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Mitsubishi Electric MR-EM340GF User Manual

Simple motion board
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Personal Computer Embedded Type
Servo System Controller
Simple Motion Board
User's Manual (Startup)
-MR-EM340GF

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Summary of Contents for Mitsubishi Electric MR-EM340GF

  • Page 1 Personal Computer Embedded Type Servo System Controller Simple Motion Board User's Manual (Startup) -MR-EM340GF...

  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. In this manual, the safety precautions are classified into two levels: "...
  • Page 4 [Design Precautions] WARNING ● If a communication cable is disconnected, the network may be unstable, resulting in a communication failure of multiple stations. Configure an interlock in the program to ensure that the entire system will always operate safely even if communications fail. Failure to do so may result in an accident due to an incorrect output or malfunction.
  • Page 5 [Installation Precautions] CAUTION ● Use the Simple Motion board in an environment that meets the general specifications in the Simple Motion Board User's Manual. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ●...
  • Page 6 [Wiring Precautions] CAUTION ● Ground the controllers, servo amplifiers and servo motors embedded with a Simple Motion board with a ground resistance of 100 ohm or less. Do not use a common grounding with other equipment. ● Check the rated voltage and signal layout before wiring to the Simple Motion board, and connect the cables correctly.
  • Page 7 [Startup and Maintenance Precautions] CAUTION ● When modifying data of a running Simple Motion board, configure an interlock in the program to ensure that the entire system will always operate safely. For other forms of control (such as program modification, parameter change, forced output, or operating status change) of a running Simple Motion board, read the relevant manuals carefully and ensure that the operation is safe before proceeding.
  • Page 8 [Startup and Maintenance Precautions] CAUTION ● Do not place the Simple Motion board or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup. Doing so can cause malfunction or failure of the Simple Motion board.

  • Page 9: Conditions Of Use For The Product

    Please make sure that the end users read this manual. Relevant products MR-EM340GF Symbols used in this manual are shown below. A serial No. is inserted in the "**" mark. • [Pr.**]: Symbols indicating positioning parameter or home position return parameter items •...

  • Page 10: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
  • Page 11 Applicable system ............... . 80 Appendix 2 Connection with External Devices .

  • Page 12: Relevant Manuals

    RELEVANT MANUALS Manual name [manual number] Description Available form Simple Motion Board User's Manual Specifications, procedures before operation, system configuration, Print book (Startup) wiring, and operation examples of the Simple Motion board e-Manual [IB-0300322] (This manual) Simple Motion Board User's Manual Functions, input/output signals, buffer memory, parameter Print book (Application)

  • Page 13: Terms

    A process of stopping data link if a data link error occurs DMA transmission Automatic data transfer between a buffer memory of the MR-EM340GF and a memory in the host personal computer EM Configurator A product name for start-up and examination tool for Simple Motion board...
  • Page 14 Term Description Servo amplifier A generic term for a drive unit Unless specified in particular, indicates the motor driver unit of the sequential command method which is controlled by the Simple Motion board (belonging to own station). Simple Motion board The abbreviation for the personal computer embedded type servo system controller Simple Motion board Slave station A generic term for a local station, remote I/O station, remote device station, and intelligent device station...

  • Page 15: Peripherals

    PERIPHERALS The following figure shows the peripherals when the MR-EM340GF is used. Host personal computer EM Configurator User program *1*2 (test operation) MR-EM340GF PCI Express Simple Motion board PERIPHERAL PCI Express device driver API library CC-Link IE CC-Link IE Field...

  • Page 16: Chapter 1 Part Names

    PART NAMES Part names of the MR-EM340GF This chapter describes the part names of the Simple Motion board. (12) (13) (14)(15) (10) (11) (16) No. Name Description Connector for PERIPHERAL Ethernet communication port. Connects to the host personal computer to use EM Configurator.
  • Page 17 External forced stop connector The following shows the pin layout and connections of the external forced stop connector as viewed from the front. Pin No. Signal name No connect EMI.COM *1 Do not connect to any of the terminals explained as "No connect". •...

  • Page 18: Led Display Specifications

    LED Display Specifications This section lists the LED display specifications. For the remedy of the LED display descriptions, refer to the following. Simple Motion Board User's Manual (Application) Status LED display Description Connector Indicates the LAN data communication LINK  Link-up LEDs for status.

