Instruction manual

1. GENERAL DESCRIPTION
1 − 4
1.1.2 A173UHCPU(-S1) System overall configuration
d1
M
E
d2
M
E
d3
M
E
d8
M
E
Servo amplifier, max. 8 axes/1 network
Termination
resistor
MR-H-BN/MR-J2S-B/MR-J2-B
Servo amplifier, max. 32 axes
SSCNET1
A173UHCPU A172S
ENC
A1S
I61
Emergency
stop input
A6BAT
Teaching unit
A31TU-E/A30TU-E
(SV13 only)
Communication cable
(A270CDCBL M/
A270BDCBL M)
Personal computer
(IBM PC/AT)
SSCNET4
SSC I/F card/board
(A30CD-PCF/A30BD-PCF)
RS422
CPU module
Interrupt input module
External interrupt input signals
16 points (I0 to I15)
P
Manual pulse generator
(MR-HDP01)
E
External input signals
FLS Upper limit switch
RLS Lower limit switch
STOP Stop signal
DOG/CHANGE Proximity dog/speed-position change
TRA Tracking
Brake output
Motion network cable
Motion slots
Battery
AC100/200V
Power supply
module
PLC extension base
For A1S6 B: up to 1 base
For A168B (GOT compatible) : up to 1 base
For A6 B : up to 1 base
A172S
ENC
A172S
ENC
A172S
ENC
Pulse generator/
synchronous encoder
interface module
P
P
E
E
E
SSCNET3
SSCNET4
Max. 24 axes
SSCNET2
Extension cable
A1SC B: For A1S6 B, A168B
A1S NB: For A6 B
CPU base unit
A178B-S3
/A178B-S2
/A178B-S1
/A17 B
GOT
(Note)
(Note): The A173UHCPU may be used with 4 channels
of SSCNET.
When using the SSC I/F card/board
(A30CD-PCF/A30BD-PCF), connect it to
SSCNET4 and connect the servo amplifiers to
SSCNET1 to 3.
In this case, up to 24 axes of servo amplifiers
can be connected.
3
4
8
1
(Note)
Serial absolute
synchronous encoder cable
(MR-HSCBL M)
Serial absolute
synchronous encoder
(MR-HENC)
Windows NT /
Windows 98
NOTES
(1) Use the A168B when using the bus-connection type GOT.
(2) When using a teaching unit A31TU-E with dead-man switch, a dedicated
connecting cable A31TUCBL03M is required between the CPU module
and A31TU-E connector. If the A31TU-E is connected directly to the
RS422 connector of the CPU without using a dedicated cable, the A31TU-
E will not operate at all.
After disconnecting the A31TU-E, attach a short-circuit connector
A31TUSHORTCON for A31TUCBL.
(3) The motion slots also accept PLC A1S I/O modules.
(4) The motion slots accept one A1SI61 interrupt input module.
This module is designed for only event/NMI input to the motion CPU and is
irrelevant to PLC interrupt programs.
(5) The motion slots accept up to 256 I/O points.
(6) The I/O numbers of the I/O modules loaded in the motion slots should be
later than the I/O numbers used with the PLC slots.