Mitsubishi Electric C70 Connection Manual

Introduction

This manual explains the items required for installing and connecting the C70.

Read this manual thoroughly and understand the product's functions and performance before starting to

use.

This manual is written on the assumption that all option functions are added, but the actually delivered

device may not have all functions.

The unit names, cable names and various specifications are subject to change without notice. Please

confirm these before placing an order.

For safe use, fully understand "Precautions for Safety" on the next page first.

Details described in this manual:

CAUTION

For items described as "Restrictions" or "Usable State" in this manual, the instruction manual issued by

the machine tool builder takes precedence over this manual.

Items that are not described in this manual must be interpreted as "not possible".

This manual is written on the assumption that all option functions are added. Confirm the specifications

issued by the machine tool builder before use.

Refer to the Instruction Manual issued by each machine tool builder for details on each machine tool.

Some screens and functions may differ depending on each NC system (or version), and some functions

may not be possible. Please confirm the specifications before use.

Refer to the following documents.

GOT2000 Series User's Manual (Hardware) ................................................... SH-081194ENG

GT16 User's Manual (Hardware) ..................................................................... SH-080928ENG

GT15 User's Manual ........................................................................................ SH-080528ENG

QCPU User's Manual (Hardware Design, Maintenance and Inspection) ........ SH-080483ENG

MDS-D2/DH2 Series Specifications Manual .................................................... IB-1501124(ENG)

MDS-D2/DH2 Series Instruction Manual ......................................................... IB-1501127(ENG)

MDS-DM2 Series Specifications Manual ......................................................... IB-1501136(ENG)

MDS-DM2 Series Instruction Manual ............................................................... IB-1501139(ENG)

MDS-DJ Series Specifications Manual ............................................................. IB-1501130(ENG)

MDS-DJ Series Instruction Manual .................................................................. IB-1501133(ENG)

MDS-D/DH Series Instruction Manual .............................................................. IB-1500025(ENG)

MDS-D-SVJ3/SPJ3 Series Instruction Manual ................................................ IB-1500193(ENG)

MDS-DM Series Instruction Manual ................................................................. IB-1500893(ENG)

Safety Handbook (Original Instructions) .......................................................... IB-1501026(ENG)

Precautions for Safety

Always read this manual and enclosed documents before installation, operation, maintenance and inspection to

ensure correct usage. Thoroughly understand the basics, safety information and precautions of the devices before

using.

This manual classifies the safety precautions into "DANGER", "WARNING" and "CAUTION".

Note that the items under " CAUTION" could lead to serious consequences as well depending on the situation.

All the items are important and must always be observed.

The following sings indicate prohibition and compulsory.

The meaning of each pictorial sing is as follows.

When the user could be subject to imminent fatalities or serious injuries if handling is

mistaken.

When the user could be subject to fatalities or serious injuries if handling is mistaken.

When the user could be subject to injuries or the property could be damaged if handling is

mistaken.

This sign indicates prohibited behavior (must not do).

For example, indicates "Keep fire away".

This sign indicated a thing that is pompously (must do).

For example, indicates "it must be grounded".

CAUTION

CAUTION

rotated object

CAUTION

HOT

Danger

Electric shock risk

Danger

explosive

Prohibited

Disassembly is

prohibited

KEEP FIRE AWAY

General instruction

Earth ground

DANGER

WARNING

CAUTION

This product is not designed or manufactured on the assumption that the product will be used for the

equipment or systems that are to be subject to any fatal consequences. Please inquire our customer

service department about any particular usage other than the normal usage as a machine tool.

1. Items related to prevention of electric shocks.

For Safe Use

WARNING Do not open/close the front cover while the power is ON or during operation. The high voltage terminals and

charged sections will be exposed, and this could result in electric shocks.

Do not remove the front cover even when the power is OFF, except for the wiring works or periodic inspections.

The inside of the controller and servo drive unit are charged, and this could result in electric shocks.

Always wait at least 15 minutes after turning the power OFF. Then, check the voltage with a tester, etc., before

wiring works, inspections or connecting with peripheral devices. Failure to observe this could result in electric

shocks.

Earth ground the controller, servo drive unit and servomotor according to the local laws. (In Japan, ground the

200V Series input products with Class C or higher protective grounding and the 400V Series input with Class D

or higher protective grounding.)

All wiring works, maintenance and inspections must be carried out by a qualified technician. Failure to observe

this could result in electric shocks. Contact your nearby Service Center or Service Station for replacing parts

and servicing.