  • Page 19: Board Id Setting Switch

    Board ID Setting Switch This section lists the specifications of the board ID setting switch. Switch Description Switch status Board ID Switch 1 Board ID Define a board ID in order to distinguish between Board ID: 0 Switch1: OFF Switch 2 setting multiple boards that are installed in the host Switch2: OFF...

  • Page 20: Chapter 2 Specifications

    SPECIFICATIONS This chapter describes the specifications of the MR-EM340GF. General Specifications This section lists the general specifications. Item Specification Operating ambient temperature 0 to +55 (32 to 131) Storage ambient temperature -25 to +75 (-13 to 167°F) Operating ambient humidity...

  • Page 21: Performance Specifications

    Performance Specifications This section lists the performance specifications. Item MR-EM340GF Number of controlled axes 16 axes Operation cycle 0.50 ms/1.00 ms/2.00 ms/4.00 ms Interpolation function 2-, 3-, or 4-axis linear interpolation 2-axis circular interpolation 3-axis helical interpolation Control method PTP (Point To Point) control, path control (linear, and arc can be set), speed control, speed-position...
  • Page 22 The performance specifications of CC-Link IE Field Network is shown below. Item MR-EM340GF Maximum number of link points per 16K points (16384 points, 2K bytes) network 16K points (16384 points, 2K bytes) 8K points (8192 points, 16K bytes) 8K points (8192 points, 16K bytes)

  • Page 23: Specifications Of Interfaces With External Devices

    Specifications of Interfaces with External Devices Electrical specifications of input signals Forced stop input ■Specifications of forced stop input signal Item Specifications Number of input points 1 point Input method Positive common/Negative common shared Rated input current 2.4 mA Isolation method Photocoupler Operating voltage range 20.4 to 26.4 V DC (+10/-15%, ripple ratio 5% or less)

  • Page 24: External Circuit Design

    A wiring example which uses a Simple Motion board for the forced stop input is shown below. Set "[Pr.82] Forced stop valid/ invalid selection" to "0: Valid (External input signal)". MR-EM340GF EMI. 24 V DC Forced stop 2 SPECIFICATIONS 2.4 External Circuit Design...
  • Page 25 A wiring example which uses a remote input module (NZ2GF2B1(N)-16D) for the forced stop input is shown below. Set "[Pr.82] Forced stop valid/invalid selection" to "3: Valid (Link device)", and set forced stop signals (EMI) ([Pr.900] to [Pr.903]) according to the input modules. Remote input MR-EM340GF CC-Link IE module Field Network...

  • Page 26: Chapter 3 Function List

    FUNCTION LIST There are restrictions in the function that can be used by the software of the Simple Motion board and the version of EM Software Development Kit. Refer to the following for details. Simple Motion Board User's Manual (Application) Control Functions The Simple Motion board has several functions.
  • Page 27 The outline of the main functions for positioning control with the Simple Motion board is described below. Main functions Details Home position Machine home position return control Mechanically establishes the positioning start point using a proximity dog, etc. return control In the data setting method, no axis movement occurs since the current position is set as the home position.
  • Page 28 Main functions Details Manual JOG operation Outputs a command to servo amplifier while the JOG start signal is ON. control Inching operation Outputs commands corresponding to minute movement amount by manual operation to servo amplifier. (Performs fine adjustment with the JOG start signal.) Manual pulse generator operation Outputs pulses commanded with the manual pulse generator to servo amplifier.

  • Page 29: Sub Functions

    Sub functions When the main functions are executed, this function compensates and limits controls, or adds functions. The outline of the functions that assist positioning control using the Simple Motion board is described below. Sub function Details Functions that Backlash compensation This function compensates the mechanical backlash amount.
  • Page 30 Sub function Details Other functions Skip function This function stops (decelerates to a stop) the positioning being executed when the skip signal is input, and carries out the next positioning. M code output function This function issues a command for a sub work (clamp or drill stop, tool change, etc.) according to the code No.

  • Page 31: Common Functions

    Common functions Common control using the Simple Motion board for "Parameter initialization function" or "Execution data backup function" can be carried out. The outline of the functions executed as necessary is described below. Common functions Details Parameter initialization function This function returns the setting data stored in the buffer memory/internal memory and flash ROM/internal memory (nonvolatile) of Simple Motion board to the default values.

