rapidly-growing use of automation
trol
Motion Con
in modern plants and machinery.
Mitsubishi motion controllers are capable of controlling up to 32

Systems
servo axes using our reliable high speed SSCNET. With reduced
wiring and easy connections, a very simple and flexible but power-

MELSEC A
ful system can be achieved.
Mitsubishi motion systems give you the accuracy, power and high
response that are critical to the success and profitability of your
business. They enhance your machines’ flexibility, reduce down
times, optimise your machine administration and make it possible
to achieve shorter delivery periods.

Further Publications within the Factory Automation Range

Technical Catalogues Servo Amplifiers

Technical
Product catalogues for servo amplifiers, motors and accessories
Technical Catalogues MOTION System Q

Catalogues Product catalogues for motion controller and accessories

for the MELSEC System Q

Technical Catalogues Inverters

Product catalogues for frequency inverters, control panels,
and accessories
Technical Catalogues PLCs
Product catalogues for programmable logic controllers and
accessories for the MELSEC series
Technical Catalogue Networks
Product catalogue for Master and Slave modules as well as
accessories for the use of programmable logic controllers in
open networks and MELSEC networks
Technical Catalogue HMI
Product catalogue for operator terminals, process visualisation
and programming software as well as accessories

Additional Services
You will find current information on updates, alterations, new items, and technical support on MITSUBISHI ELECTRIC's web pages
(www.mitsubishi-automation.com).
The products section of the MITSUBISHI home site includes various documentations of the whole product range by MITSUBISHI ELECTRIC as well
as the current version of this catalogue on hand. All manuals and catalogues can be downloaded. The content is updated daily and to date is
provided in English and German.

About this catalogue

Due to the constantly growing product range, technical alteration, and new or changed characteristical features, this catalogue is updated
frequently.
Texts, figures and diagrams shown in this product catalogue are intended exclusively for explanation and assistance in planning and ordering the
motion controllers and the associated accessories. Only the manuals supplied with the units are relevant for installation, commissioning and handling
of the units and the accessories. The information given in these documentations must be read before installation and commissioning of the units or
software.
Should questions arise with regard to the planning of modules described in this product catalogue, do not hesitate to contact the German branch
of MITSUBISHI ELECTRIC EUROPE B.V. in Ratingen or one of its distributors (see cover page).

© MITSUBISHI ELECTRIC EUROPE B.V. 11/2002 (3rd edition)

2 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 CONTENTS

MOTION CONTROLLERS

SYSTEM DESCRIPTION
웇 Mitsubishi Motion Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
웇 System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
웇 Motion Controller product range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
웇 Overview on hardware components and accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
웇 Overview on servo amplifiers and motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
웇 CPU specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

SOFTWARE
웇 System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
웇 Software description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
웇 Software functionality. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
웇 Application examples of the programming environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
웇 Software details SV13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
웇 Software details SV22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
웇 Motion SFC programming. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
웇 Overview of the different software packages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

ACCESSORIES
웇 Pulse generator/synchronous encoder interface unit A172SENC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
웇 Cables, connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
웇 Manual pulse generator, serial absolute synchronous encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

DIMENSIONS
웇 CPU base and extension units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
웇 Serial absolute synchronous encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
웇 Manual pulse generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

APPENDIX
웇 Order form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
웇 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 3

SYSTEM DESCRIPTION

Mitsubishi Motion Control

Motion control geared to the needs of

your specific application
Now you can have a motion control CPU U
n CP
and a PLC CPU in one integrated unit! MotioPCPU)
(
While the motion CPU (PCPU) handles the
mon
motion control via a connected servo amp Com mory
me
of the MR-J2S-쏔B series and motors of the
HC-xxx쏔쏔 series the PLC CPU (SCPU) CPU n Bu
s
ence Motio
communicates with the programmer and Sequ (SCPU)
the other system modules – for example EC
MELS function
I/O modules and special function modules l
speciamodule
of the MELSEC AnS/QnAS series.Both CPUs EC
MELS odule
BUS I/O m
share common registers and memory, PLC
EC
which drastically enhances efficiency and MELS ications
un
comm module
overall system performance. EC
MELS t module
igen
Motion controllers can tap huge perfor- EC
intell
mance reserves for optimising production MELS odule
I/O m NET Servo fier
processes and improving product quality. SSC ampli
Servo fier
Today, motion controller systems play a ampli
Servo fier Moto
r
dominant role in machine tools, printing ampli
and paper processing machines, modern Moto
r
packaging machines, filling and canning Moto
r
machines in the food industry, grinding,
polishing and engraving machines, X-Y-Z
indexing tables and many automation and
handling systems in semiconductor pro-
duction lines.
Mitsubishi motion controllers can contol Powerful programming drastically faster servo amp response
4 (A171CPUN), 8 (A172CPUN) or even up to environment and programming tools times and ultra-short movement cycles.
32 servo axes (A173UHCPU) simul-
A powerful, Windows-based programming Mitsubishi motion controllers can syn-
taneously.
environment ensures a fast learning curve chronise up to 32 axes simultaneously. Pro-
for new users, despite the power and gramming is performed quickly and effi-
complexity of the system. ciently online with a Virtual Mechanical
High speed synchronous communica-
Editor. Mechanical master shafts, clutches
tion network: SSCNET The comprehensive range of standardised
and gears can be replaced by more effi-
software tools cuts programming time.
SSCNET (Servo System Controller NET- cient electronic versions. And you can for-
All parameters and settings are configured
work) is a high-speed synchronous serial get about time-consuming text program-
with a standard software package; no sep-
communication network that delivers bet- ming!
arate servo setup software is required!
ter performance and more reliability than Complex mechanical processes can be
conventional control networks. SSCNET The motion controller and its associated
solved with graphical cam disks (CAM).
supports batch control of up to 32 axes servo drives and motors are also config-
The logic of the motion controller is pro-
and fast and simple connections with ured directly on the computer screen. The
grammed in instruction list (IL), ladder dia-
one-touch bus cabling. individual combinations of system compo-
gram (LD), function block diagram (FBD) or
nents are checked through automatically
in IEC 1131.3-compatible structured text.
and any errors are signalled immediately,
thus eliminating the possibility of system
crashes!
Mitsubishi Electric’s specially-developed
SFC sequential function chart language
isolates the system’s multitasking opera-
tion from external influences. This means

System configuration (see figure on the right)

앬 The motion controller integrates motion and sequence control functionality in a single compact package.
(220mm wide, 130mm high and 110mm deep) (A172B CPU base use).
앬 I/O capabilities can be expanded as follows by adding PLC extension units A 171SH : max. 512 points, A172SH : max. 1024* points and
A173UH : max. 2048* points. One extension unit can be connected.
*The real I/O points can be used within the range of the main base unit and one extension unit.
햲
앬 Supports MELSECNET II, MELSECNET/B, MELSECNET/10 and CC-Link networks
앬 Batch control of 50 W – 7 kW servo motors is possible in combination with the MR-J2-B servo amps in an SSCNET communications
network. A171SH: max. 4 axes; A172SH: max. 8 axes; A173UH: max. 32 axes.

4 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 SYSTEM DESCRIPTION

System Overview (Configuration Example)

A 172SENC A 1SX40 8
0
10 18 9

CPU Main base unit

PXO 8 1
1 9 11 19 A
MITSUBISHI STOP A 12 1A
2
B
RUN 2 3
L.CLR 3 B 13 1B C
RUN C 14 1C
4
D
POWER 4
15 1D
5
RESET RESET 5 D 6 E
E 16 1E F
ERROR 6
17 1F
7

A172B/A175B/A178B/
7 F

A172SHCPUN

0
INPUT
100~240VAC
105VA
50/60Hz
OUTPUT
5 VDC 5A
CTRL PULSER
1
2
3
A178B-S1/A178B-S2*/A178B-S3*
4
5
*For A173UHCPU only
6
7
8
9
PLC bus
A

A172SENC SY. ENC

connecting cable
A1SC첸첸B

Cable
MR-J2HBUS첸M-A

Manual pulse generator

MR-HDP01
SSCNET (Max.8 axes per line)

A 172SENC 0 90 A 1SX40 A 1SX40 A 1SX40

10 18 0 8 0 8 0 8
10
PXO 8
1 9 11 19 1 9 1 9 1 9
2 A 12 1A 2 A 2 A 2 A
B B B
80

3 B 13 1B 3 3 3
4 C 14 1C 4 C 4 C 4 C
D D D
20

5 D 15 1D 5 5 5
6 E 16 1E 6 E 6 E 6 E
7 F 17 1F 7 F 7 F 7 F
30

40
0 0 0

CTRL PULSER 1 1 1
2 2 2
3 3 3
4 4 4

Serial absolute 5
6
5
6
5
6

synchronous encoder
A172SENC SY. ENC
MR-HENC

Pulse generator/
synch. encoder A1S series A1S series A1S series
interface module I/O module I/O module special func-
A172SENC tion module

MITSUBISHI MITSUBISHI
Cable MITSUBISHI

MR-J2HBUS첸M Terminal connector

MR-TM
MR-A-TM
Servo amplifier
MR-J2S-첸B
MR-J2-첸B

GRAPHIC OPERATION
TERMINAL Graphical
Servo motors M
E
CA
operator
EX
terminal
(GOT or
T
POWER

MAC E) 햳햴
MITSUBISHI

A 1SD75P1 A1SJ71UC24-S2
A 1SX40 A 1SX40 8
A 1SX40 A 1SX40 8 0 8 0
1 9 RUN
A 1SX40 8 0 1 9 2 A
A 1SJ71AR21 0 8 0 9 1 9
A 2 A 3 B RDY
MELSEC A 1S61PN CRC 9 1 A 2 3 B 4 C
RUN E 1 A 2 3 B 4 C D
SD OVER 2 B C D 5 BSY
AB.IF R B 3 C 4 5 6 E
POWER RD 3 4 D E F
F.LOOP TIME R 4 C D 5 E 6 7
DATA D 5 E 6 7 F
CPU 5 6 7 F
UNDER O 6 E F
F.LOOP R F 7
7 AX1
R.LOOP
MITSUBISHI MODE

0
0
0 RS-422
0 1
0 1
78 1
OUTPUT 1 2
901
456

INPUT X10 1 2
100-240VAC 5VDC 5A 23 2
105VA 2 3
STATION 78
2 3
50/60Hz 3
NO. 5
901
456

X1 3 4
23 3 4
4
4 5
BC E 4 5
5
A

F012

5 6
FG MODE 3466 5
6
6
6
6
0:ONLINE(A.R.)
1:ONLINE(U.R.)
2:OFFLINE
3:TEST 1(F.L.)
4:TEST 2(R.L.)
5:TEST 3(B.M.)
6:TEST 4(B.S.)
7:TEST 5(S.R.)

FRONT SIDE
A1SJ71UC24-R4-S2
R-SD
IN
F-RD A1SD75P1
F-SD
OUT
R-RD
A1SJ71AR21

Extension base unit 햵

A1S65B/A1S68B/A168B (for connecting an operator terminal)

Notes:
햲 When using A171SH/A172SLH, restrictions are as follows.

