R7G4HML3-6-PA1J-R/Q [MSYSTEM]
Remote I/O R7G4H Series MECHATROLINK I/O MODULE;
| 型号： | R7G4HML3-6-PA1J-R/Q |
| 厂家： | 
M-SYSTEM |
| 描述： | Remote I/O R7G4H Series MECHATROLINK I/O MODULE |
| 文件： | 总10页 (文件大小：314K) |
| 中文： | 中文翻译 | 下载： | 下载PDF数据表文档文件 |
MODEL: R7G4HML3-6-PA1
Remote I/O R7G4H Series
POWER INPUT
DC Power
R: 24 V DC
MECHATROLINK I/O MODULE
(encoder input, 1 point, screw terminal block,
MECHATROLINK- III use)
(Operational voltage range 24 V ±10 %, ripple 10 %p-p max.)
Functions & Features
[2] OPTIONS
• 1 point encoder input (speed / position) module for
MECHATROLINK- III
blank: none
/Q: Options other than the above (specify the specification)
• Easy parameter setting with M-System's configurator
software
SPECIFICATIONS OF OPTION: Q (multiple selections)
COATING (For the detail, refer to M-System's web site.)
/C01: Silicone coating
/C02: Polyurethane coating
/C03: Rubber coating
130 (5.12)
EX-FACTORY SETTING
/SET: Preset according to the Ordering Information Sheet
(No. ESU-7772-PA1)
RELATED PRODUCTS
55 (2.17)
• PC configurator software (model: R7CFG)
Downloadable at M-System’s web site.
A dedicated cable is required to connect the module to the
PC. Please refer to the internet software download site or
the users manual for the PC configurator for applicable
cable types.
57 (2.24)
mm (inch)
GENERAL SPECIFICATIONS
Connection
MODEL: R7G4HML3-6-PA1[1]–R[2]
MECHATROLINK-III: MECHATROLINK-III connector
Power input, I/O: M3 separable screw terminal (torque 0.5
N·m)
ORDERING INFORMATION
• Code number: R7G4HML3-6-PA1[1]-R[2]
Specify a code from below for each of [1] and [2].
(e.g. R7G4HML3-6-PA1A7-R/Q)
Solderless terminal: Refer to the drawing at the end of the
section.
• Specify the specification for option code /Q
(e.g. /C01/SET)
Recommended manufacturer: Japan Solderless Terminal
MFG.Co.Ltd, Nichifu Co.,ltd
Applicable wire size: 0.25 to 1.65 mm
2
(AWG 22 to 16)
Screw terminal: Nickel-plated steel
TERMINAL BLOCK
Housing material: Flame-resistant resin (gray)
Isolation: Input or output or sensor excitation to
MECHATROLINK or FE to power
Status indicator LEDs: PWR, ERR, CON, LNK1, LNK2
(Refer to the instruction manual for details)
Parameter setting: With PC configurator software (model:
R7CFG)
6: Screw terminal block for power supply
Connector for MECHATROLINK- III
Screw terminal block for I/O
I/O TYPE
PA1: Encoder input (speed / position) 1 point
• Data type
• Count mode
[1] INPUT
• Counter type
A1: 5 V open collector
A4: 12 V open collector
A7: 24 V open collector
J: RS-422 line driver pulse
• Frequency range
• Drop out
• MECHATROLINK-III command
R7G4HML3-6-PA1 SPECIFICATIONS
ES-7772-D Rev.0 Page 1/10
http://www.m-system.co.jp/
MODEL: R7G4HML3-6-PA1
• Alarm type
∙ 5 V: Approx. 4 V DC @ 4.4 mA, ≥ 3 kΩ / 3.3 V for OFF, ≤
300 Ω / 1 V for ON
• External latch
Refer to the instruction manual for detail.
Command: Data type, Latch, Reset, Latch data clear, Reset
data clear, Preset and Alarm output
(For details refer to the instruction manual.)