  • Page 32: Combination Of Main Functions And Sub Functions

    Combination of Main Functions and Sub Functions With positioning control using the Simple Motion board, the main functions and sub functions can be combined and used as necessary. A list of the main function and sub function combinations is shown below. Combination of main functions and operation patterns : Combination possible : Combination limited...
  • Page 33 Combination of main functions and sub functions : Combination possible : Combination limited : Combination not possible Main functions Functions characteristic to Functions that compensate control machine home position return Home Home Backlash Electronic Near pass position position shift compensation gear function function return retry...
  • Page 34 : Always combine : Combination possible : Combination limited : Combination not possible Main functions Functions that limit control Speed limit Torque limit Software Hardware Forced stop function function stroke limit stroke limit function function function Home Machine home position return control ...
  • Page 35 : Combination possible : Combination limited : Combination not possible Main functions Functions that change control details Speed change Override Acceleration/ Torque Target function function deceleration change position time change function change function function Home Machine home position return control ...
  • Page 36 : Combination possible : Combination limited : Combination not possible Main functions Functions Functions related to Other functions related to positioning stop positioning start Pre-reading Step Stop Skip M code Teaching start function command function output function function processing function deceleration stop function...
  • Page 37 : Combination possible : Combination limited : Combination not possible Main functions Other functions Command Acceleration/ Deceleration Speed Operation Controller in- in-position deceleration start flag control 10 setting for position function processing function times incompletion function function multiplier of home setting for position degree axis...

  • Page 38: List Of Network Function

    List of Network Function Function list of CC-Link IE Field Network The following table lists the functions of CC-Link IE Field Network. For details on the functions, refer to the following. Simple Motion Board User's Manual (Network) Cyclic transmission Function Description Fixed-cycle communication The communication cycle of the Simple Motion board is fixed cycle.
  • Page 39 Others Function Description CC-Link IE Field Network synchronous Synchronizes control intervals between slave stations over CC-Link IE Field Network according to communication function synchronization cycle specified in the master station. This allows different slave stations on the same network to operate with the same timing. Reserved station specification Specifies stations reserved for future use.

  • Page 40: Chapter 4 Procedures Before Operations

    Page 40 Check of wiring and ambient environment Installation of EM Software Development Kit to the host personal computer Select the MR-EM340GF from [New] of [Project] using EM Configurator. Network parameter setting Set the inter-module synchronization in "Network Parameter" of EM Configurator.
  • Page 41 Parameter setting Configure the setting related to axis control in "Parameter" of EM Configurator. For details, refer to the following. Simple Motion Board User's Manual (Application) Writing parameters Write the set parameters to the Simple Motion board. Executes the power cycle of the Simple Motion board or remote RESET and reflects the parameters as necessary. Start network communication using watch function of EM Configurator Check that the synchronization flag signal [X1] (bit 1 of U0\G6300120) is turned ON.
  • Page 42 Simple Motion board setting Set board IDs by board ID setting switches of the Simple Motion board. ■Board ID Board IDs and board ID setting switch Nos. are related as shown on the table below. Set the board ID so that it will not be duplicated.
  • Page 43 Start of communication The following shows the procedure from the power supply is switched on until the Simple Motion board is ready. User program Simple Motion board Turn Power Reading the backup execution data into Board search and buffer memory access buffer memory.

  • Page 44: Chapter 5 Network Configuration

    NETWORK CONFIGURATION CC-Link IE Field Network Configuration CC-Link IE Field Network is configured using Ethernet cables. Network topology ■Star topology/Line topology For the Simple Motion board, configure the network in star topology or line topology using the Ethernet cables. Star topology and line topology can be combined in a network. The Simple Motion board does not support ring topology. Switching hub Star topology Line topology...
  • Page 45 ■Ring topology Ths Simple Motion board does not support ring topology. Ring topology Ring topology is not available. Station No. and connection position Modules can be connected in any order regardless of the station No. (1) Station No.0 (master station) (2) Station No.1 (3) Station No.3 (4) Station No.2...

  • Page 46: Precautions

    Precautions Addition of slave stations Do not connect 121 or more slave stations. If a slave station is added to a system having 120 slave stations, all stations will fail and data link cannot be performed. • Whether the number of the connected slave stations exceeds the controllable number can be checked using "Number of connected modules over occurrence status"...
  • Page 47 Output hold when a data link error occurs Setting the following allows to hold the outputs when a data link error occurs. ■Simple Motion board Select the "Hold" in the following setting. Navigation window  "Network Parameter"  "Application Settings"  "I/O Maintenance Settings"  "Data Link Error Station Setting"...