MELSECNET II, MELSECNET/B : local station only (the range of address : each of B and W is 0 to 3FF) A 1SX40 A1SJ71UC24-S2

MELSECNET/10 : Normal station only (the range of address : each of B and W is 0 to 1024 points.)
0 8
MELSEC A 1S61PN 1
2
9
A
3 B
POWER C
4 D
5 E
6 F
7
MITSUBISHI

햳 With a graphic operations terminal, PCPU data (servo program, parameters, mechanical system
0
INPUT OUTPUT
5VDC 5A

programs etc.) cannot be displayed.

100-240VAC 1
105VA
50/60Hz 2
3
4

햴 When using the PLC extension base and bus connection type GOT, select the A168B as the PLC
5
6

extension base.
When not using the PLC extension base, you can connect the bus connection type GOT directly to A1SJ71UC24-R4-S2

the extension connector of the CPU base unit.

햵 PLC extension base without extra power supply cannot be used. Power supply AnS series
module AnS series special func-
A1S6첸PN I/O module tion module

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 5

SYSTEM DESCRIPTION

왎 Motion Controller A171SHCPUN

Specifications A171SHCPUN
PLC CPU A2SHCPU equivalent
PLC program capacity 14 k steps
A 172SENC A 1SX40

Real I/O points 512 points

0 8
PXO 8 10 18 9
1
1 9 11 19 A
MITSUBISHI L.CLR
STOP
RUN 2 A 12 1A
1B
2
3 B
3 B 13 4 C
RUN C 14 1C D
POWER 4
15 1D
5
RESET RESET 5 D 6 E

Processing speed
E 16 1E F
ERROR 6
17 1F
7
7 F

A171SHCPUN
0.25 µs/step
0
(sequence command)
INPUT
OUTPUT 1

Control axes Max. 4

5 VDC 3A
100~240VAC
24 VDC 0,6A CTRL PULSER
2
105VA
50/60Hz
3
4
5
6
Servo program capacity 13 k steps
7
8
9
Servo amplifier External servo amplifier connected by SSCNET
A
B
C
Servo motor capacity 50 W to 7 kW
D
E
MELSECNET II/B (local station only)
Network MELSECNET/10 (normal station only)
A172SENC SY. ENC F

CC-LINK
PLC extension Max. 1 base unit

Order information Art. no. 103872

MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI
MR-J2S-20B MR-J2S-20B MR-J2S-20B MR-J2S-20B

왎 Motion Controller A172SHCPUN

Specifications A172SHCPUN
A2SHCPU equivalent, but extended memory and
PLC CPU
extended I/O range
A 172SENC
PXO 8 10
11
18
19
A 1SX40
0
1
8
9
A
PLC program capacity 30 k steps
1 9
MITSUBISHI STOP
RUN 2 A 12 1A
2
3 B

Real I/O points 1024 points 햲

L.CLR 3 B 13 1B
4 C
RUN C 14 1C D
POWER 4
15 1D
5
RESET RESET 5 D 6 E
E 16 1E F
ERROR 6
17 1F
7
7 F

A172SHCPUN

Processing speed
0
0.25 µs/step
INPUT
100~240VAC
105VA
OUTPUT
5 VDC 5A
CTRL PULSER
1
2
(sequence command)
50/60Hz
3
4
5
Control axes Max. 8
6
7
8
Servo program capacity 13 k steps
9
A
B
Servo amplifier External servo amplifier connected by SSCNET
Servo motor capacity 50 W to 7 kW
C
D
E

MELSECNET II/B (local station only)

A172SENC SY. ENC F

Network MELSECNET/10 (normal station only)

CC-LINK
PLC extension Max. 1 base unit

MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
Order information Art. no. 104173
햲 The real I/O points can be used within the range of CPU base and one extension base unit.

6 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 SYSTEM DESCRIPTION

왎 Motion Controller A173UHCPU

Specifications A173UHCPU
PLC CPU A3UCPU equivalent (192 kB RAM)
PLC program capacity 30 k steps x 2

A 1SJ71AR21
Real I/O points 2048 points 햲
A 1SY10EU A 1SY80 ERR
8
CRC E
A 1SX40 0 OVER

Processing speed
8 SD
A 172SENC 18
0 8 0
1 9 1
2
9
A RD AB.IF
TIME
R
PXO 8 10 9 A F.LOOP R

0.15 µs/step
1 2 3 B
1 9 11 19 A B CPU DATA
MITSUBISHI L.CLR
STOP
RUN 2 A 12 1A
2
3 B 3
4 C 4 C
D
UNDER O
F.LOOP R

(sequence command)
3 B 13 1B C D 5
RUN 4 5 E R.LOOP
C 14 1C D 6
POWER 4
15 1D
5 6 E
7 F
RESET RESET 5 D 6 E
7 F
E 16 1E F
ERROR 6
17 1F
7
7 F

A173SHCPUN

0 0 78

Control axes Max. 32

901
456
0 X10
1 1 23

INPUT
OUTPUT 1 STATION 78
5 VDC 5A 2 NO.

901
456
100~240VAC
CTRL PULSER
2 2 X1

Servo program capacity 13 k steps

23
105VA 3
50/60Hz
3 3 BC E

A
4

F0 1 2
4 4 MODE 3 46

5 5
5 0:ONLINE(A.R.)
6

Servo amplifier External servo amplifier connected by SSCNET

6 6 1:ONLINE(U.R.)
7 7 2:OFFLINE
7 3:TEST 1(F.L.)
8 8 4:TEST 2(R.L.)
8 5:TEST 3(B.M.)
9 9 6:TEST 4(B.S.)

Servo motor capacity 50 W to 7 kW

9 7:TEST 5(S.R.)
A A
A
B B
B
C C FRONT SIDE
C R-SD

MELSECNET II/B (local station only)

D D IN
D F-RD
E E F-SD
E OUT
F

Network MELSECNET/10 (normal station only)

R-RD
A172SENC SY. ENC F F A1SJ71AR21

CC-LINK
PLC extension Max. 1 base unit

MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
Order information Art. no. 130121
햲 The real I/O point can be used within the range of CPU base and one extension base.

왎 Motion Controller A173UHCPU-S1

Specifications A173UHCPU-S1
PLC CPU A3UCPU equivalent (768 kB RAM)
PLC program capacity 30 k steps x 2
A 1SY80 ERR
A 1SJ71AR21
CRC
Real I/O points 2048 points 햲
A 1SX40 A 1SY10EU 8 0 8
SD OVER
E
A 172SENC 0 1 9
AB.IF R

Processing speed
0 8 9 A RD
10 18 9 1 2 TIME
PXO 8 1 2 A B F.LOOP R
1 9 11 19 A B 3 CPU DATA
MITSUBISHI STOP 2

0.15 µs/step
1A 3 4 C UNDER O
2 A 12 B C
L.CLR RUN B 13 1B
3
C 4 5 D F.LOOP R
RUN 3 4 5 D E R.LOOP

(sequence command)
C 14 1C D 6
POWER 4
15 1D
5 6 E
7 F
RESET RESET 5 D 6 E
7 F
E 16 1E F
ERROR 6
17 1F
7
7 F

A173SHCPUN

Control axes Max. 32

0 0 78
901
456

0 X10
1 1 23

INPUT
OUTPUT 1 STATION 78
5 VDC 5A 2 NO.
901
456

100~240VAC
CTRL PULSER
2 2 23 X1
105VA 3

Servo program capacity 13 k steps

50/60Hz
3 3 BC E
A

4
F0 1 2

4 4 MODE 3 46

5 5
5 0:ONLINE(A.R.)
6 6
1:ONLINE(U.R.)

Servo amplifier External servo amplifier connected by SSCNET

6
7 7 2:OFFLINE
7 3:TEST 1(F.L.)
8 8 4:TEST 2(R.L.)
8 5:TEST 3(B.M.)
9 9 6:TEST 4(B.S.)
9 7:TEST 5(S.R.)

Servo motor capacity 50 W to 7 kW

A A
A
B B
B
C C FRONT SIDE
C R-SD
D

MELSECNET II/B (local station only)

D D IN
F-RD
E E F-SD
E OUT
F R-RD

Network MELSECNET/10 (normal station only)

A172SENC SY. ENC F F A1SJ71AR21

CC-LINK
PLC extension Max. 1 base unit

MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
MITSUBISHI
MR-J2S-20B
Order information Art. no. 130153
햲 The real I/O point can be used within the range of CPU base and one extension base.

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 7

SYSTEM DESCRIPTION

Overview on Hardware Components and Accessories

Item Model Description Standard Order no.

Sequence program capacity Max. 14 k steps
Servo program capacity Max. 13 k steps
A171SHCPUN PLC control real I/O point Max. 512 103872
Internal power supply Input: 100 to 240 V AC, output: 5 V DC 3 A, 24 V DC 0.6 A
5 V DC internal consumption current 1.63 A
Sequence program capacity Max. 30 k steps
Servo program capacity Max. 13 k steps UL/cUL
CPU module A172SHCPUN PLC control real I/O point Max. 1024 104173
CE marks
Internal power supply Input: 100 to 240 V AC, output: 5 V DC 5 A
5 V DC internal consumption current 1.63 A
A173UHCPU Sequence program capacity Max. 60 k steps 103121
Servo program capacity Max. 14 k steps
PLC control real I/O point Max. 2048
A173UHCPU-S1 Internal power supply Input: 100 to 240 V AC, output: 5 V DC 5 A 130153
5 V DC internal consumption current 1.90 A
A172B 1 motion module slot and 1 PLC module slot can be fitted. 86313
A175B 1 motion module slot and 4 PLC module slots can be fitted. 125554
A178B 1 motion module slot and 7 PLC module slots can be fitted. UL/cUL 104174
CPU base unit
A178B-S1 2 motion module slots and 6 PLC module slots can be fitted. 129431
A178B-S2 햲 4 motion module slots and 4 PLC module slots can be fitted. 131239
햲
A178B-S3 6 motion module slots can be fitted. 131240
A1S61PN Input: 100 to 240 V AC, output: 5 V DC 5 A UL/cUL 65051
Power supply module
A1S62PN Input: 100 to 240 V AC, output: 3 V DC 5 A, 24 V DC 0.6 A CE marks 65052
A1S65B-S1 For extension power supply and 5 slots, compatible with system up to one extension stage. 38071
A1S68B-S1 For extension power supply and 8 slots, compatible with system up to one extension stage. 38070
PLC extension base unit
A168B-S1 For extension power supply and 8 slots, compatible with system to bus-connected one extension stage and 137680
GOT.
A1SC01B Length: 55 mm 24979
A1SC03B Length: 300 mm 24980
A1SC12B Length: 1200 mm 24981
Extension cable UL/cUL
A1SC30B Length: 3000 mm 24982
A1SC60B Length: 6000 mm 68294
A1S05NB Length: 450 mm 24983
I/O signal 33 points (FLS, RLS, STOP, DOG/CHANGE: 8 points each tracking input: 1 point)
Pulse generator/
A172SENC Dynamic brake command output: 1 point 86621
synchronous encoder UL/cUL
Manual pulse generator/synchronous encoder interface: 1
interface unit
Serial absolute synchronous encoder interface: 1
Transistor output modules A1SY첸첸 Please refer to the AnS/QnAS technical catalogue for further details —
Digital input modules A1SX첸첸 Please refer to the AnS/QnAS technical catalogue for further details —
Battery A6BAT Replacement battery for CPU 4077
Manual pulse generator MR-HDP01 5 V DC 25 pulses/rev, 100 pulses/rev at magnification of 4 128728
Serial absolute synchro- MR-HENC 138304
nous encoder cable Resolution: 16384 pulses/rev, permissible rotation speed: 4300 r/min, absolute type UL/cUL

Serial absolute synchro- MR-HSCBL첸M For connection of MR-HENC and A172SENC 2 m, 5 m, 10 m, 20 m, 30 m —

nous encoder cables (please refer to the MR-J2S technical catalogue for further details)
SSC interface (ISA) A30BD-PCF ISA bus loaded type 2CH/board 134153
SSC interface (PCMCIA) A30CD-PCF PCMCIAI Type II 1CH/card 131237
A270BDCBL03M For A30BD-PCF, 3 m 134154
Cable for ISA board A270BDCBL05M For A30BD-PCF, 5 m 134155
A270BDCBL10M For A30BD-PCF, 10 m 134156
A270CDCBL03M For A30CD-PCF, 3 m 131212
Cable for PCMCIA card A270CDCBL05M For A30CD-PCF, 5 m 131213
A270CDCBL10M For A30CD-PCF, 10 m 131214
햲 For A173UHCPU only

8 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 SYSTEM DESCRIPTION

Overview on Servo Amplifiers and Motors

MELSERVO MR-J2S첸B
The recommended combinations of servo
amplifiers and servo motors are listed in
the tables below.
For further details to the servo amplifiers
please refer to the MELSERVO Technical
Catalogue. There you can find detailed MITSUBISHI

specifications to all servo motors .