Wire the controller, servo drive unit and servomotor after installation. Failure to observe this could result in

electric shocks.

Do not operate the switches with wet hands. Failure to observe this could result in electric shocks.

Do not damage, apply excessive stress, place heavy things on or sandwich the cables. Failure to observe this

could result in electric shocks.

Insulate the power lead using a fixed terminal block. Failure to observe this could result in electric shocks.

Completely turn off the all lines of the power supply externally before wiring. Not completely turning off all power

could result in electric shock or damage to the product.

When turning on the power supply or operating the module after wiring, be sure that the module's terminal

covers are correctly attached. Not attaching the terminal cover could result in electric shock.

2. Items related to prevention of fire

3. Items related to prevention of bodily injury or property damage

CAUTION Install the controller, servo drive unit, servomotor and regenerative resistor on non-combustible material.

Installation directly on or near combustible materials could result in fires.

If any malfunction in the unit is observed, shut off the power at the units input power side. Continuous flow of

large current could result in fires.

Install an appropriate NFB (circuit breaker) and MC (contactor) on the power input section of the servo drive unit

and configure the sequence that shuts the power off upon drive units emergency stop or alarm.

When a breaker is shared for multiple power supply units, the breaker may not function upon short-circuit failure

in a small capacity unit. Do not share a breaker for multiple units as this is dangerous.

Incorrect wiring and connections could cause the devices to damage or burn.

DANGER When transporting or installing a built-in IPM spindle or linear servomotor, be careful so that your hand or

property will not be trapped in the servomotors or other metal objects. Also keep the devices with low magnetic

tolerance away from the product.

CAUTION Do not apply voltages to other than those indicated in the connection manual for the controller or specifications

manual for the servo drive unit. Failure to observe this could cause the devices to rupture or damage, etc.

Incorrect terminal connections could cause the devices to rupture or damage, etc.

Incorrect polarity (+ -) could cause the devices to rupture or damage, etc.

Persons wearing medical devices, such as pacemakers, must stay away from this unit. The electromagnetic

waves could adversely affect the medical devices.

Fins on the rear of the unit, regenerative resistor and servomotor, etc., will be hot during operation and for a

while after the power has been turned OFF. Do not touch or place the parts and cables, etc. close to these

sections. Failure to observe this could result in burns.

Do not enter the machines movable range during automatic operation. Keep your hands, feet or face away from

the spindle during rotation.

4. General Precautions

Always follow the precautions below. Incorrect handling could result in faults, injuries or electric shocks, etc.

(1) Transportation and installation

CAUTION Correctly transport the products according to the weights.

Use servomotors suspension bolts to transport the servomotor itself. Do not use it to transport the servomotor

after installation onto the machine.

Do not stack the products exceeding the indicated limit.

Do not hold the cables, shaft or detector when transporting the servomotor.

Do not transport the controller or servo drive unit by suspending or holding the connected wires or cables.

Do not hold the front cover when transporting the servo drive unit, or the front cover could come off, causing the

unit to drop.

Install on a non-combustible place where the units or motors weight can be withstood according to the

instruction manual.

The servomotor does not have a complete water-proof (oil-proof) structure. Do not allow oil or water to contact

or enter the motor. Prevent the oil-soaked cutting chips from being accumulated on the motor.

When installing the motor facing upwards, take measures on the machine side so that gear oil, etc., will not

enter the motor shaft.

Do not remove the detector from the servomotor. (The detector installation screw is treated with sealing.)

Do not allow foreign matters, especially, conductive foreign matters such as screws or metal chips, or

combustible foreign matters such as oil, to enter the controller, servo drive unit or servomotor. Failure to

observe this could result in rupture or damage.

Do not get on the product or place heavy objects on it.

Provide appropriate distance between the controller/servo drive unit and inner surface of the control panel/other

devices.

Do not install or operate the controller, servo drive unit or servomotor that is damaged or has missing parts.

Take care not to cut hands, etc. with the heat radiating fins or metal edges.

Do not block the intake/outtake ports of the servomotor with the cooling fan.

CAUTION Install the controllers display unit and operation board unit on the spot where cutting oil will not reach.

The controller, servo drive unit and servomotor are precision devices, so do not drop or apply thumping vibration

and strong impacts on them.

Hard disk unit is a precision device, so do not drop or apply strong impacts on it.

Store and use the units according to the environment conditions indicated in each specifications manual.