  • Page 48: Precautions For System Configuration

    Precautions for System Configuration Connecting devices to the same network Do not connect the Ethernet devices compatible with other than the CC-Link IE Field Network (such as personal computers) to the switching hub used in the CC-Link IE Field Network. A timeout may occur in the master station and all the stations may be disconnected.

  • Page 49: Chapter 6 Wiring

    WIRING This section describes wiring for when an Ethernet cable is used. Wiring methods ■Connecting the cable Push the Ethernet cable connector into the Simple Motion board until it clicks. Pay attention to the connector's direction. Lightly pull it to check that it is securely connected. *1*2 Check whether the LINK LED of the port connected with an Ethernet cable is on.
  • Page 50 Wiring products The following describes the devices used for CC-Link IE Field Network. For reference products of Ethernet cables and recommended products of hubs, refer to the following. Page 79 Component List ■Ethernet cable Use the Ethernet cable that meets the following standards. Ethernet cable Connector Cable...
  • Page 51 ■Inserting wire Press the connector release with a tool such as a flathead screwdriver. While holding the release down, insert the wire all the way in. Release Wire When using a ferrule, make sure the bumpy side is facing towards the release. When inserting 2 wires into one terminal, use a twin ferrule.

  • Page 52: Chapter 7 Operation Examples

    OPERATION EXAMPLES This chapter describes the programming procedure and the basic program of the Simple Motion board. When applying the user program examples provided in this manual to an actual system, properly verify the applicability and reliability of the control on the system. User Program Examples Positioning data and monitor data are assigned in the buffer memory of the Simple Motion board.
  • Page 53 The procedure for executing a sample program is shown below. • Preparation and ending procedure for using the methods of controller class and axis class START MmfCreatePciDevice Generate object of device driver class MmfCreateEM340GF Generate object of controller class Preparation MMC_DeviceDriver::Open Open the device Get axis class object...
  • Page 54 • Procedure for starting positioning control, and waiting for positioning completion interrupt START Set parameters Start interrupt driver MMC_DeviceDriver::StartInterrupt Preparation Turn ON user program READY signal [Y0] MMC_Controller::SetUserProgramReady MMC_Controller::EnableInterrupt Enable interrupt output Set positioning data MMC_Axis::SetPositioningData Set the positioning completion interrupt MMC_Axis::ResetPositioningDoneIntEvent Start event to a nonsignaled state...
  • Page 55 Page 55 Positioning data User program examples of each control System configuration The following figure shows the system configuration used for the user program examples in this section. Host personal computer MR-EM340GF Board ID: 0 Servo amplifier (MR-J4-_GF_) Servo motor...
  • Page 56 Initial setting details Set the system setting, parameters and positioning data using EM Configurator. ■System setting The system setting is shown below. Configure the setting on "CC IE Field Configuration". 7 OPERATION EXAMPLES 7.1 User Program Examples...
  • Page 57 ■Parameters The following table lists parameters. Use the default values for the setting items not listed here or the setting items for the axes not described here. Setting item Setting value (Axis 1) Common parameters [Pr.82] Forced stop valid/invalid selection 1: Invalid Basic parameters 1 [Pr.1] Unit setting...
  • Page 58 List of labels to be used The following table lists the labels used for the user program examples in this section. I/O signals or buffer memory areas of the Simple Motion board shown in the system configuration are described in the programs using the labels. ■Label The following table lists the board labels of the Simple Motion board used for the user program examples in this section.
  • Page 59 ■StartSystem #define WAIT_AXIS_STANDBY_TIMEOUT (10000) #define AXIS_MAX (16) #define AX_STATUS_STANDBY unsigned short existAxisBit = 0x0001; /* exist axis flag [ bit0: axis1, bit1: axis2, ... bit15: axis16 ] */ unsigned long StartSystem( MMC_DeviceDriver *pciDev, MMC_Controller *controller ) unsigned long retCode; unsigned long axisCnt;...
  • Page 60 ■InterruptHomePositionReturn void InterruptHomePositionReturn( MMC_Axis *axis ) unsigned long retCode; /* reset positioning finish */ retCode = axis->ResetPositioningDoneIntEvent(); if( retCode != MMC_OK ) { /* Error process */ } /* start home position return */ retCode = axis->StartPositioning( MMC_STNO_HOMING ); if( retCode != MMC_OK ) { /* Error process */ } /* wait positioning finish */ retCode = axis->WaitPositioningDoneIntEvent( MMC_POSITIONING_DONE_INP, WAIT_POSITIONING_DONE_TIMEOUT );...
  • Page 61 ■StopSystem unsigned long StopSystem( MMC_DeviceDriver *pciDev, MMC_EM340GF *controller ) unsigned long retCode; /* turn off the All axis servo ON signal */ controller->BitDevice.AllAxisServoOn = MMC_OFF; /* disable interrupt */ retCode = controller->DisableInterrupt(); if( retCode != MMC_OK ) { /* Error process */ } /* turn off the User program ready signal */ retCode = controller->SetUserProgramReady( MMC_OFF );...
  • Page 62 <Copy destination folder> "C:\Users\***\Documents\InterruptPositioning" • The destination *** will be the user name. • Copy the source folder. Click [Start]  [All programs]  [SimpleMotionBoard]  [MR-EM340GF]  [API Library]  [Sample]. • The copy source file indicates the install folder.
  • Page 63 Click [Online]  [Write to Board]. Click [Execute] on the "Online Data Operation" window. Make sure that the write to board is completed and click [Close]. After the write to board is completed, write the servo parameters. • Function selection A-1 (PA04) Setting value: 2100H (Not using EM2 or EM1) •...
  • Page 64 ■Project reading using Visual Studio Choose [Start]  [All programs]  [Microsoft Visual Studio ****]  [Microsoft Visual C++ ****]. Representation of **** of Start menu depends on your compiler. Make sure that the main screen of Visual Studio is displayed. 7 OPERATION EXAMPLES 7.1 User Program Examples...
  • Page 65 Click menu [File]  [Open]  [Project/Solution]. Click Project/Solution Choose "InterruptPositioningSample.sln". Click InterruptPositioningSample.sln Click Open When using other than the Visual C++2010, follow the instructions of the conversion wizard displayed to convert. 7 OPERATION EXAMPLES 7.1 User Program Examples...
  • Page 66 ■Run the sample program Right mouse button click on the "InterruptPositioningSample_x64" and select "Rebuild". Click Rebuild Use "InterruptPositioningSample_x86" when the host personal computer is 32-bit operating system. Make sure that no error occurred in "Output result". Make sure that no error occurred Click the execute button.
  • Page 67 Make sure that sample program execution result is displayed. Results displayed in Console 7 OPERATION EXAMPLES 7.1 User Program Examples...