Rated Servo Servo Motor Type Amplifier Pairing MR-J2S

Rated Output Motor
Motor Series Speed Capacity Model With Electromagnetic Protective
[r/min] [kW] Brake (B) and Structure 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B
Absolute Encoder
0.05 HC-KFS053 쏹
HC-KFS 0.1 HC-KFS13 쏹

K 3000 0.2
0.4
0.75
HC-KFS23
HC-KFS43
HC-KFS73
쏹 IP55 쏹
쏹
쏹
0.05 HC-MFS053 쏹
HC-MFS 0.1 HC-MFS13 쏹

M 3000 0.2
0.4
0.75
HC-MFS23
HC-MFS43
HC-MFS73
쏹 IP55 쏹
쏹
쏹
0.5 HC-SFS52 쏹
1.0 HC-SFS102 쏹
HC-SFS 1.5 HC-SFS152 쏹

S 2000 2.0
3.5
5.0
HC-SFS202
HC-SFS352
HC-SFS502
쏹 IP65 쏹
쏹
쏹
7.0 HC-SFS702 쏹
1.0 HC-RFS103 쏹
HC-RFS 1.5 HC-RFS153 쏹

R 3000 2.0
3.5
5.0
HC-RFS203
HC-RFS353
HC-RFS503
쏹 IP65 쏹
쏹
쏹

For further details please refer to the MR-J2-Super Technical Catalogue.

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 9

SYSTEM DESCRIPTION

CPU Specifications

The motion control systems A171SHCPU as absolute and incremental positioning, function block diagram (FBD), structured
for up to 4 axes, A172SHCPUN for up to 8 multi-axis interpolation, zero point return text or the motion sequential function
axes and A173UHCPU (-S1) for up to 32 and servo status monitoring. chart (SFC) IEC 1131.3 standard-compliant
axes all have an integrated CPU that func- The logic CPU (SCPU) of the motion con- sequencing language.
tions as a positioning unit (PCPU). This CPU troller system can be programmed in
controls all the movement functions, such instruction list (IL), ladder diagram (LD),

왎 PCPU Motion SFC Specifications

Item A172SHCPUN A173UHCPU (-S1)

Code total
(Motion SFC chart+Operation control+Transition) 287 kbytes
Program capacity Text total (Operation control+Transition) 224 kbytes
Motion control program 52 kbytes Approx. 56 kbytes

Program Code•Motion control program PCPU SRAM

storage area Text PCPU SRAM
Number of Motion SFC programs 256 (No- 0 to 255)
Max. approx. 7.5 k steps
Number of Motion SFC steps/all programs (varies with the number of operationcontrol program and
(1 step + 1 transition)
transition program steps)

Motion SFC program Motion SFC program name/program 16 bytes

(program name is used as a file name)
Motion SFC chart size/programs Max. 64 kbytes (included Motion SFC chart comments)
Motion SFC steps/program Max. 4094 steps
Motion SFC chart comments Max. 80 characters/symbol

Number of operation con- Once execution type 4096 (F0 to F4095)

trol programs 4096 with F and FS combined (F/FS0 to F/FS4095)
Scan execution type 4096 (FS0 to FS4095)
Number of transition programs 4096 (G0 to G4095)
Operation control
program (F/FS) Code-size/program Max. approx. 64 kbytes (32766 steps)
Transition program Text-size/program Max. approx. 64 kbytes
(G)
Number of blocks (lines)/program Max. 8192 blocks (in the case of 4 steps(min)/block)
Number of characters/block (line) Max. 128 characters (comment included)
Number of operand/block (line) Max. 64 (operand: constants, word devices, bit devices)
Number of servo programs 4096 (K0 to K4095)
Program steps/all
Motion control programs 13312 14334
program
Program steps/program Max. 13312 steps (Speed control, speed change control)
Positioning points Approx. 800 points/axis Approx. 400 points/axis
Number of multi executed programs Max. 256
Number of multi active steps Max. 256 steps/all programs
Normal task Executed in motion main cycle
Executed
specification Fixed cycle (1.7 ms, 3.5 ms, 7.1 ms, 14.2 ms)
Executed task Event task 16 external interrupt points (input from interrupt input module installed in motion slot.)
Execute with interrupt from PLC 1 point (when PLC dedicated instruction [ITP] is executed.)

NMI task 16 external interrupt points (input from interrupt input module installed in motion slot.)
Add event task and NMI task 16 points (set in SFC parameter)
Number of motion register (#0) 8192 points (#0 to #8191) (#8000 to #8191 is dedicated device)
Device Number of coasting timer (FT) 1 point (FT) (888 µs timer (32 bit))
Number of motion slot I/O (PX/PY) Total 64 points Total 256 points

10 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 SYSTEM DESCRIPTION

왎 SCPUs (PLC) Specifications

Specifications A171SH A172SH A173UH A173UH-S1

Control method Related operation using stored program
I/O control method Refresh mode/direct mode (possible to select) Refresh mode (direct mode can be used partially in accordance with the instruction
Programming language Sequence control dedicated language (relay symbol language, logic symbol language, MELSAP II (SFC))
Sequence instructions 26 26 22 22
Number of Basic instructions 131 131 252 252
instructions Applied instructions 106 106 204 204
Motion instructions 4 4 4 4
Processing Direct mode 0.25 to 1.9 µs/step 0.25 to 1.9 µs/step — —
speed
(Sequece Refresh mode 0.25 µs/step 0.25 µs/step 0.15 µs/step 0.15 µs/step
instruction)
I/O points 햲 2048 (X/Y0 to 7FF) 2048 (X/Y0 to 7FF) 8192 (X/Y0 to 1FFF) 8192 (X/Y0 to 1FFF)
Real I/O points 512 (X/Y0 to 1FF) 1024 (X/Y0 to 3FF) 2048 (X/Y0 to 7FF) 2048 (X/Y0 to 7FF)
(within the range of 1 extension base) (within the range of 1 extension base)
Watchdog timer (WDT) 10 to 2000 ms 10 to 2000 ms 200 ms 200 ms
Memory capacity (built-in RAM 64 kbytes 192 kbytes 192 kbytes 768 kbytes
Main sequence Max. 14 k steps Max. 30 k steps Max. 30 k steps Max. 30 k steps
Program Sub sequence
capacity — — Max. 30 k steps Max. 30 k steps
Microcomputer program Max. 26 kbytes Max. 58 kbytes — —
Internal relay (M) 햲 1000 points (M0 to M999)
Latch relay (L) Total 2048 points Total 8191 points Total 8191 points
1048 points (L1000 to L2047) (set in parameters) (set in parameters) (set in parameters)
Step relay (S) 0 point (none at initial)
Link relay (B) 1024 points (B0 to B3FF) 1024 points (B0 to B3FF) 8192 points (B0 to B1FFF) 8192 points (B0 to B1FFF)
Points 256 256 2048 (default 256) 2048 (default 256)
Setting time Device Setting time Device
100 ms timer 0.1 to 3276.7 s T0 to T199 100 ms timer 0.1 to 3276.7 s T0 to T199
Timer (T) 10 ms timer 0.01 to 327.67 s T200 to T255 10 ms timer 0.01 to 327.67 s T200 to T255
Specifications 100 ms timer 0.1 to 3276.7 s None at initial 100 ms timer retentive timer 0.1 to 3276.7 s None at initial
retentive timer Extension timer Time set by word T256 to T2047
device (D, W and R)
Set in parameter Set in parameter
Points 256 256 1024 (default 256) 1024 (default 256)
Setting range Device Setting range Device
Normal counter 1 to 32767 C0 to C255 Normal counter 1 to 32767 C0 to C255
Device Counter (C) Interrupt program counter 1 to 32767 None at initial Interrupt program counter 1 to 32767 None at initial
Specifications Extension counter Count value set by C256 to C1023
word device (D, W and R)
Set in parameter Set in parameter
Data register (D) 햲 1024 points (D0 to D1023) 1024 points (D0 to D1023) 8192 points (D0 to D8191) 8192 points (D0 to D8191)
Link register (W) 1024 points (W0 to W3FF) 1024 points (W0 to W3FF) 8192 points (W0 to W1FFF) 8192 points (W0 to W1FFF)
Annunciator (F) 256 points (F0 to F255) 256 points (F0 to F255) 2048 points (F0 to F2047) 2048 points (F0 to F2047)
File register (F) Max. 8192 points (R0 to R8191) (set in paramater)
Accumulator (A) 2 points (A0, A1) 2 points (A0, A1) 2 points (A0, A1) 2 points (A0, A1)
Index register (V, Z) 2 points (V, Z) 2 points (V, Z) 14 points (V, V1 to V6, Z, Z1 to Z6)
Pointer (P) 256 points (P0 to P255) 256 points (P0 to P255) 256 points (P0 to P255) 256 points (P0 to P255)
Interrupt pointer (I) 32 points (I0 to I31) 32 points (I0 to I31) 32 points (I0 to I31) 32 points (I0 to I31)
Special relay (M) 256 points (M9000 to M9255) 256 points (M9000 to M9255) 256 points (M9000 to M9255) 256 points (M9000 to M9255)
Special register (D) 256 points (D9000 to D9255) 256 points (D9000 to D9255) 256 points (D9000 to D9255) 256 points (D9000 to D9255)
Extension file register blocks 햳 Max. 10 blocks Max. 46 blocks
— —
(depends on memory size) (depends on memory size)
Comment points Max. 4032 points (64 kbytes), 1 point = 16 kbytes; set in 64 points unit
Extension comment points 햳 Max. 3968 points (63 kbytes), 1 point = 16 kbytes; set in 64 points unit
Self-diagnostic function Operation error monitoring and detection of errors in CPU, I/O, battery etc.
Operation mode in error Select of stop or continue
Output mode when switching from STOP to RUN Select of re-output operation status before STOP (default) or output after operation execution
Clock function 햴 Year, month, day, hour, minute, weekday (automatic leap year adjustment)
Program/parameter conversion to ROM Not available

햲 The positioning dedicated device range varies with the positioning software.
햳 This changes depending on the sequence parameter.
햴 The year data by the clock element is only the lower two digits of the year. When used in sequence control, the data must be compensated for the sequence program in some applications of using the data.