When disinfectants or insecticides must be used to treat wood packaging materials, always use methods other

than fumigation (for example, apply heat treatment at the minimum wood core temperature of 56 C for a

minimum duration of 30 minutes (ISPM No. 15 (2009))).

If products such as units are directly fumigated or packed with fumigated wooden materials, halogen

substances (including fluorine, chlorine, bromine and iodine) contained in fumes may contribute to the erosion

of the capacitors.

When exporting the products, make sure to comply with the laws and regulations of each country.

Do not use the products in conjunction with any components that contain halogenated flame retardants

(bromine, etc). Failure to observe this may cause the erosion of the capacitors.

Securely fix the motor to the machine. The motor could come off during operation if insecurely fixed.

Always install the servomotor with reduction gear in the designated direction. Failure to observe this could result

in oil leaks.

Always install a cover, etc., over the shaft so that the rotary section of the spindle motor cannot be touched

during motor rotation.

When using a coupling connection to the servomotor shaft end, do not apply impacts by hammering, etc. The

detector could be damaged.

Use a flexible coupling when connecting with a ball screw, etc., and keep the shaft core deviation smaller than

the tolerable radial load of the shaft.

Do not use a rigid coupling as an excessive bending load will be applied on the shaft and could cause the shaft

to break.

Do not apply a load exceeding the tolerable level onto the motor shaft. The shaft or bearing could be damaged.

Before using this product after a long period of storage, please contact the Mitsubishi Service Station or Service

Center.

Following the UN recommendations, battery units and batteries should be transported based on the

international regulations such as those determined by International Civil Aviation Organization (ICAO),

International Air Transport Association (IATA), International Maritime Organization (IMO) and U.S. Department

of Transportation (DOT).

Due to ventilation problems, do not install the base units vertically or horizontally when C70 is mounted on a

board, etc.

Install the basic base on a flat surface. Unevenness or warping of the surface can apply undue force to printed

circuit boards and lead to operation failures.

Avoid installing the base units close to a vibration source, such as a large electromagnetic contactor or no-fuse

breaker. Install them on a separate panel or at a safe distance.

To limit the effects of reflected noise and heat, leave 100mm(3.94inch) or more clearance to instruments fitted in

front of CNC CPU (on the rear of the door).

Similarly, leave 50mm(1.97inch) or more clearance between instruments and the left and right sides of the basic

base.

(2) Items related to wiring

CAUTION Correctly wire this product. Failure to observe this could result in servomotor runaway, etc.

Do not install a phase advancing capacitor, surge absorber or radio noise filter on the output side of the servo

drive unit.

Correctly connect the output side (terminal U, V, W). The servomotor will not run properly if incorrectly

connected.

Always install an AC reactor per each power supply unit.

Always install an appropriate breaker per each power supply unit. A breaker cannot be shared for multiple power

supply units.

Do not directly connect a commercial power supply to the servomotor. Failure to observe this could result in

faults.

When using an inductive load such as relays, always connect a diode in parallel to the load as a noise

countermeasure.

When using a capacitive load such as a lamp, always connect a protective resistor in series to the load to

suppress rush currents.

Do not mistake the direction of the surge absorption diode to be installed on the DC relay for the control output

signal. If mistaken, the signal will not be output due to fault in the drive unit, and consequently the protective

circuit, such as emergency stop, could be disabled.

Do not connect or disconnect the connection cables between each unit while the power is ON.

Do not connect or disconnect the PCBs while the power is ON.

Do not pull the cables when connecting/disconnecting it.

Securely tighten the cable connector fixing screw or fixing mechanism. Insufficient fixing could result in

dislocation during operation.

Always treat the shield cables indicated in the Connection Manual with grounding measures such as cable

clamps.

Separate the signal wire from the drive line or power line when wiring.

Carry out wiring so that there is no possibility of short circuit between wires, nor of dangerous state.

RA RA

COM COM

Control output signal

Drive unit

Control output signal

Drive unit

(24VDC) (24VDC)

CAUTION Use wires and cables whose wire diameter, heat resistance level and bending capacity are compatible with the

system.

Ground the device according to the requirements of the country where the device is to be used.

Wire the heat radiating fins and wires so that they do not contact.

When using the RS-232C device as a peripheral device, caution must be paid for connector connection/

disconnection.

Always use a double-OFF type AC power supply switch on the device side, and connect/disconnect the

connector with the AC power supply on the device side OFF.

Be sure to ground the earth terminal FG and LG. Not doing so could result in electric shock or operation failure.