  • Page 68: Communication Examples

    This section describes communications between the master station and local station. System configuration The following system configuration is used to explain communication between the master station and local station. • Simple Motion board: MR-EM340GF • Power supply module: R61P • CPU module: R04CPU •...
  • Page 69 Link device assignment 256 points are assigned to each station. ■RX/RY assignment Master station Local station Local station CPU module (Simple Motion board) 1000 Station Station Station Station No.1 No.1 No.1 No.1 10FF 1100 Station Station Station Station No.2 No.2 No.2 No.2 11FF...
  • Page 70 Setting in the master station Connect EM Configurator to the Simple Motion board on the master station and set parameters. Setting Master station (station No.0) Local station (station No.1) Local station (station No.2) Set the Simple Motion board in the following item. [Project] ...
  • Page 71 Write the set parameters to the flash ROM of the Simple Motion board. Then, execute the power cycle of the Simple Motion board or remote RESET. [Online]  [Write to Board] In this example, default values were used for parameters that are not shown above. For the parameters, refer to the following.
  • Page 72 Setting in the local station Connect GX Works3 to the CPU module on the local station and set parameters. Set the station No.1 and 2 to the same setting. Setting Setting Master station (station No.0) Local station (station No.1) Local station (station No.2) Set the CPU module in the following item.
  • Page 73 Confirm the "Module Label: Use" is set, then add the CPU module. Click the [OK] button. Set the master/local module in the following item. Navigation window  "Parameter"  "Module Information"  Right-click  [Add New Module] Click the [OK] button on the screen below and add the master/local module. The method to add the module labels is the same as the procedure 2 to 3 shown above.
  • Page 74 Set the contents of "Required Settings" in the following item. For station No.2, set "Station Number" to "2". Navigation window  "Parameter"  "Module Information"  "RJ71GF11-T2"  "Module Parameter"  "Required Settings" Set the refresh settings in the following item. Set the station No.1 and 2 of the local station to the same refresh settings. Navigation window ...
  • Page 75 Checking the network status Once parameters are set for the master station and local station, the CC-Link IE Field Network diagnostics of EM Configurator can be used to check whether data link is normally operating. Connect EM Configurator to the Simple Motion board on the master station. Start the CC-Link IE Field Network diagnostics.
  • Page 76 List of labels to be used The following table lists the labels used for the program examples in this section. I/O signals or buffer memory areas of the Simple Motion board shown in the system configuration are described in the user programs using the labels. •...