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 11

SOFTWARE

Components for Motion Controller Programming

The motion controller supports any of the On the following pages you can find an
personal computers on the market and an overview on all hardware and software
general use, so it can be used with familiar peripheral equipment.
environment. The most appropriate pro-
gramming environment for users is provi-
ded.

SSC IF ISA board

A30BD-PCF Desktop
computer

SW3RNC-GSVPROE
software package
SSC NET communication

SSC IF PCMCIA board

A30CD-PCF

Notebook

A171SHCPUN
A172SHCPUN
A173UHCPU

A 1SY80 ERR
A 1SJ71AR21
A 1SY10EU 8 RUN CRC E
A 172SENC A 1SX40 8 0 8 0
1 9 SD
RD
OVER
AB.IF R
0 1 9 A
8 10 18 9 A 2 F.LOOP TIME R
PXO 1 2 B
1 9 11 19 A B 3 CPU DATA
MITSUBISHI STOP A 12 1A
2
B 3 4 C UNDER O
RUN 2 3 C D
L.CLR 3 B 13 1B C 4
D 5 F.LOOP R
RUN C 14 1C
4
D 5 6 E R.LOOP
POWER 4
15 1D
5 6 E
7 F
RESET RESET 5 D 6 E
7 F
E 16 1E F
ERROR 6
17 1F
7
7 F

A173SHCPUN

0 0 78
901
456

0 X10
1 1 23

OUTPUT 1 STATION 78
INPUT 2
5 VDC 5A NO.
901
456

100~240VAC
CTRL PULSER
2 2 23 X1
3 3
3 BC E
A

4
F0 1 2

4 4 MODE 3 46

5 5
5
6 6 0:ONLINE(A.R.)
6 1:ONLINE(U.R.)
7 7 2:OFFLINE
7 3:TEST 1(F.L.)
8 8 4:TEST 2(R.L.)
8 5:TEST 3(B.M.)
9 9 6:TEST 4(B.S.)
9 7:TEST 5(S.R.)
A A
A

FRONT SIDE
R-SD
IN
F-RD
F-SD
OUT
R-RD
A172SENC SY. ENC A1SJ71AR21

Operating system software

MELSERVO amplifiers and motors
HD

HD
MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI

왎 System Requirements
Specifications Description
A PC/AT compatible personal computer
with Windows operationg system an the Operating system Windows NT 4.0, Windows 98, WIN2000
specifications listed in the table is needed CPU 133 MHz Pentium or higher
to operate the software properly.
Memory capacity 32 MB or more
Hard disk capacity About 150 MB free space
Display Standard graphics adapter with 800 x 600 pixles and minimum 256 colours
Application software Microsoft Word 97 and Excel 97 (for document printing)

12 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 SOFTWARE

왎 Operating System Software Packages

The following table lists an overview of the The systems are chosen on the basis of the
required operating system for the motion operating mode and the number of axes
CPUs. to be controlled.

Peripheral Model Model Model

Application device Order no. Order no. Order no.
A171SHCPUN A172SHCPUN A173UHCPUN
Software SV13 (Motion-SFC) — — SW3RN-SV13D 137346 SW3RN-SV13B 137343
Software SV22 (Motion-SFC) — — SW3RN-SV22C 137344 SW3RN-SV22A 137342
PC/AT compatible
Software SV13 (without Motion-SFC) SW0SRX-SV13G 127843 SW0SRX-SV13D 127844 SW2SRX-SV13B 137337
Software SV22 (without Motion-SFC) SW0SRX-SV22F 139766 SW0SRX-SV22C 86757 SW2SRX-SV22A 137341

왎 Programming Software Package

The programming software package The package also includes a separate

includes all the programs listed in the CD-ROM with a comprehensive online
table below for effective programming help function (SW3RNC-GSVE-HELP).
of your motion control system.

SW3RNC-GSVE Software Package Contents Description Order no.

Installation of motion OS
Installation
Comparision of the motion OS
New creation, setting and reading of projects
Project management
Batch management of user files in project units
Setting of system configuration (motion module/servo amplifier/servo motor, etc.)
System setting
Setting of high-speed read data
Setting of servo parameters and fixed parameters, etc. (Explenatory diagrams displayed with one-touch help)
Servo data setting
Setting of limit switch output data (Output pattern displayed with waveform display function)
Editing of the Motion SFC program, setting of the Motion SFC parameters
Program editing Reduced display of the Motion SFC program, display of comments, enlarged display
SW3RN-GSV13P Monitor of the Motion SFC, debugging of the Motion SFC
SW3RN-GSV22P
Mechanical system editing Editing of mechanical system program
(GSV22P only) Monitoring of mechanical system program execution state
Setting of SSCNET communication CH.
Communication
Writing , reading and coparision of programs and parameters in respect to the motion controller.
Current value monitor, axis monitor, error history
Monitoring
Servo monitor, limit switch output monitor 132876
Servo start-up, servo diagnosis
Testing Jog operation, manual pulser operation, zeroing test, program operation
Teaching, error reset, current value change
Backup of motion controller programs and parameters in file
Backup
Batch writing of backed up files into the motion CPU
Cam data creation software Backup of motion creation wit Cam pattern selection and free curve setting
SW3RN-CAMP Cam data creation
Graphic display of Cam control status
Digital oscilloscope software Data sampling synchronized to operation cycle
SW3RN-DOSCP Digital oscilloscope
Waveform display, dump display and file saving of collected data
Communication task, communication manager, common memory server, SSCNET communication driver
Communication system software Communication system Support of cyclic communication, transient communication, high-speed refresh communication
SW3RN-SNETP Communication API
Communication API functions compatible with VC++/VB
Document printing software Printing of program, parameter and system settings
SW3RN-SNETP 햲 Printing
(Convert into Word 97 or Excel 97 document form, and print)
Ladder editing software Editing of sequence program
SW3RN-LADDEP Ladder editing
Monitoring of sequence program execution
햲 Microsoft Word 97 and Excel 97 or above are required.

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 13

SOFTWARE

Software Contents and Functionality

Software: conveyor assembly (SV13) Software: virtual mechanical

The SV13 software includes functions for system environment (SV22)
speed control, linear interpolation of up to The SV22 software supports synchronous
4 axes, circular interpolation of 2 axes etc. control of multiple servo motors and elec-
This software is particularly well suited for tronic cam disk programming. The SV22
controlling standard conveyor and pro- software can also be used to replace
duction systems. mechanical master shafts, clutches and
gears with electronic equivalents. Virtual
and real master axes are also supported.

Specifications SV13 SV22

A173UHCPU (-S1): max. 32 axes
Number of control axes A172SHCPUN: max. 8 axes
A171SHCPUN: max. 4 axes

Interpolation function Linear interpolation (max. 4 axes)

Circular interpolation (2 axes)
PTP (point to point), speed control, fixed-pitch feed, speed position PTP (point to point), speed control, synchronouos control, fixed-pitch
Control method control, constant speed control, speed-switching control, position feed, speed position control, constant speed control, speed-switching
follow-up control, high speed oscillation control, position follow-up control
Control unit mm, inch, degree, pulse
PTP: Absolute method/select of absolute or incremental method
Method Constant-speed, speed-position-switching control: Absolute method/both absolute and incremental method can be used together
Fixed-pitch feed, speed-position control: Incremental method
Position follow-up control Absolute method
Control units Command units Address setting range
mm x 10-1-5 µm -2147483648 to 2147483647
Position command inches x 10-5 inches -2147483648 to 2147483647
degrees x 10 degrees 0 to 35999999
pulse pulses -2147483648 to 2147483647
Positioning Control units Speed setting range
mm 0.01 to 6000000.00 mm/min
Speed command inches 0.001 to 600000.000 inches/min
degrees 0.001 to 2147483.647 degrees/min
pulses 1 to 10000000 pulses/s
Acceleration fixed accelera- Time fixed acceleration/deceleration
Automatic trapezoidal tion/deceleration Acceleration/deceleration time: 1 to 50000 ms
Acceleration/ deceleration acceleration/deceleration Acceleration time: 1 to 65535 ms (only constant-speed control)
control Deceleration time: 1 to 65535 ms
S-curve acceleration/deceleration S-curve ratio: 0 to 100 %
Backlash compensation (0 to 65535) x Position command unit (0 to 65535 pulses with unit converted into pulses)
Compensation
Electronic gear Function to compensate for real travel error against command value

Language Dedicated instructions Dedicated instructions

(Motion SFC, servo program) (Motion SFC, servo program, mechanical support language)
A173UHCPU (-S1): 14 k steps (14336 steps)
Capacity A172SHCPUN: 13 k steps (13312 steps)
A171SHCPUN: 13 k steps (13312 steps)
Program
A173UHCPU (-S1): 100 points/axis
Number of positioning A172SHCPUN: 400 points/axis
point A171SHCPUN: 800 points/axis
Positioning data can be designated indirectly.
Tool PC/AT compatible computer or notebook

Zeroing function Absolute positioning system is not necessary: Proximity dog type or count can be selected.
Absolute positioning system is recommended: Data setting type, proximity dog type or count can be selected.
JOG operation function Available
A173UHCPU (-S1): 3 units
Manual pulse generator operation function A172SHCPUN: 1 unit
A171SHCPUN: 1 unit
All units can be connected.
M-function M-code output function
Limit switch output function ON/OFF settings can be made for each axis up to 10 points, 8 output points for each axis
Absolut position system Made compatible by fitting battery to servo amplifier (absolute or incremental system can be specified per axis)

14 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 SOFTWARE

Application Ranges of the Programming Software Packages

Software: conveyor assembly

SW3RN-GSV13P With this software constant-speed control, speed control, 1 to 4-axes linear interpolation
and 2-axes circular interpolation, etc are possible. Ideal for use in standard conveyors and
Motion SV13 assembly machines.

Application examples: Special features:

앬 Electronic component assembly 앬 Linear interpolation (1 to 4-axes)
앬 Inserter 앬 Circular interpolation (1 to 2-axes)
앬 Feeder 앬 Constant-speed control
앬 Molder 앬 Fixed-pitch feed
앬 Conveying equipment 앬 Speed change control
앬 Paint applicator 앬 Speed control
앬 Chip mounter 앬 Speed-positionswitching
앬 Wafer slicer 앬 Teaching function
앬 Loader/Unloader
앬 Bonding machine
앬 X-Y table

Software with virtual mechanical system environment and cam control

SW3RN-GSV22P This software package provides simultaneous control of multiple servo motors and offers
software cam control. Ideal for use in automatic machinery. The software provides the
Motion SV22 option to replace formerly used mechanical vertical shafts, clutches, and gearings by
electronic systems. Moreover, virtual and real master axes can be realized.

Application examples: Special features:

앬 Press feeder 앬 Synchronous control
앬 Food processing 앬 Electronic shaft
앬 Food packaging 앬 Electronic clutch
앬 Winding machine 앬 Electronic cam
앬 Spinning machine 앬 Draw Control
앬 Textile machine
앬 Printing machine
앬 Book binder
앬 Tire molder
앬 Paper-making machine

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 15

SOFTWARE

Application Ranges for Motion SV13 Software Environment

Simple programming using dedicated commands

By using easily understood dedicated servo command and Control which is considered difficult and complex can be carried
sequence commands positioning and locus control can be out simply using a variety of canned motion control functions.
programmed for your needs.