■Recommended solderless terminal
∙ 12 V: Approx. 10 V DC @ 5.7 mA, ≥ 3 kΩ / 6.5 V for OFF, ≤
400 Ω / 1.8 V for ON
∙ 24 V: Approx. 22 V DC @ 7.8 mA, ≥ 3 kΩ / 11.5 V for OFF,
≤ 300 Ω / 2 V for ON
Pulse phase: A, B and Z
A and B phases are necessary to work.
Phase A/B
3.3 (.13) max
∙ Position data: ≥ 5 μsec.
∙ Speed data: ≥ 5 μsec.
Phase Z
mm (inch)
≥ 1 msec. (firmware version 1.10)
≥ 0.5 μsec. (firmware version 1.11 or later)
RS-422 line driver pulse
MECHATROLINK-III COMMUNICATION
Baud rate: 100 Mbps
Position data: 4 MHz (quad multiplication)
Speed data: 100 kHz
Transmission distance: 6300 m max.
Distance between stations: 100 m max.
Transmission media: MECHATROLINK cable (Model JEPMC-
W6013-x-E, Yaskawa Controls Co., Ltd.)
Connector: TYCO AMP Industrial mini I/O connector
Max. number of slaves: 62
Receiver: Conforms to RS-422
Pulse phase: A, B and Z
A and B phases are necessary to work.
Phase A/B
∙ Position data: ≥ 0.5 μsec.
(The maximum number of slaves might change depending
on the master unit. Refer to the manual of the master unit)
Transmission cycle: 125 µsec., 250 µsec., 500 µsec., 1 – 64
msec. (with 1 msec. increments)
∙ Speed data: ≥ 5 μsec.
Phase Z
≥ 1 msec. (firmware version 1.10)
≥ 0.5 μsec. (firmware version 1.11 or later)
■ Reset input: Discrete input
Number of input: 1
Communication cycle: 125 µsec. through 64 msec.
Applicable profile: Standard I/O profile (cyclic
communication)
Common: Positive common
Event-driven communication acquiring ID profile (event-
driven communication)
Detecting voltage: Supplied sensor excitation voltage
Detecting current: 5.5 mA per channel (@24 V DC)
Detecting levels:
Transmission bytes: 16 bytes
Station address: 03H through EFH (set with rotary switches)
Cyclic communication: Available
≥ 15 V DC (between +24V1 and RST), ≥ 3.5 mA for ON
≤ 5 V DC (between +24V1 and RST), ≤ 1mA for OFF
Input resistance: Approx. 4.4 kΩ
ON delay time: ≤ 50 μsec.
Event-driven communication: Available
Slave monitoring: None
OFF delay time: ≤ 500 μsec.
Pulse width: ≥ 50 msec.
INPUT SPECIFICATIONS
Sensor Excitation* (External):
■ Latch input: Discrete input
Number of input: 1
24 V DC ± 10 %, ripple 5 %p-p max., 20 mA to 1 A
* Must be supplied since the input circuit also works with it.
When Latch or Reset turns on, its current is added.
Encoder excitation (External source; only for Ax)
A1: 5 V DC ±5 %, ≤ 1 A
Common: Positive common
Detecting voltage: Supplied sensor excitation voltage
Detecting current: 5.5 mA per channel (@24 V DC)
Detecting levels:
≥ 15 V DC (between +24 V1 and LCH), ≥ 3.5 mA for ON
≤ 5 V DC (between +24 V1 and LCH), ≤ 1mA for OFF
Input resistance: Approx. 4.4 kΩ
ON delay time: ≤ 10 μsec.
A4: 12 V DC ±5 %, ≤ 1 A
A7: 24 V DC ±5 %, ≤ 1 A
■Encoder pulse input
Open collector
OFF delay time: ≤ 10 μsec.