  • Page 77: Chapter 8 Emc And Low Voltage Directives

    For products compliant to the EMC and Low Voltage Directives, their manufacturers are required to declare compliance and affix the CE marking. The sales representative in EU member states is: Company: Mitsubishi Electric Europe B.V. Address: Mitsubishi-Electric-Platz1, 40882 Ratingen, Germany Measures to Comply with the EMC Directive The EMC Directive sets requirements for emission (conducted and radiated electromagnetic interference emitted by a product) and immunity (the ability of a product not to be influenced by externally generated electromagnetic interference).
  • Page 78 Use of EMI gaskets (sealing the clearance) can suppress undesired radiated emissions. The tests were conducted by Mitsubishi Electric Corporation using a control panel having damping characteristics of 37 dB (maximum) and 30 dB (average) (measured at 3 m distance, 30 to 300 MHz).
  • Page 79 For details on the AD75CK, refer to the following. AD75CK-type Cable Clamping Instruction Manual ■Recommended cable clamp Manufacturer Model name Mitsubishi Electric Corporation AERSBAN-DSET AERSBAN-ESET AD75CK 8 EMC AND LOW VOLTAGE DIRECTIVES 8.1 Measures to Comply with the EMC Directive...

  • Page 80: 8.2 Measures To Comply With The Low Voltage Directive

    Measures to Comply with the Low Voltage Directive The MR-EM340GF does not use the power supply between 50 to 1000 V AC or 75 to 1500 V DC, so that the product is not targeted for the Low Voltage Directive compliance.

  • Page 81: Appendices

    Connection cable ■CC-Link IE Field Network cable Cables for CC-Link IE Field Network are available from Mitsubishi Electric System & Service Co., Ltd. (Catalogs for cable are also available.) In addition, the connector processing of cable length is available for your preference. Please consult your local Mitsubishi representative.

  • Page 82: Recommended Product

    Use the CC-Link IE Field Network synchronization communication-compatible switching hubs when using the CC-Link IE Field Network synchronization communication function. CC-Link IE Field Network synchronization communication-compatible switching hubs are available from Mitsubishi Electric System & Service Co., Ltd. Please consult your local Mitsubishi representative.

  • Page 83: Appendix 2 Connection With External Devices

    Appendix 2 Connection with External Devices External forced stop cable The external forced stop cable is not prepared as an option. Fabricate the cable on the customer side. Make the cable as shown in the following connection diagram. Make the cable within 30 m (98.43 ft.). Simple Motion board side Solderless terminal FK-MC0,5/3-ST-2,5 (connector)

  • Page 84: Appendix 3 External Dimensions

    Appendix 3 External Dimensions MR-EM340GF [Unit: mm (inch)] 15.5 (0.61) 167.65 (6.60) 10.2 (0.40) 18.4 (0.72) APPX Appendix 3 External Dimensions...
  • Page 85 MEMO APPX Appendix 3 External Dimensions...

  • Page 86: Index

    INDEX 0 to 9 ... 25 ... . .25 2-axis circular interpolation control Fast home position return control ... . 25 .
  • Page 87 ....50 OPERATION EXAMPLES Operation setting for incompletion of home position ......28 return function .

  • Page 88: Revisions

    Japanese manual number: IB-0300321-C This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 89: Warranty

    WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.

  • Page 90: Information And Services

    INFORMATION AND SERVICES For further information and services, please contact your local Mitsubishi Electric sales office or representative. Visit our website to find our locations worldwide. MITSUBISHI ELECTRIC Factory Automation Global Website Locations Worldwide www.MitsubishiElectric.com/fa/about-us/overseas/ TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan.
  • Page 92 IB(NA)-0300322-C(2401)MEE MODEL: EM340-U-S-E MODEL CODE: 1XB046 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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