X-Y table control Sealing

● 2-axes linear interpolation

● 3-axes linear interpolation
r1 Z-axis
● 2-axes circular interpolation r2
● Constant speed locus control X-axis

● Constant speed locus Y-axis

control
● Linear and circular
interpolation
● High speed, high precision
locus control
● Constant speed positioning

Feed control Fixed-pitch hole drilling

2nd speed
3rd speed

Speed change Time

1st speed

Cushion time Pause

Servo motor Position sensor

Speed Position
● Speed-switching control
● No limit of speed switching
Speed

points
● Speed-position control
Sensor Time

Rotary table indexing Roll feeder

Press machine
Speed

Rotary table

Time

Pause Roll feeder

Servo motor
Drehzahl
● Fixed-pitch feed
● Control unit: degree setting ● High speed, high frequency
positioning
● Shorter indexing
● High speed response
● Rotation direction indexing
Servo motor

16 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 SOFTWARE

Motion SV13 Software Functionality

SCPU control range PCPU control range

(Sequence CPU) (Motion CPU)

Sample sequence program Sample servo program Axis 2

14750
M2001 M2002
K10 12500
SVST J1J2 K10
2-axes constant-
Start accept 5 CPSTART2
speed control
Axis 1, 7500
Axis 2,
Servo program
start instruction Speed 1000.00 (mm/min.) Combined speed 2500
1 ICN-2 Incremental linear
Start axis Axis 1, 10000.0 (µm) interpolation 10000 16000
designation Axis 2, 12500.0 (µm) 13500 18500
Absolute auxiliary
2 ABS point setting Axis 1
Number of start Axis 1, 18500.0 (µm) Circular interpolation
program designation Axis 2, 7500.0 (µm)
Auxiliary P 1, 13500.0 (µm)

Auxiliary P 2, 14750.0 (µm)

M-code 10 M code output
Please refer to page 22 regarding control 3 ABS-2
flow of "Motion SFC SV13". Axis 1, D2000 (µm) Indirect designation
Axis 2, D2002 (µm)
M-code 11
4 ABS-2
Axis 1, 0.0 (µm)
Axis 2, 0.0 (µm)
Speed 800.00 (mm/min.)
M-code 12
5 CPEND

Positioning parameter

System setting
Servo parameters
Fixed parameters
Parameter block
JOG operation data
Limit switch
output data

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 17

SOFTWARE

SV22 Software with Virtual Mechanical System Environment and Software Cam Curve Control

Software is used for mechanism operation Easy programming on sceen by using a mouse
Control of hardware such as main shafts, gears, cluthes and cams The screenshot below shows an typical example of an monitor
is handled by the software mechanical modules, conventional screen with mechanical support language.
problems ar solved.

앬 The machine is more compact and costs are lower.

앬 There no worries over friction and service life of main shafts,
gear and clutches.
앬 Changing initial setup is simple.
앬 Eliminating mechanical precision errors and boosting system
performance.

Control through advanced software cam

Since cam control is handled by software, there are no problems
with error caused by conventional cam control. The ideal cam pat-
tern control can be achieved. Ideal in applications such as raising
or lowering control of nozzles in contact with liquid surfaces, con-
trol of amount of filler or smooth conveyance control. Changing of
cams when product types alter is also easy to handle by simply
adjusting the cam pattern.

Simplified Synchronous Control

The servo motor can be operated simultaneously with other

motor control conditions. Using the mechanical support Synchronous control mechanical system program
language, synchronous control settings can be made simply, and
synchronous operation is carried out with little traching delay.
Position variation between 2-axes during synchronous control is
Drive module Transmission module
shown in the diagram below.

A T B

3000 rpm Motor revolutions

(Virtual servo motor) Output

module
Position variation
0.35ß between 2-axes
0.13ß

150.5ms
1-axis position variation
2-axes position variation 1-axes 2-axes

18 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 SOFTWARE

Application Ranges for Motion SV22 Software Environment

Easy on-screen programming using trolling automated machines such as food coordinated control can be achieved
the mechanical support language. machines and wrappers. easily and low cost.
Loaded with a mechanical support By freely combining a variety of software
language that allows easy programming mechanism modules and cam patterns,
of the machine mechanism. Ideal for con- complex synchronization control and

Filling machine
Fill
The extremely high-speed controllers and
ultra-precision positioning performance
of these Mitsubishi systems make them Raise/lower nozzle
ideal for dynamic filling processes. The
flexibility of the system – for the example
the ability to choose from a variety of
movement profiles and cam disks –
enables quick format changes, which
means you can fill different containers on a
single machine. Conveyor
Nozzle
Filler

Rolling mill
V V + Draw
The ability to synchronise the speeds of
multiple motors is essential for maintain-
ing the synchronised feed rates needed to
keep the rolling mill output thickness pre-
cisely constant.

Press conveyor Press machine

Synchronous
Mitsubishi motion controllers are also the encoder
ideal solution in applications where a large
number of different axes need to be syn-
chronised for optimum performance. In
addition to precisely synchronising multi- Main press motor
ple axes (see example on the right) they
guarantee smooth, jerk-free and extremely Import conveyor Material transport
high-precision positioning.

Y-axis servo motor

X-axis servo motor

Palletising and sorting Seperate servo motors

At the press of a button the system sorts for lifting and feeding
and stacks the chosen stacking plan, sup-
porting a choice of different stacking and
warehousing plans. Curve interpolation for
single or multiple axes enables dynamic
positioning performance.

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 19

SOFTWARE

Motion SV22 Software Functionality

SCPU control range PCPU control range

(Sequence CPU) (Motion CPU)

Sample sequence program Sample servo program Sample mechanical system program

M2001 Drive module Transmission module

SVST J1 K2000
Virtual
K2000
Start accept (Gear)
ABS-1
Virtual servo
Axis 1, 100000
motor in the
Servo program
Speed 1000 mechanical
(Virtual servo (Clutch)
start request system
motor)
program
start

Operation results Output

Positioning parameter from the trans-
mission module are
module
output to the amplifier
Parameter block unit which sets the
JOG operation data output module.

(Cam) (Roller)

Servoverstärker Servo amplifier

Servo motor control Servo motor Servo motor

Mechanical Module List

Mechanism Mechanical Module Function Mechanism Mechanical Module Function

Section Name Appearance Section Name Appearance
Transfers the drive module rotation to the output axis.
Virtual servo Used to drive the virtual axis in the mechanical system
motor program by the servo program or JOG start. Gear The travel valve input from the drive module multi-
plied by the set gear ratio, and transferred to the out-
Drive put axis so that it moves in the set direction.
module
Synchronous Used to drive the virtual axis by input pulse from an Engages/disengages the output module with the drive
encoder external synchronous encoder. Direct module rotation.
clutch When switching the clutch ONN/OFF, there is a direct
This is a virtual "link shaft". clutch for direct tranfer and a smoothing clutch for
Virtual — acceleration/deceleration processing which occurs in
main The rotation of the drive module is transferred to the accordance with the smoothing time constant setting.
shaft transmission module.
Depending on the application, ON/OFF mode, address
Virtual axis Smoothing mode or external input mode can be selected.
This is the auxiliary input axis for input to the trans- clutch
Virtual — mission module "differential gear". Transmission As the smoothing method, the time constant setting
auxiliary module mode or degree of slippage setting method can be
input axis It is automatically displayed when the differential gear
and the gear are connected. selected.
Speed Used to change the speed of the output module.
Roller Used when the speed control occurs at the final output. change The speed from the input axis side multiplied by the set
gear speed change ratio and transferred to the output axis.

The rotation of the auxiliary input axis substracted

Ball screw Used when the liner positioning occurs at the final from the rotation of the virtual main shaft and trans-
output. ferred to the output axis.
Differential
Output gear
module The rotation of the auxiliary input axis substracted
from the rotation of the virtual main shaft and trans-
Rotary table Used when the angle control occurs at the final output. ferred to the output axis. (for connection to the virtual
main shaft)
Used when the control other than those shown above
occurs based on the cam pattern setting data.
Cam
There are two cam control modes: the two-way cam
mode and the feed cam mode.

20 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 SOFTWARE

Virtual Mechanical System Environment (SV22)

Item Mechanical Modules A171SH A172SH A173UH A173UH-S1
Virtual servo motor
Drive module Pulses
Synchronous encoder
Roller
Control units mm, inches
Ball srew
Output module
Rotary table Fixed as "degree"
Cam mm, inches, pulses
Virtual servo motor 4 8 32 32
Drive module Total 5 Total 9 Total 36 Total 36
Synchronous encoder 1 1 4 4
Virtual main shaft 4 8 32 32
Virtual axis Total 8 Total 16 Total 64 Total 64
Virtual auxiliary input shaft 4 8 32 32
Gear 햲 8 16 64 64
Clutch 햲 8 16 64 64
Mechanical Transmission 햲
system Speed change gear 8 16 64 64
program module
Differential gear 햲 4 8 32 32
Differential gear 8 32 32
(for the virtual main shaft) 햳 4

Cam 4 8 32 32
Roller 4 8 32 32
Output module Total 4 Total 8 Total 32 Total 32
Ball screw 4 8 32 32
Rotary table 4 8 32 32
Types Max. 64
Resolution per cycle 256, 512, 1024, 2048,
Cam Memory capacity 32 kbytes 32 kbytes 햴 132 kbytes 햴
Stroke resolution 32767
Control mode Two-way cam, feed cam

햲 One gear, speed-change gear or differential gear can be used per module.
햳 One differential gear connected to the virtual main gear can be used per virtual servo motor.
햴 With extended file registers from the tenth block.

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 21

MOTION SFC

Motion SFC Programming

The Motion SFC function to describes the Easy-to-read and comprehend flow Controlling the series of machine
motion control program in flow chart chart description. operations with PCPU
form. By describing the program of the 앬 Programming can be carried out with 앬 Using the Motion SFC, the servo control,
CPU (PCPU) which controls the motion in a an image that describes the flow chart operation and I/O control can be carried
suitable Motion SFC for the event process- with the machine operation proce- out in a batch with the PCPU.
ing, serial operation of the machine is con- dures. 앬 There is no need to start the servo pro-
trolled by PCPU, aiding the event
앬 A process control program can be cre- gram from CPU (SCPU) that controls the
response.
ated easily, and the control details can sequence.
be visualized.

Multi-task processing
앬 The Motion SFC allows for multi-task
program operation.
앬 By using parallel distribution in one pro-
gram, multiple steps can be executed
simultaneously.

Motion SFC description

Flow chart description which is easy-to-view and understand Enhanced operation function
앬 As the outline operation of the process control is described as a 앬 The operation expression can be described in the original state.
flow chart, the entire operations can be viewed at a glance. 앬 Compatible with 64-bit floating point operation.
앬 The operation details can be described as a comment so an 앬 Various arithmetic functions including trigonometric functions,
easy-to-understand program can be created. square root and natural logarithm are provided.
앬 The program has a hierarchical structure, so detailed operations 앬 The motion registers (#0 to #8191) have been added for
can be described for each step. Motion SFC operations.