Maximum input frequency
∙ Position data: 400 kHz (quad multiplication)
∙ Speed data: 100 kHz
Input pulse, ON/OFF level
R7G4HML3-6-PA1 SPECIFICATIONS
ES-7772-D Rev.0 Page 2/10
http://www.m-system.co.jp/
MODEL: R7G4HML3-6-PA1
OUTPUT SPECIFICATIONS
■ Alarm Output: Open collector
Number of output: 2
PC CONFIGURATOR
The following parameters can be set with using PC
Configurator Software (model: R7CFG)
Refer to the users manual for the R7CFG for detailed
operation of the software program.
Common: Negative common
Rated load voltage: 24 V DC ±10 %
Max. load current: 0.1 A per point
Voltage drop at ON: ≤ 1.2 V
Leakage current at OFF: ≤ 1 mA
ON delay: ≤ 50 μsec.
■ DATA TYPE
DEFAULT
PARAMETER
Data type
SETTING RANGE
SETTING
Position
Position
Speed
OFF delay: ≤ 500 μsec.
■ POSITION DATA MODE
PARAMETER SETTING RANGE
Reset value
INSTALLATION
Current consumption
DEFAULT
SETTING
Min. totalized value –
Max. totalized value
-2 100 000 000 to
+2 099 999 999
0
•DC: Approx. 80 mA
(linear counter)
Minimum totalized
value
Operating temperature: -10 to +55°C (14 to 131°F)
Storage temperature: -20 to +65°C (-4 to +149°F)
Operating humidity: 30 to 90 %RH (non-condensing)
Atmosphere: No corrosive gas or heavy dust
Mounting: Surface or DIN rail (35 mm rail)
Weight: 220 g (0.49 lb)
-2 100 000 000
2 100 000 000
(linear counter)
Maximum totalized -2 099 999 999 to
value
+2 100 000 000
(linear counter)
Count mode
Mode 0: x1 (phase A, B) Mode 3: x4
Mode 1: x1 (phase A)
Mode 2: x2
PERFORMANCE
Speed conversion accuracy: ±0.1 %
Mode 3: x4
Data type
Linear counter
Ring counter
Linear counter
Data range
Speed: 0 – 10000 of the input range
Position
■ SPEED DATA MODE
DEFAULT
SETTING
Ring: 0 to 4 294 967 295
PARAMETER
SETTING RANGE
Linear: -2 100 000 000 to +2 100 000 000
Insulation resistance: ≥ 100 MΩ with 500 V DC
Dielectric strength: 1500 V AC @ 1 minute
(input or output or sensor excitation to MECHATROLINK or
FE to power)
Frequency range
0 – 100 kHz
0 – 10 kHz
0 – 1 kHz
0 – 100 kHz
0 – 100 Hz
0 – 10 Hz
0 – 1 Hz
0 – 0.1 Hz
0.10 – 25.00 (%)
STANDARDS & APPROVALS
EU conformity:
Drop out
0.10 (%)
(low-end cutout)
Bias adjustment
Gain adjustment
Zero scale
-320.00 – +320.00 (%) 0.00 (%)
EMC Directive
-3.2000 – +3.2000
-32 000 – +32 000
-32 000 – +32 000
1.0000
0
EMI EN 61000-6-4
EMS EN 61000-6-2
RoHS Directive
Full scale
10 000
EN 50581
R7G4HML3-6-PA1 SPECIFICATIONS
ES-7772-D Rev.0 Page 3/10
http://www.m-system.co.jp/
MODEL: R7G4HML3-6-PA1
■ ALARM
PARAMATER
MECHATROLINK-III Valid
DEFAULT
SETTING
SETTING RANGE
Invalid
command
Invalid
Alarm Type
Not used
Not used
Speed high
Speed low
Position high
Position low
Setpoint A
Linear high setpoint:
Min to [Max−1]
Linear low setpoint:
[Min+1] to Max
Ring high setpoint:
0 to 4 294 967 294
Ring low setpoint:
1 to 4 294 967 295
100 000 000
100 000 000
1 000
(position data)
Setpoint B
(position data)
Hysteresis (deadband) A Linear: < [Max – Min]
(position data)
[Hi Setpoint –
Hysteresis] > Min
[Lo Setpoint +
Hysteresis] < Max
Ring: 0 to 4 294 967 295
[Hi Setpoint –
Hysteresis (deadband) B
(position data)
1 000
Hysteresis] > 0
[Lo Setpoint +
Hysteresis] < 4 294 967 295
Setpoint A
80.00 (%)
80.00 (%)
5.00 (%)
5.00 (%)
(speed data)
-15.00 to 115.00 (%)
0.00 to 115.00 (%)
Setpoint B
(speed data)
Hysteresis (deadband) A
(speed data)
Hysteresis (deadband) B
(speed data)
Alarm power on delay 0.0 to 60.0 sec.
