R7G4HML3-6-PA1A1-R/Q

R7G4HML3-6-PA1 MSYSTEM | Alldatasheet

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MODEL: R7G4HML3-6-PA1 R7G4HML3-6-PA1 SPECIFICATIONS ES-7772-D Rev.0 Page 1/10 http://www.m-system.co.jp/ Remote I/O R7G4H Series MECHATROLINK I/O MODULE (encoder input, 1 point, screw terminal block, MECHATROLINK- III use) Functions & Features

• 1 point encoder input (speed / position) module for MECHATROLINK- III
• Easy parameter setting with M-System's configurator software 55 (2.17) mm (inch) 57 (2.24) 130 (5.12) MODEL: R7G4HML3-6-PA1[1]–R[2]

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)
• Specify the specification for option code /Q (e.g. /C01/SET) TERMINAL BLOCK 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 [1] INPUT A1: 5 V open collector A4: 12 V open collector A7: 24 V open collector J: RS-422 line driver pulse POWER INPUT DC Power R: 24 V DC (Operational voltage range 24 V ±10 %, ripple 10 %p-p max.) [2] OPTIONS blank: none /Q: Options other than the above (specify the specification) 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 EX-FACTORY SETTING /SET: Preset according to the Ordering Information Sheet (No. ESU-7772-PA1)

RELATED PRODUCTS

• 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. GENERAL SPECIFICATIONS Connection MECHATROLINK-III: MECHATROLINK-III connector Power input, I/O: M3 separable screw terminal (torque 0.5 N·m) Solderless terminal: Refer to the drawing at the end of the section. Recommended manufacturer: Japan Solderless Terminal MFG.Co.Ltd, Nichifu Co.,ltd Applicable wire size: 0.25 to 1.65 mm2 (AWG 22 to 16) Screw terminal: Nickel-plated steel 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)
• Data type
• Count mode
• Counter type
• Frequency range
• Drop out
• MECHATROLINK-III command

MODEL: R7G4HML3-6-PA1 R7G4HML3-6-PA1 SPECIFICATIONS ES-7772-D Rev.0 Page 2/10 http://www.m-system.co.jp/

• Alarm type
• 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 6 (.24) max 3.3 (.13) max mm (inch) MECHATROLINK-III COMMUNICATION Baud rate: 100 Mbps 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 (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) Communication cycle: 125 µsec. through 64 msec. Applicable profile: Standard I/O profile (cyclic communication) Event-driven communication acquiring ID profile (event- driven communication) Transmission bytes: 16 bytes Station address: 03H through EFH (set with rotary switches) Cyclic communication: Available Event-driven communication: Available Slave monitoring: None INPUT SPECIFICATIONS Sensor Excitation* (External): 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 A4: 12 V DC ±5 %, ≤ 1 A A7: 24 V DC ±5 %, ≤ 1 A ■Encoder pulse input Open collector Maximum input frequency ∙ Position data: 400 kHz (quad multiplication) ∙ Speed data: 100 kHz Input pulse, ON/OFF level ∙ 5 V: Approx. 4 V DC @ 4.4 mA, ≥ 3 kΩ / 3.3 V for OFF, ≤ 300 Ω / 1 V for ON ∙ 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 ∙ Position data: ≥ 5 μsec. ∙ Speed data: ≥ 5 μsec. Phase Z ≥ 1 msec. (firmware version 1.10) ≥ 0.5 μsec. (firmware version 1.11 or later) RS-422 line driver pulse Position data: 4 MHz (quad multiplication) Speed data: 100 kHz 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. ∙ 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 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 +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. OFF delay time: ≤ 500 μsec. Pulse width: ≥ 50 msec. ■ Latch input: Discrete input Number of input: 1 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. OFF delay time: ≤ 10 μsec.

MODEL: R7G4HML3-6-PA1 R7G4HML3-6-PA1 SPECIFICATIONS ES-7772-D Rev.0 Page 3/10 http://www.m-system.co.jp/ OUTPUT SPECIFICATIONS ■ Alarm Output: Open collector Number of output: 2 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. OFF delay: ≤ 500 μsec. INSTALLATION Current consumption

• DC: Approx. 80 mA 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) PERFORMANCE Speed conversion accuracy: ±0.1 % Data range Speed: 0 – 10000 of the input range Position Ring: 0 to 4 294 967 295 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) STANDARDS & APPROVALS EU conformity: EMC Directive EMI EN 61000-6-4 EMS EN 61000-6-2 RoHS Directive EN 50581 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. ■ DATA TYPE PARAMETER SETTING RANGE DEFAULT SETTING Data type Position Speed Position ■ POSITION DATA MODE PARAMETER SETTING RANGE DEFAULT SETTING Reset value (linear counter) Min. totalized value – Max. totalized value Minimum totalized value (linear counter) -2 100 000 000 to +2 099 999 999 -2 100 000 000 Maximum totalized value (linear counter) -2 099 999 999 to +2 100 000 000 2 100 000 000 Count mode Mode 0: x1 (phase A, B) Mode 1: x1 (phase A) Mode 2: x2 Mode 3: x4 Mode 3: x4 Data type Linear counter Ring counter Linear counter ■ SPEED DATA MODE PARAMETER SETTING RANGE DEFAULT SETTING Frequency range 0 – 100 kHz 0 – 10 kHz 0 – 1 kHz 0 – 100 Hz 0 – 10 Hz 0 – 1 Hz 0 – 0.1 Hz 0 – 100 kHz Drop out (low-end cutout) Bias adjustment -320.00 – +320.00 (%) 0.00 (%) Gain adjustment -3.2000 – +3.2000 1 .0000 Zero scale -32 000 – +32 000 0 Full scale -32 000 – +32 000 10 000