Reduced G100 G120 Comment

Seal processing display Beginning wait Cancellation Wait display
F30 F40
P10
Data calculation Cancellation data set

F10 G200
Work ready

P20
K100
Operation start
F20

G100 G120 G150

F30 F40 G160

[F 30] Extended
G200 K200 // 1 axis real processing data calculation display
DOL=LONG((SIN(#100)+110F)*300)
// Processing status set
K100 G210 SET M100=X12+M120

P10 [G 200]
G300
PXO //Work ready completion sensor ON?

F150 F: Operation control step

[K 100]
G: Transition (condition wait) 1 ABS-2
P10 K: Motion control step Axis 1, D 100µm
Axis 2, D 200µm
Combined speed D 300mm/min

22 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 MOTION SFC

Powerful event processing functions

Minimized variation in control response time Multi-CPU method that strengthens event processing
With the conventional SV13/SV22, the series of machine opera- function
tions were controlled by the SCPU so a variation occured in the The multi-point I/O control and monitoring operations can be
response time per seguence scan. However, this can be minimized appointed to the SCPU by the ladder program, and the servo con-
by the strengthened Motion SFC event processing function, so the trol and high-speed response control can be appointed to the
scan time can be suppressed, and variations in product machining PCPU by the Motion SFC program. This balances the scan process
can be reduced. and event process, and further utilizes the multi-CPU configura-
tion.

SCPU scan process Common PCPU scan process MELSEC

MELSEC
memory I/O module
I/O module
(PX/PY)
X
MELSEC Y
intelligent module M
B Motion
related
F module
MELSEC
D
communication
module T
C
W
MELSEC SSCNET
display unit related device

Ladder description suitable for scan process Motion SFC description suitable for event process
(importance laid on condition control) (Importance laid on sequential control, pursuit of event responsiveness)

쏹 Multi-point I/O control 쏹 Servo control

쏹 Various condition processing 쏹 High-speed response control

Event processing Examples of events

This process waits for the conditions to be established (event to 앬 Input signal turned ON.
occur) with the changes in the input signal state or device value, 앬 Operation results reached constant value.
and carries out high-speed response control (signal output con- 앬 Set time elapsed.
trol, servo motor start and speed change, etc.) when the condi- 앬 Positioning was completed.
tions are established.

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 23

MOTION SFC

Selective Functions

High-speed response using step execution method Sequence program

Motion SFC program
Only active steps are executed following
The sequence program uses a scan execution method to execute All steps are executed with constant scan
shift conditions
all steps with constant scanning. However, with the Motion SFC,
the step execution method executes only the active steps follow- X000
ing the shift conditions. Thus, the operation process can be PLS M100
Work movement control

reduced, and processing and response control can be realized. M100

SET M101
[G 1]
PX0 //Start (PX0=ON) wait

M101 M2001 M2002

[K 1]
SVST J1 J2 K1 1 ABS-2
axis 1, D 200 µm
axis 2, D 202 µm
RST M101 Combined speed D 204 mm/min.

[G 2]
SET M102 PX1 //1st process machining completion (PX1: ON) wait
M102 M2001
[K 2]
SVST J1 K2
1 ABS-1
axis 1, D 300 µm
speed D 202 mm/min.
RST M102
[G 3]
SET M103 PX2 //2nd process machining completion (PX2: ON) wait

M103 M2001 [F 1]
SET Y008 Set PY8 //Completion signal (PY8) ON

RST M103 END

Exclusive shifting unique to motion control

Shift WAIT WAIT ON/OFF
앬 If shift is applied immediately after the motion control step, the
shift will be executed without waiting for the motion control
operation to end.
앬 If WAIT is executed immediately after the motion control step,
K100 K200 ON MO
WAIT will executed after waiting for the motion control opera-
tion to end.
앬 If WAIT ON/WAIT OFF is commanded just before the motion G100 G200 K300
control step, the details of the motion control will be pre-read,
and preparation for starting will be carried out. The operation
will start immediately when the designated bit device turns Execute G100 without Execute G100 after Pre-read K300 and prepare
ON/OFF. waiting for K100 operation waiting for K200 to start
to end operation to end Start immediately when
designated bit (M0) turns
ON

Selective branching and parallel branching

Selective branching Parallel branching
앬 When all routes shift after branch, or WAIT is issued for all
routes, selective branching will be applied. Parallel branching
is applied in all other cases. K1 G0
앬 With selective branchinf, the route for which the shift condi-
tions are established first are executed. G1 G2 G3 K2 K3 F1
앬 With parallel branching, several routes connected in parallel are
executed simultaneously. The process waits at the connection K2 K3 K4 G1 G2 G3

point, and shifts to the next process after execution of all routes G4 G6 F2 G4
is completed.

Judge G1 to G3 conditions, and execute Simultaneously execute all routes for step
only established route K2 to F1 in parallel

Multi-task processing MAIN REAL SUB

앬 With the Motion SFC, when several programs are started, the F F F
process is carried out with multi-task operation. P P
G F F
앬 Multiple steps can be simultaneously executed with parallel
branching even within one program. K F K G G
G
앬 A program that excutes multiple processes simultaneously, or a
G G G K K
program that groups the control axis for independent move- P
ments can be created easily. F F F G
앬 A highly independent programming is possible according to
the process details, so an easy-to-comprehend program can be G
created. F
P

24 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 MOTION SFC

High-response to external inputs

I/O output Sequence program Motion SFC program

앬 This is used to measure the response
time of the output signal in respect to
the input signal from an external X10 M100
source. [G 100]
앬 With the sequence program, there is a SET PY0=PX10*M100

delay and variation equal to the PLC scan time 20 ms

response time 20 ms and approximately
the scan time. X10 OFF PX10 OFF
(S-I/O input) (P-I/O input)
앬 With the Motion SFC, the response time ON ON
and variation are approximately 3 ms.

Y0 OFF PY0 OFF

Applicable CPU: A172SHCPUN (S-I/O output) (P-I/O output)
Input module: A1SX40-S1 (OFF->ON response: up to 0.1 ms) ON ON
Output module; A1SY40 (OFF->ON response: up to 2 ms) 5 ms/div
~20 ms ~3 ms
(approx. PLC scan time)

Great reduction in servo program start time

Start up of servo program Sequence program Motion SFC program

앬 This is an example of starting the servo
program using the input signal from an
ON PX0010
external source as a trigger. X10 M2001

앬 When starting with the sequence pro- SVST J1 K100 K100

gram, a delay and variation equal to 20 ms
and approximately the scan time occurs PLC scan time 20 ms
from the input of the external signal to
start-up of the speed command. X10 OFF PX10 OFF
(S-I/O input) (P-I/O input)
앬 With the Motion SFC, the speed com- ON ON
mand will start up with a response time
of less than 10 ms and variation of
approximately 3 ms.

Speed Speed
Applicable CPU: A172SHCPUN command command
10 ms/div 10 ms/div
Input module: A1SX40-S1 (OFF->ON response: up to 0.1 ms)
~20ms 6ms ~ 9ms

(approx. PLC scan time)

Continuous start-up of servo program Sequence program Motion SFC program

앬 This shows an example of starting-up
the 1-axis and 3-axes linear interpola- M10 M2001 M2002
tion program K300 immediately after SVST J1J2 K200
K300

starting-up the 1-axis and 2-axes linear RST M10 G100

interpolation program K200. M20 M2001 M2003 SET M20

K300
앬 When continuously starting-up the SVST J1J3 K300
servo program with the sequence pro-
gram, a delay and variation of approxi- Speed command
Speed command PLC scan time 20 ms
mately 30 ms will occur. This is because
the PLC scan time is 20ms, and the Axis 1 Axis 1

refresh cycle for the start acceptance Axis 2 Axis 2

flag M2001, which is the interlock is 10 ms.

앬 An interlock is not required with the
Motion SFC, and the start delay will be
approximately 7 ms.

Axis 3 Axis 3
10ms/div 10ms/div
Applicable CPU: A172SHCPUN
Input module: A1SX40-S1 (OFF->ON response: up to 0.1 ms) ~30ms 7ms

(approx. PLC scan time + 10 ms)

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 25

MOTION SFC

Operation (SV13/SV22 with Motion SFC)

SCPU control range PCPU control range

(Sequence CPU) (Motion CPU)

Axis 2
20000
Sample sequence program Sample Motion SFC program

SFCS K0 Transfer 10000

Motion SFC [G100]

program start M2009 // Servo ON reception flag? 10000 20000
request instruction Axis 1
SV13/SV22 real mode
[K 10 : Real]
Number of start 1 INC-2
Axis 1, 10000 PLS Servo motor start Sample mechanical system program
program designation Axis 2, 20000 PLS
Combined speed 30000 PLS/s
Drive module Transmission
(virtual servo motor) module
[F100]
//Command speed calculation
(Negative speed change)
DOL=# 100L+# 104L

[G200]
M2044 // On virtual mode? SV22 virtual mode

[K 100 : Virtual] Virtual servo motor start

1VF
Axis 1
Speed D 0 PLS/s
Output
module
END

(Cam) (Roller)
Motion SFC program also can be automatically
started by the parameter setting.

Please refer to pages 17 and 20 regarding control flow of

"SV13 (without Motion SFC)" and control flow of "SV22 (without Motion SFC)".

26 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 MOTION SFC

Application examples

System configuration

Personal Computer
ISA bus
Machine
(e.g. printed board X-Y table
hole opener)
Z-axis
SSC interface X-Y imposition
Drill axis
Drill breakage
Motion controller sensor
Hole opening
A 172SENC 18
A 1SX40
0 8
A 1SY10EU
0
1
8
9
A 1SY80
0
1
2
ERR
8
9
A
A 1SJ71AR21
RUN
SD
RD
CRC
OVER
AB.IF
TIME
E
R
confirmation
PXO 8 10 1 9 A B F.LOOP R
11 19 A 2 3 DATA
STOP 1 9 2 B C CPU
MITSUBISHI 12 1A B 3 4 UNDER O

I/O
RUN 2 A 3 C D
L.CLR 3 B 13 1B C 4
D 5 F.LOOP R
RUN C 14 1C
4
D 5 6 E R.LOOP
POWER 4
1D
5 6 E
7 F
RESET RESET 5 D 15 6 E
7 F
E 16 1E F
ERROR 6
17 1F
7
7 F

A173SHCPUN

0 0 78
901
456

0 X10
1 1 23

OUTPUT 1 STATION 78
INPUT 2
5 VDC 5A NO.
901
456

100~240VAC
CTRL PULSER
2 2 23 X1
3 3
3 BC E
A

4
F0 1 2

4 4 MODE 3 46

5 5
5
6 6 0:ONLINE(A.R.)
6 1:ONLINE(U.R.)
7 7 2:OFFLINE
7 3:TEST 1(F.L.)
8 8 4:TEST 2(R.L.)
8 5:TEST 3(B.M.)
9 9 6:TEST 4(B.S.)
9 7:TEST 5(S.R.)
A A
A

FRONT SIDE
R-SD
IN
F-RD
F-SD
OUT
R-RD
A172SENC SY. ENC A1SJ71AR21

Machine's key points

SSCNET

Servo amplifier 1. High-speed forwarding of a hole breakage data from a personal computer.
Sensor input/ 2. High-speed monitor function in a personal computer.
MITSUBISHI MITSUBISHI MITSUBISHI MITSUBISHI

drill output 3. High-speed start of Z-axis after X-Y table positioning is completed.
4. High-speed start of X-Y axis after printed a board hole opening
(Z-axis rises from printed board position).
5. High-speed save operation when drill breakage.