Alarm on delay timer 0.0 to 60.0 sec.
Alarm on hold timer 0.0 to 60.0 sec.
5.0 sec.
0.1 sec.
0.1 sec.
■ LATCH AND RESET
DEFAULT
SETTING
Valid
PARAMETER
External latch
SETTING RANGE
Valid
Invalid
command via
MECHATROLINK-III
MECHATROLINK-III Valid
latch Invalid
MECHATROLINK-III Valid
Valid
Valid
latch data clear
External reset
Invalid
Valid
Valid
Invalid
MECHATROLINK-III Valid
reset Invalid
MECHATROLINK-III Valid
Valid
Valid
reset data clear
Invalid
1
Z reset / Z latch*
Invalid
z reset valid
Z reset valid
Z latch valid*
1
*1. Selectable when the firmware version is V1.11 or later.
R7G4HML3-6-PA1 SPECIFICATIONS
ES-7772-D Rev.0 Page 4/10
http://www.m-system.co.jp/
MODEL: R7G4HML3-6-PA1
EXTERNAL VIEW
Station Address Setting
Rotary SW
MECHATROLINK- III
Connectors
PC Configurator Jack
Status Indicator LED
SA1
×10
SA2
×1
PWR CON LNK2
ERR LNK1
CNFG
LNK1
LNK2
4
5
6
7
10 11 12 13 14 15 16 17 18
1
2
3
9
1
2
3
4
5
6
7
8
Power Supply Terminals
I/O Terminals
TERMINAL ASSIGNMENTS
■R7G4HML3-6-PA1J (RS-422 LINE DRIVER PULSE INPUT)
10
SNSR
EXCー
11
12
13
14
15
16
17
18
A－ B－ Z－ +24V1 GND GND GND GND
1
SNSR
EXC＋
2
3
4
5
6
7
8
9
A＋ B＋ Z＋ +24V1 LCH RST OCA OCB
Pin. No.
ID
FUNCTION
1
2
SNSR EXC + SENSOR EXCITATION +
A +
B +
PHASE A +
3
PHASE B +
4
Z +
PHASE Z +
5
+ 24V1
LCH
RST
OCA
OCB
24V DC
6
LATCH INPUT
7
RESET INPUT
8
OPEN COLLECTOR OUTPUT A
OPEN COLLECTOR OUTPUT B
9
10
11
12
13
14
15
16
17
18
SNSR EXC – SENSOR EXCITATION –
A –
B –
PHASE A –
PHASE B –
PHASE Z –
24V DC
0V
Z –
+24V1
GND
GND
GND
GND
0V
0V
0V
R7G4HML3-6-PA1 SPECIFICATIONS
ES-7772-D Rev.0 Page 5/10
http://www.m-system.co.jp/
MODEL: R7G4HML3-6-PA1
■R7G4HML3-6-PA1Ax (OPEN COLLECTOR INPUT)
10
SNSR
11
12
13
14
15
16
17
18
ENCDR＋
3
Z
V－ +24V1 GND GND GND GND
ENCDRー
1
SNSR
EXC＋
2
4
5
6
7
8
9
A
B
V＋ +24V1 LCH RST OCA OCB
Pin. No.