MODEL: R7G4HML3-6-PA1 R7G4HML3-6-PA1 SPECIFICATIONS ES-7772-D Rev.0 Page 4/10 http://www.m-system.co.jp/ ■ ALARM PARAMATER SETTING RANGE DEFAULT SETTING MECHATROLINK-III command Valid Invalid Invalid Alarm Type Not used Speed high Speed low Position high Position low Not used Setpoint A (position data) 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 Setpoint B (position data) 100 000 000 Hysteresis (deadband) A (position data) Linear: < [Max – Min] [Hi Setpoint – Hysteresis] > Min [Lo Setpoint + Hysteresis] < Max Ring: 0 to 4 294 967 295 [Hi Setpoint – Hysteresis] > 0 [Lo Setpoint + Hysteresis] < 4 294 967 295 1 000 Hysteresis (deadband) B (position data) 1 000 Setpoint A (speed data) -15.00 to 115.00 (%) 80.00 (%) Setpoint B (speed data) 80.00 (%) Hysteresis (deadband) A (speed data) 0.00 to 115.00 (%) 5.00 (%) Hysteresis (deadband) B (speed data) 5.00 (%) ■ LATCH AND RESET PARAMETER SETTING RANGE DEFAULT SETTING External latch Valid Invalid command via MECHATROLINK-III Valid MECHATROLINK-III latch Valid Invalid Valid MECHATROLINK-III latch data clear Valid Invalid Valid External reset Valid Invalid Valid MECHATROLINK-III reset Valid Invalid Valid MECHATROLINK-III reset data clear Valid Invalid Valid Z reset / Z latch*1 Invalid Z reset valid Z latch valid*1 z reset valid *1 . Selectable when the firmware version is V1 .11 or later.

MODEL: R7G4HML3-6-PA1 R7G4HML3-6-PA1 SPECIFICATIONS ES-7772-D Rev.0 Page 5/10 http://www.m-system.co.jp/ EXTERNAL VIEW Status Indicator LED Station Address Setting Rotary SW I/O TerminalsPower Supply Terminals 4 5 6 7 1 2 3 10 11 12 13 2 3 41 15 16 17 18 7 8 96 PC Configurator Jack PWR SA1 ×10 SA2 LNK2CON LNK1ERR LNK1 LNK2 CNFG MECHATROLINK- III Connectors TERMINAL ASSIGNMENTS ■R7G4HML3-6-PA1J (RS-422 LINE DRIVER PULSE INPUT) 5 6 +24V1 +24V1 LCH GND 16 17 18 7 8 9 GND GND GND RST OCA 1 2 SNSR EXCʔ SNSR EXCʴ Aʴ Aʵ 12 13 3 4 Bʵ Zʵ Bʴ Zʴ OCB ID FUNCTION

1 SNSR EXC + SENSOR EXCITATION +

2 A +

3 B +

4 Z +

6 LCH LATCH INPUT

7 RST RESET INPUT

8 OCA OPEN COLLECTOR OUTPUT A

9 OCB OPEN COLLECTOR OUTPUT B

10 SNSR EXC –

11 A –

12 B –

13 Z –

15 GND 0V

16 GND 0V

17 GND 0V

18 GND 0V

Pin. No. PHASE A + PHASE B + PHASE Z + 24V DC SENSOR EXCITATION – PHASE A – PHASE B – PHASE Z –

MODEL: R7G4HML3-6-PA1 R7G4HML3-6-PA1 SPECIFICATIONS ES-7772-D Rev.0 Page 6/10 http://www.m-system.co.jp/ ■R7G4HML3-6-PA1Ax (OPEN COLLECTOR INPUT) 5 6 +24V1 +24V1 LCH GND 16 17 18 7 8 9 GND GND GND RST OCA 1 2 SNSR ENCDRʔSNSR EXCʴ A