Conventional programming method (SV13) Programming method with Motion SFC SV13

Start
Start
PLS M0 SFCS K0 Start

M0
P0
SET M1
1 [G0]
M1 //X-Y axis start wait
DMOV D842 D202 //(Z-axis current value
//= Printed board rising position)
X-Y table start (D842L =D200L)
M4 M2001 M2002 K0
D = D202 D200 SVST J1J2 K0 2 X-Y table start
ABS-2 [K0]
Axis 1, D 0 µm ABS-2
2
Axis 1, D 0 µm
Axis 2, D 2 µm Axis 2, D 2 µm
1 RST M1 Combined speed D 4 mm/min Combined speed D 4 mm/min
M-Code
[G1]
RST M4 NOP //Positioning completed wait

3 [F0]
SET Py20 //Drill-axis start
SET M2
4 [G2]
M2 M1601
//X-Y table in-position check
= K1 D813 SET Y20 M1602 * M1622
3
5 [K1] Z-axis start
RST D813
CPSTART1
Axis 3
RST M2 Speed D 10 mm/min
FIN
Acceleration 200 msec
SET M3 /deceleration
Z-axis start ABS-1
M3 M1602 M1622 M2003 K1 Axis 3, D 12 µm
SVST J3 K1 ABS-1
CPSTART1
Axis 3, D 14 µm
5 Axis 3 Speed D 20 mm/min
Speed D 10 mm/min
ABS-1
4 RST M3 FIN 200 msec Axis 3, D 12 µm
Acceleration Speed D 10 mm/min
/deceleration CPEND
ABS-1
SET M4 Axis 3, D 12 µm
ABS-1 7 [G3] 6 [G4]
Axis 3, D 14 µm
X0000 PX1 //Breaking check PX0 //Hole opening completed wait
Speed D 20 mm/min
RST Y20
ABS-1
8 [F1] [F1]
6 8 Axis 3, D 12 µm
Speed D 10 mm/min //Z-axis save operation RST PY 20 //Drill-stop
X0001 (Negative speed change)
CPEND CHGV(K3, -100000) 8
7 RST Py20 //Drill stop
9
X0001
CHGV J3 K-100000 Processing action 쐃 to 쐎 of the conventinal method END P0
7 9 corresponds to the new method 쐃 to 쐎 .

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 27

SOFTWARE

Overview of the different System Software Packages

왎 System Setting

System configuration Servo data setting

Set the system configuration (motion module, servo amplifier, Set the servo parameter and fixed parameters, etc.
servo motor) from the menu selection. Display explanations of parameters with one.point help.

왎 Programming

Program editing/instruction wizard Cam curve programming

Program for each step and transition Create cam data with cam pattern selection and free curve set-
Selection from menu using command wizard is also possible ting; display cam control status waveform

GX (IEC) Developer
Program editing and monitoring is possible with the proven
programming software GX (IEC) Developer.

28 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 SOFTWARE

왎 Debugging

Motion SFC monitor Motion SFC debugging mode

Color display of step in execution on flow chart Greatly reduced debugging time with powerful debug function
Device monitoring and testing of execution and designated step (one-step execution, forced shift, brake, forced end)

왎 Start-up adjustment and monitoring

Status display and test operation Digital oscilloscope

Current value monitor, axis monitor, error history monitor Data sampling synchronized with motion control cycle
Various tests suchs as zeroing and JOG with a simple mouse click Waveform display, dump display, file save, printing

왎 Operation and maintenance

Data back-up Document printing

Back-up motion controller programs, parametersw and internal Conversion of system settings, programs and parameters int Word
information in a abatch as a file or Excel file and printimg

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 29

ACCESSORIES

왎 Pulse generator/synchronouos encoder interface unit

A172SENC
The pulse generator/synchronouos encoder interface unit
A172SENC is used for input of an external Encoder (e.g. Encoder of
master drive) or an manual pulse generator. In addition this mod-
A 172SENC
ule processes the signals from the limit and dog switches which
PXO
1
2
8
9
A
10
11
12
18
19
1A
are connected to this module.
3 B 13 1B
4 C 14 1C
5 D 15 1D
6 E 16 1E
7 F 17 1F

Special features:
CTRL PULSER 앬 Loaded in motion slot
앬 One point each is built in for the various input on the 8 axes,
and for the tracking input, manual pulse generator and syn-
chronous encoder

A172SENC SY. ENC

Specifications A172SENC
Motion signal: 32 points
Input point (8 points each for upper limit switch, lower limit switch, STOP signal, proximity dog)
Tracking input: 1 point
Range of voltage V DC
used 10.2 to 26.4
Motion control signal
input, ON voltage/current Min. 7 V / min. 1.0 mA
tracking input OFF voltage/current Max. 1.8 V / max. 0.18 mA
Motion control signal input
OFF → ON: max. 2 ms, ON → OFF: max. 3 ms
Response time
Tracking input
OFF → ON: max. 0.5 ms, ON → OFF: max 0.5 ms
Output point 1 point
Range of load voltage V DC
Dynamic brake command used 21.6 to 30
output
Max. load current mA 100
Response time OFF → ON: max. 2 ms, ON → OFF: max. 2 ms
Usable unit 1

Adaptive type Voltage output type (5 V DC) / differential outout type (26L31 or equivalent)
Manual pulse genera- possible to select by connector wiring
tor/synchronous encoder Heigh level voltage V DC
input 3.0 to 5.25
Low level voltage V DC 0 to 1
Input frequency Max. 100 k pulses/s (magnification of 4)

Synchronous encoder Usable unit 1

input Adaptive type Serial absolute synchronous encoder input (MR-HENC)
Internal consumption current (5 V DC) mA 420 (Manual pulse generator / synchronous encoder is contained)
Weight kg
Dimensions (W x H x D) mm

Order information Art. no. 86313

30 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 ACCESSORIES

왎 Connection Cables

Connection Cables For the connection of servo amplifier to

servo amplifier the cableMR-J2HBUS첸M
The cable MR-J2HBUS첸M-A connects the
is required.
motion controller to the servo amplifier.
For detailled informations please refer to
the technical catalogue MR-J2-Super.

Specifications MR-J2HBUS첸M-A MR-J2HBUS첸M

Type of cable SSCNET cable SSCNET cable
For connection CPU unit to MR-J2S-B/MR-J2-B MR-J2S-B/MR-J2-B to MR-J2S-B/MR-J2-B
Available lengths m 0.5 / 1.0 / 5.0 0.5 / 1.0 / 5.0

Order information Art. no. 70009 / 86733 / 70006 70014 / 70012 / 70011

왎 Terminal Connectors

Connectors Specifications MR-A-TM

By this bus end plug the SSCNET is termi- SSCNET connector for the last
nated. The termination is required to Connector type servo amplifier
(MR-J2S-B/MR-J2-B)
ensure a faultless network operation.
The plug is connected to the end of the Order information Art. no. 70004
bus on the last servo amplifier.

왎 Manual Pulse Generator

MR-HDP01 Specifications MR-HDP01

By this serial handwheel an external incre- 25 pls/rev (100 pls/rev at
0 Pulse resolution
90
mental setting value can be generated. magnification of 4)
10
Output voltage Input voltage > 1 V
80
20

Consumtion current Max. 60 mA

30

Weight kg 0.4
40

Order information Art. no. 128728

왎 Serial absolute synchronous encoder

MR-HENC Specifications MR-HENC

This serial absolute synchronous encoder Resolution 16384 pls/rev.
facilitates the integration of an external Direction on increase Counter clockwise
system (e. g. frequency inverter) in a
motion system. The inverter is operated Protection IP52
as real master axis, e. g. synchronized in a Permissible rotation speed 4300 r/min
group. Perm. angular acceleration 4000 rad/s
Weight kg 1.5

Order information Art. no. 138304

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 31

DIMENSIONS

Motion Controller A171SH/A172SH/A173UH

4 X (M5 X 25)

MITSUBISHI A172SENC
8 10
TRA
18
A1SX40 8
0 0
STOP 1 9 11 19 1 9
POWER RUN
L.CLR RUN 2 A 12 1A 2 A
3 B 13 1B 3 B
ERROR RESET RESET 4 C 14 1C 4 C
5 D 15 1D 5 D
6 E 16 1E 6 E
A172SHCPUN 7 F 17 1F 7 F

INPUT OUTPUT
100~240VAC 5 VDC 5A
105VA 0
50/60Hz CTRL PULSER
1
2
3

110

130
- EMG
4
- EMG. COM. 5
6
7
8
FRONT 9
LISTED SSCNET
U. L IND.CONT.EQ.
C
U. L A
80 M 1
1 B

! WARNING C
Hazardous 2 D
voltage. E
PULL F
A172SENC SY. ENC

4.1
200 93.6 16.4
W 110

Extension Base Units

4 X (M5 X 25)

MELSEC A1S62PN A172SENC

8 10
TRA
18
A1SX40 8
A1SX40 8
A1SX40 8
A1SX40 8
A1SX40 8
A1SX40 8
A1SX40 8
A1SX40 8
0 0 0 0 0 0 0 0 0
POWER 1 9 11 19 1 9 1 9 1 9 1 9 1 9 1 9 1 9 1 9
2 A 12 1A 2 A 2 A 2 A 2 A 2 A 2 A 2 A 2 A
3 B 13 1B 3 B 3 B 3 B 3 B 3 B 3 B 3 B 3 B
4 C 14 1C 4 C 4 C 4 C 4 C 4 C 4 C 4 C 4 C
5 D 15 1D 5 D 5 D 5 D 5 D 5 D 5 D 5 D 5 D
6 E 16 1E 6 E 6 E 6 E 6 E 6 E 6 E 6 E 6 E
MITSUBISHI 7 F 17 1F 7 F 7 F 7 F 7 F 7 F 7 F 7 F 7 F

INPUT OUTPUT
100~240VAC 5 VDC 5A
105VA 0 0 0 0 0 0 0 0
50/60Hz CTRL PULSER
1 1 1 1 1 1 1 1
2 2 2 2 2 2 2 2
! WARNING 3 3 3 3 3 3 3 3

110

130
Hazardous
voltage. 4 4 4 4 4 4 4 4
5 5 5 5 5 5 5 5
6 6 6 6 6 6 6 6
7 7 7 7 7 7 7 7
8 8 8 8 8 8 8 8
9 9 9 9 9 9 9 9
A A A A A A A A
B B B B B B B B
C C C C C C C C
D D D D D D D D
E E E E E E E E
A172SENC SY. ENC F F F F F F F F

400
W

Type W (in mm)

A172B 220
A175B 325
A178B
A178B-S1 430
A178B-S2
A178B-S3
A175B 315
A1S68B 420
A168B

93.6 16.4

110

32 MOTION CONTROLLER MELSEC A MITSUBISHI ELECTRIC

 DIMENSIONS

Serial Absolute Synchronous Encoder MR-HENC

68
56

ø16

ø14,3
91 B

ø15
B
1,15
2
4 x ø5,4

19,5 5
102 33
135
B

Manual Pulse Generator MR-HDP01

3,6 t = 20
3 x M4x10

0 90
10
NP

20

80
ø60
ø70
ø50

ø80

30

70

60
40
50
M3 x 6

16 20 27 8,89 7,6

3 x ø4,8

ø72
ø62

MITSUBISHI ELECTRIC MOTION CONTROLLER MELSEC A 33

ORDER FORM

MITSUBISHI ELECTRIC EUROPE B.V. Company: . . . . . . . . . . . . . . . . . . . . .