ID
FUNCTION
1
2
3
4
5
6
7
8
9
SNSR EXC + SENSOR EXCITATION +
A
B
PHASE A
PHASE B
V +
ENCODER POWER OUTPUT +
24V DC
+ 24V1
LCH
RST
OCA
OCB
LATCH INPUT
RESET INPUT
OPEN COLLECTOR OUTPUT A
OPEN COLLECTOR OUTPUT B
SENSOR EXCITATION – /
SNSR
/
10
ENCDR –
ENCODER POWER INPUT
ENCODER POWER INPUT
PHASE Z
–
+
11
12
13
14
15
16
17
18
ENCDR +
Z
V –
ENCODER POWER OUTPUT –
+ 24V1
GND
GND
GND
GND
24V DC
0V
0V
0V
0V
■POWER SUPPLY TERMINAL ASSIGNMENT
4 5
NC NC
6
＋
7
24V 0V
1
2
3
NC NC FE
1. NC
2. NC
3. FE
4. NC
5. NC
6. +24V
7. 0V
-
-
Functional earth
-
-
Power supply (24V DC)
Power supply (0V)
MECHATROLINK RELATED COMMANDS
Commands available with the unit are as follow.
PROFILE
COMMAND
NOP
CODE
00H
03H
04H
05H
06H
0EH
0FH
20H
FUNCTION
Common command
No operation command
Read ID command
ID_RD
CONFIG
Setup device command
Read alarm or warning command
Clear alarm or warning command
Establish connection command
Release connection command
Transmit I/O data
ALM_RD
ALM_CLR
CONNECT
DISCONNECT
DATA_RWA
Standard I/O profile
R7G4HML3-6-PA1 SPECIFICATIONS
ES-7772-D Rev.0 Page 6/10
http://www.m-system.co.jp/
MODEL: R7G4HML3-6-PA1
DATA CONVERSION
■ ENCODER INPUT (SPEED CONVERSION DATA)
Encoder input data is converted into digital representations of 0 – 100% proportional to each scaled range.
The converted % values are multiplied by 100 and expressed in 16 bits.
Overrange input is possible from -15 to +115% of the nominal range.
When the signal exceeds the limit, the data is fixed at -15% or +115% respectively.
ꢀ
· Input Range 0 – 100 kHz
11500 (2CEC)
Input Value Input % Converted Data, Decimal Converted Data, Hex
10000 (2710)
-130kHz
-100kHz
0kHz
-15%
0%
-1500
0
FA24
0
50%
100%
115%
5000
10000
11500
1388
2710
2CEC
100kHz
130kHz
5000 (1388)
-130
CUTOUT
STOP
FORWARD
REVERSE
-100
-1500 (FA24)
0
100 130
（kHz）
ϕ A INPUT
ϕ B INPUT
+
ACCEL.
DECEL.
0Hz
ACCEL.
CUTOUT
-
I/O DATA DESCRIPTIONS
Scaling of analog I/O module is configurable with the configurator software (model: R7CFG). Refer to the software manual for
details.
■ PULSE POSITION CONVERTION
Byte n+1
Byte n+3
Byte n
7
7
0 7
0
0
Lower 16 bit
Upper 16 bit
Byte n+2
0 7
Position conversion data is represented in 16-bit binary. Negative value is represented in 2’s complements.
■ PULSE SPEED DATA
Byte n+1
Byte n
7
0 7
0
16 Bit
Speed data is represented in 16-bit binary. Negative value is represented in 2’s complements.