11 ENCDRʴ

Z V ʵ B V ʴ OCB SENSOR EXCITATION + 24V DC 2 A 3 B

4 V + ENCODER POWER OUTPUT +

6 LCH

7 RST

8 OCA

9 OCB

10 SNSR

ENCDR – ENCODER POWER INPUT –

11 ENCDR + ENCODER POWER INPUT +

13 V –

Pin. No. SNSR EXC + PHASE A PHASE B LATCH INPUT RESET INPUT OPEN COLLECTOR OUTPUT A OPEN COLLECTOR OUTPUT B SENSOR EXCITATION – / PHASE Z ENCODER POWER OUTPUT – ■POWER SUPPLY TERMINAL ASSIGNMENT NC 5 6 7 1 2 3 NC ʴ24V 0V NC NC FE NC NC FE NC NC +24V Functional earth Power supply (24V DC) Power supply (0V) MECHATROLINK RELATED COMMANDS Commands available with the unit are as follow. PROFILE COMMAND CODE FUNCTION Common command NOP 00H No operation command ID_RD 03H Read ID command CONFIG 04H Setup device command ALM_RD 05H Read alarm or warning command ALM_CLR 06H Clear alarm or warning command CONNECT 0EH Establish connection command DISCONNECT 0FH Release connection command Standard I/O profile DATA_RWA 20H Transmit I/O data

MODEL: R7G4HML3-6-PA1 R7G4HML3-6-PA1 SPECIFICATIONS ES-7772-D Rev.0 Page 7/10 http://www.m-system.co.jp/ 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. ɹ

• Input Range 0 – 100 kHz Input Value Input % Converted Data, Decimal Converted Data, Hex -130kHz -15% -1500 FA24 -100kHz 0% 0 0 0kHz 50% 5000 1388 100kHz 100% 10000 2710 130kHz 115% 11500 2CEC 11500 (2CEC) 10000 (2710) 5000 (1388) -130 -1500 (FA24) -100 100 1300 ʢkHzʣ 0Hz ACCEL. ACCEL. DECEL. STOP REVERSEFORWARD ϕ A INPUT ϕ B INPUT CUTOUT 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 Lower 16 bit Upper 16 bit Byte n+1 Byte n 0 7 Byte n+3 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

16 Bit

Speed data is represented in 16-bit binary. Negative value is represented in 2’s complements.

MODEL: R7G4HML3-6-PA1 R7G4HML3-6-PA1 SPECIFICATIONS ES-7772-D Rev.0 Page 8/10 http://www.m-system.co.jp/ Byte11 Byte10 0 7 CH0 External latch completed (0 ˠ 1 external latch completed at rising edge, CH0 External latch detect command 1 ˠ 0 clear status) Not used (always 0) CH0 Z latch completed* (0 ˠ 1 Z latch completed at rising edge, CH0 Z latch detect command 1 ˠ 0 clear status) CH0 Z pulse* (0: OFF 1: ON) * Available when the firmware version is V1.11 or later ■ STATUS EXTERNAL DIMENSIONS & TERMINAL ASSIGNMENTS unit: mm (inch) 5 (.2) 3(.12) [(4) 0.16] 57 (2.24) 18–M3 SCREW TERMINALS for I/O 4 5 6 7 1 2 3 7–M3 SCREW TERMINALS for POWER SUPPLY 10 11 12 13 2 3 41 15 16 17 18 7 8 96 2 – 4.3 dia. 4 deep. 130 (5.12) 140 (5.51) 154 (6.06) 50 (1.97) DIN RAIL 35mm wide MOUNTING REQUIREMENTS unit: mm (inch) 140 (5.51) 2 – M4

MODEL: R7G4HML3-6-PA1 R7G4HML3-6-PA1 SPECIFICATIONS ES-7772-D Rev.0 Page 9/10 http://www.m-system.co.jp/ 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. Input Circuit +24V GND ■ R7G4HML3–6–PA1J (RS-422 LINE DRIVER PULSE INPUT) +24V GND ENCODER (RS-422 OUTPUT) +24V GND GND +24V Isolation Comm. Circuit Control Circuit

7 MECHATROLINK-III MECHATROLINK-III

SNSR EXC.+ SNSR EXC.– SENSOR EXCITATION (IN) 24V DC FE

24 V DC

+ – ENCODER POWER Note. For wiring of encoder input, use twisted pair cable with shield. Be sure to ground the shield. OPEN COLL. OUTPUT A OPEN COLL. OUTPUT B +24V1 GND LCH +24V1 GND OCA GND RST GND OCB Detecting Circuit Detecting Circuit LATCH RESET

MODEL: R7G4HML3-6-PA1 R7G4HML3-6-PA1 SPECIFICATIONS ES-7772-D Rev.0 Page 10/10 http://www.m-system.co.jp/ ■ R7G4HML3–6–PA1Ax (OPEN COLLECTOR INPUT) ENCODER (OPEN COLLECTOR OUTPUT) OPEN COLL. OUTPUT A OPEN COLL. OUTPUT B Isolation SENSOR EXCITATION (IN) 24V DC 24V DC 3 FE B A Z 12 +24V1 GND LCH +24V1 5 GND OCA GND RST 7 GND OCB +24V GND GND +24V GND +24V GND GND +24V SNSR EXC.+ SNSR EXC./ENCDR– ENCDR+ Detecting Circuit Detecting Circuit LATCH RESET MECHATROLINK-III MECHATROLINK-III CONNECTOR CONNECTOR Comm. Circuit Control Circuit Input Circuit ENCODER POWER (IN) 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.