Industrial Automation / German Branch Department: . . . . . . . . . . . . . . . . . . . . .
Gothaer-Str. 8 Street: . . . . . . . . . . . . . . . . . . . . .
D-40880 Ratingen Address: . . . . . . . . . . . . . . . . . . . . .
Phone: . . . . . . . . . . . . . . . . . . . . .
Fax: +49 2102 486-7170 Fax: . . . . . . . . . . . . . . . . . . . . .

Order declaration

Pos. Number Item (type) Article number Description Remarks

Notes when ordering:

When ordering, please use only the type designations and order numbers shown in this catalogue.

34 MITSUBISHI ELECTRIC
 INDEX

A O
Absolute encoder Operating system software . . . . . . . . . . . . . . . . . . . . . . . 13
description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
P
dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Programming
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 application examples . . . . . . . . . . . . . . . . . . . . . . . . 16
Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Application examples screenshots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
programming comparison . . . . . . . . . . . . . . . . . . . . . 27 software overview . . . . . . . . . . . . . . . . . . . . . . . . . . 12
SV13 applications . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Program start procedure . . . . . . . . . . . . . . . . . . . . . . . . . 25
SV22 applications . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Pulse generator interface unit . . . . . . . . . . . . . . . . . . . . . . 30

C R
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Response times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
CAM curve programming . . . . . . . . . . . . . . . . . . . . . . . . 28
Conveyor assembly (SV13) . . . . . . . . . . . . . . . . . . . . . . . . 14
S
Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Servo
CPUs amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
SFC (Sequential Function Chart) . . . . . . . . . . . . . . . . . . . . 22
Software
D functionality SV13 . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Dimensions functionality SV22 . . . . . . . . . . . . . . . . . . . . . . . . . . 20
motion controllers . . . . . . . . . . . . . . . . . . . . . . . . . . 32 specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 packages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
screenshots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
E
Specifications
Encoder interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
motion controllers (overview). . . . . . . . . . . . . . . . . . . . 6
Event processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 PCPUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
SCPUs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
F
Functions Synchronous control . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
motion SFC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 System
software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 configuration (software) . . . . . . . . . . . . . . . . . . . . . . 28
overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
H
Hardware components . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
V
Virtual mechanical system environment (SV22). . . . . . . . . . . 18
M
Manual pulse generator MR-HDP01
description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Mechanical modules (software). . . . . . . . . . . . . . . . . . . . . 20
Motion control (description)
Motion controllers (hardware) . . . . . . . . . . . . . . . . . . . . . . 6
Motion SFC programming . . . . . . . . . . . . . . . . . . . . . . . . 22

MITSUBISHI ELECTRIC MOTION CONTROLLER 35

 HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES MIDDLEEASTREPRESENTATIVE
MITSUBISHI ELECTRIC EUROPE GEVA AUSTRIA Meltrade Automatika Kft. HUNGARY SHERF Motion Techn. LTD ISRAEL
EUROPE B.V. Wiener Straße 89 55, Harmat St. Rehov Hamerkava 19
German Branch A-2500 Baden HU-1105 Budapest IL-58851 Holon
Gothaer Straße 8 Phone: +43 (0) 2252 / 85 55 20 Phone: +36 (0)1 / 2605 602 Phone: +972 (0) 3 / 559 54 62
D-40880 Ratingen Fax: +43 (0) 2252 / 488 60 Fax: +36 (0)1 / 2605 602 Fax: +972 (0) 3 / 556 01 82
Phone: +49 (0) 21 02 / 486-0 e mail: [email protected] e mail: [email protected]
Fax: +49 (0) 21 02 / 4 86-1 12 Getronics b.v. BELGIUM MITSUBISHI ELECTRIC IRELAND
e mail: [email protected] Control Systems EUROPE B.V. – Irish Branch
MITSUBISHI ELECTRIC FRANCE Pontbeeklaan 43 Westgate Business Park EURASIAN REPRESENTATIVES
EUROPE B.V. B-1731 Asse-Zellik Ballymount Avtomatika Sever RUSSIA
French Branch Phone: +32 (0) 2 / 4 67 17 51 IRL-Dublin 24 Krapivnij Per. 5, Of. 402
25, Boulevard des Bouvets Fax: +32 (0) 2 / 4 67 17 45 Phone: +353 (0) 1 / 419 88 00 RUS-194044 St Petersburg
F-92741 Nanterre Cedex e mail: [email protected] Fax: +353 (0) 1 / 419 88 90 Phone: +7 812- 5418418
Phone: +33 1 55 68 55 68 TELECON CO. BULGARIA e mail: [email protected] Fax: +7 812 1183239
Fax: +33 1 49 01 07 25 4, A. Ljapchev Blvd. Getronics b.v. NETHERLANDS e mail: [email protected]
e mail: [email protected] BG-1756 Sofia Control Systems CONSYS RUSSIA
MITSUBISHI ELECTRIC ITALY Phone: +359 (0) 2/ 97 44 05 8 Donauweg 2 B Promyshlennaya St. 42
EUROPE B.V. Fax: +359 (0) 2/ 97 44 06 1 1043 AJ Amsterdam RUS-198099 St Petersburg
Italian Branch e mail: — Phone: +31 (0) 20 / 587 6700 Phone: +7 812/ 325 36 53
C.D. Colleoni - P. Perseo Ing. 2 INEA CR d.o.o. CROATIA Fax: +31 (0) 20 / 587 6839 Fax: +7 812/ 325 36 53
Via Paracelso 12 Drvinje 63 e mail: [email protected] e mail: [email protected]
I-20041 Agrate Brianza (MI) HR-10000 Zagreb MPL Technology Sp. z o.o. POLAND
Phone: +39 039 / 60 53 1 ICOS RUSSLAND
Phone: +385 (0)1/ 3667140 ul. Sliczna 36 Ryazanskij Prospekt, 8A, Of. 100
Fax: +39 039 / 60 53 312 Fax: +385 (0)1/ 3667140 PL-31-444 Kraków
e mail: [email protected] RUS-109428 Moscow
e mail: — Phone: +48 (0) 12 / 632 28 85 Phone: +7 095/232-0207
MITSUBISHI ELECTRIC SPAIN AutoCont CZECHIA Fax: +48 (0) 12 / 632 47 82 Fax: +7 095/232-0327
EUROPE B.V. Control Systems s.r.o. e mail: [email protected] e mail: [email protected]
Spanish Branch Nemocnicni 12 Sirius Trading & Services srl ROMANIA
Carretera de Rubí 76-80 NPP Uralelektra RUSSIA
CZ-70200 Ostrava 2 Bd. Lacul Tei nr. 1 B Sverdlova 11A
E-08190 Sant Cugat del Vallés Phone: +420 (0) 69 / 615 21 11 RO-72301 Bucuresti 2
Phone: +34 (9) 3 / 565 31 60 RUS-620027 Ekaterinburg
Fax: +420 (0) 69 / 615 25 62 Phone: +40 (0) 1 / 201 7147 Phone: +7 34 32 / 53 27 45
Fax: +34 (9) 3 / 589 15 79 e mail: [email protected] Fax: +40 (0) 1 / 201 7148
e mail: — Fax: +7 34 32 / 53 24 61
louis poulsen DENMARK e mail: [email protected] e mail: [email protected]
MITSUBISHI ELECTRIC UK industri & automation INEA d.o.o. SLOWENIA
EUROPE B.V. STC Drive Technique RUSSIA
Geminivej 32 Stegne 11 Poslannikov per., 9, str.1
UK Branch DK-2670 Greve SI-1000 Ljubljana
Travellers Lane RUS-107005 Moscow
Phone: +45 (0) 43 / 95 95 95 Phone: +386 (0) 1- 513 8100 Phone: +7 095 / 786 21 00
GB-Hatfield Herts. AL10 8 XB Fax: +45 (0) 43 / 95 95 91 Fax: +386 (0) 1- 513 8170
Phone: +44 (0) 1707 / 27 61 00 Fax: +7 095 / 786 21 01
e mail: [email protected] e mail: [email protected] e mail: [email protected]
Fax: +44 (0) 1707 / 27 86 95
e mail: — UTU Elektrotehnika AS ESTONIA ARATRON AB SWEDEN JV-CSC Automation UKRAINE
Pärnu mnt.160i Box 20087 15, M. Raskovoyi St., Floor 10,
MITSUBISHI ELECTRIC JAPAN EE-11317 Tallinn S-16102 Bromma
CORPORATION Office 1010
Phone: +372 (0) 6 / 51 72 80 Phone: +46 (0) 8/ 40 41 600 U-02002 Kiev
Office Tower “Z” 14 F Fax: +372 (0) 6 / 51 72 88 Fax: +46 (0) 8/ 98 42 81
8-12,1 chome, Harumi Chuo-Ku Phone: +380 44 / 238 83 16
e mail: [email protected] e mail: — Fax: +380 44 / 238 83 17
TOKYO 104-6212
Phone: +81 3 / 622 160 60 UTO ELEC OY FINLAND ECONOTEC AG SWITZERLAND e mail: [email protected]
Fax: +81 3 / 622 160 75 Box 199 Postfach 282 TEHNIKON BELARUS
FIN-28101 Pori CH-8309 Nürensdorf Oktjabrskaya 16/5, Ap 704
MITSUBISHI ELECTRIC USA Phone: +358 (0) 9 / 550 800 Phone: +41 (0) 1 / 838 48 11
AUTOMATION BY-220030 Minsk
Fax: +358 (0) 9 / 550 8880 Fax: +41 (0) 1 / 838 48 12 Phone: +375 (0)17/ 2275704
500 Corporate Woods Parkway e mail: — e mail: [email protected]
Vernon Hills, Illinois 60061 Fax: +375 (0)17/ 2276669
Phone: +1 (0) 847 / 478 21 00 UTECO A.B.E.E. GREECE GTS TURKEY e mail: [email protected]
Fax: +1 (0) 847 / 478 22 83 5, Mavrogenous Str. Darülaceze Cad. No. 43A KAT: 2
GR-18542 Piraeus TR-80270 Okmeydani-Istanbul
Phone: +30 10 / 42 10 050 Phone: +90 (0) 212 / 320 1640
Fax: +30 10 / 42 12 033 Fax: +90 (0) 212 / 320 1649 AFRICAN REPRESENTATIVE
e mail: [email protected] e mail: [email protected]
CBI Ltd SOUTH AFRICA
Private Bag 2016
ZA-1600 Isando
Phone: +27 (0) 11 928 2000
Fax: +27 (0) 11 392 2354
e mail: [email protected]

Specifications subject to change without notice. MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION

Art. no. 139825-C, Printed in Germany 11.02
Gothaer Strasse 8 Phone: +49 2102 486-0 Fax: +49 2102 486-7170 www.mitsubishi-automation.de
D-40880 Ratingen Hotline: +49 1805 000-765 [email protected] www.mitsubishi-automation.com