R7G4HML3-6-PA1 SPECIFICATIONS
ES-7772-D Rev.0 Page 7/10
http://www.m-system.co.jp/
MODEL: R7G4HML3-6-PA1
■ STATUS
Byte11
Byte10
7
0 7
0
CH0 External latch completed (0 → 1 external latch completed at rising edge,
CH0 External latch detect command 1 → 0 clear status)
CH0 Z latch completed* (0 → 1 Z latch completed at rising edge,
CH0 Z latch detect command 1 → 0 clear status)
CH0 Z pulse
* (0: OFF 1: ON)
Not used (always 0)
*
Available when the firmware version is V1.11 or later
EXTERNAL DIMENSIONS & TERMINAL ASSIGNMENTS unit: mm (inch)
154 (6.06)
140 (5.51)
130 (5.12)
57 (2.24)
DIN RAIL
35mm wide
4
5
6
7
10 11 12 13 14 15 16 17 18
1
2
3
9
1
2
3
4
5
6
7
8
[(4) 0.16]
2 – 4.3 dia. 4 deep.
6
6
7–M3 SCREW
TERMINALS for
POWER SUPPLY
18–M3 SCREW
TERMINALS for I/O
MOUNTING REQUIREMENTS unit: mm (inch)
140 (5.51)
2 – M4
R7G4HML3-6-PA1 SPECIFICATIONS
ES-7772-D Rev.0 Page 8/10
http://www.m-system.co.jp/
MODEL: R7G4HML3-6-PA1
SCHEMATIC CIRCUITRY & CONNECTION DIAGRAM
Note: In order to improve EMC performance, bond the FE terminal to ground.
Caution: FE terminal is NOT a protective conductor terminal.
■ R7G4HML3–6–PA1J (RS-422 LINE DRIVER PULSE INPUT)
Comm.
Circuit
+24V
+
1
SNSR EXC.
+
SENSOR EXCITATION (IN)
24V DC
Input
Circuit
10
SNSR EXC.
–
–
ENCODER POWER
GND
+
–
Isolation
ENCODER
(RS-422 OUTPUT)
2
11
3
A+
A–
B+
B–
Z+
Z–
12
4
13
+24V
5
6
+24V1
LCH
Control
Circuit
Detecting Circuit
15
GND
LATCH
GND
+24V
3
6
7
1
2
4
5
FE
24 V DC
0V
14
7
+24V1
RST
Detecting Circuit
16
GND
RESET
GND
+24V
8
OCA
GND
OPEN COLL. OUTPUT A
OPEN COLL. OUTPUT B
17
9
OCB
GND
18
GND
Note. For wiring of encoder input, use twisted pair cable with shield. Be sure to ground the shield.
R7G4HML3-6-PA1 SPECIFICATIONS
ES-7772-D Rev.0 Page 9/10
http://www.m-system.co.jp/
MODEL: R7G4HML3-6-PA1
■ R7G4HML3–6–PA1Ax (OPEN COLLECTOR INPUT)
SENSOR EXCITATION (IN) 24V DC
+
+24V
V+
Comm.
Circuit
1
SNSR EXC.+
SNSR EXC./ENCDR–
ENCDR+
ENCODER
POWER (IN)
−
−
10
11
GND
+
Input
Circuit
Isolation
2
3
A
B
Z
ENCODER
(OPEN COLLECTOR
OUTPUT)
12
V+
4
V+
V–
13
GND
+24V
5
6
+24V1
LCH
Detecting Circuit
15
GND
LATCH
Control
Circuit
GND
+24V
14
7
+24V1
RST
3
FE
Detecting Circuit
16
GND
RESET
6
7
1
2
4
5
24V DC
0V
GND
+24V
8
OCA
GND
OPEN COLL. OUTPUT A
OPEN COLL. OUTPUT B
17
9
OCB
GND
18
GND
Note. For wiring of encoder input, use twisted pair cable with shield. Be sure to ground the shield.
Specifications are subject to change without notice.
R7G4HML3-6-PA1 SPECIFICATIONS
ES-7772-D Rev.0 Page 10/10
http://www.m-system.co.jp/
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