(Ground resistance: 100 or less)

When wiring in the unit, be sure that it is done correctly by checking the product's rated voltage and the terminal

layout. Connecting a power supply that is different from the rating or incorrectly wiring the product could result in

fire or damage.

External connections shall be crimped or pressure welded with the specified tools, or correctly soldered.

Imperfect connections could result in short circuit, fire, or operation failure.

Tighten the terminal screws within the specified torque range. If the terminal screws are loose, it could result in

short circuit, fire, or operation failure. Tightening the terminal screws too far may cause damages to the screws

and/or the module, resulting in drop, short circuit, or operation failure.

Be sure there are no foreign matters such as sawdust or wiring debris inside the module. Such debris could

cause fire, damage, or operation failure.

The module has an ingress prevention label on its top to prevent foreign matter, such as wiring debris, from

entering the module during wiring.

Do not remove this label during wiring.

Before starting system operation, be sure to remove this label because of heat dissipation.

When connecting to a personal computer and a unit with the USB interface, an electric shock or a

unit failure may occur.

Operate these correctly according to the manual of a unit and a personal computer.

Observe the following cautions when a personal computer in an AC power supply is used.

(1) For a personal computer that uses a 3-pin power plug or power plug with a ground lead type, make sure to

use a plug socket including a ground input electrode or ground the earth lead, respectively.

(2) For a personal computer that uses a 2-pin power plug without ground lead, make sure to connect the unit

to the personal computer according to the following procedures.

And, it is recommended to supply the same power supply line to a personal computer and the unit.

(a) Pull out the power plug of the personal computer from the AC outlet.

(b) Confirm that the power plug of the personal computer has been pulled out from the AC outlet, and

connect USB cables.

(c) Insert the power plug of the personal computer into the AC outlet.

RS-232C

NC unit Device Switch AC socket

(3) Adjustments

(4) Usage

CAUTION Check and adjust programs and each parameter before starting operation. Unpredictable operations could

occur depending on the machine.

Do not make drastic adjustments or changes as the operation could become unstable.

CAUTION Use C70 in an environment that meets the general specifications contained in this manual. Using C70 in an

environment outside the range of the general specifications could result in electric shock, fire, operation failure,

and damage to or deterioration of the product.

When mounting the module, be sure to insert the module fixing hook on the module's bottom into the module

fixing hole on the base unit. Incorrect mounting could cause an operation failure or a damage/drop of the unit.

Hold down the module loading lever at the module bottom and securely insert the fixing hook into the fixing hole

in the base unit. Install the module with the module fixing hole as a supporting point. Incorrect loading of the

module can cause an operation failure, failure or drop.

Be sure to fix all the modules with screws to prevent them from dropping.

The fixing screws (M3 x 12) are to be prepared by user. For CNC CPU module, use the attached fixing screws

(M3 x 13).

Tighten the screw in the specified torque range. Under tightening may cause a drop, short circuit or operation

failure. Over tightening may cause a drop, short circuit or operation failure due to damage to the screw or

module.

Be sure to install the extension cable to connectors of the basic base unit correctly. After installation, check

them for looseness. Poor connections could cause an input or output failure.

Completely turn off all lines of external power supply used in the system before loading or unloading the

module. Not doing so could result in electric shock or damage to the product.

Do not mount/dismount the modules or base over 50 times. Mounting/dismounting over 50 times may cause an

operation failure.

Do not directly touch the module's conductive parts or electronic parts. Touching these parts could cause an

operation failure or give damage to the module.

Do not touch the radiating fin of the CNC CPU module while an electric current is supplied or in a short while

after the power OFF. Touching the fin may cause burns. Take care when removing the unit.

When removing the unit, always remove the fixing screws and then take the fixing hook out from the fixing hole.

Incorrect removal will damage the module fixing hook.

CAUTION Install an external emergency stop circuit so that the power will turn OFF followed by the immediate operation

stop. A contactor, etc., is required in addition to the shutoff function mounted in the controller.

Turn OFF the power immediately if any smoke, abnormal noise or odor is generated from the controller, servo

drive unit or servomotor.

Only a qualified technician may disassemble or repair this product.

Do not alter.

Use a noise filter, etc. to reduce the effect of electromagnetic disturbances. Electromagnetic disturbances could

adversely affect the electronic devices used near the servo drive unit.

Use the servo drive unit, servomotor and each regenerative resistor with the designated combination. Failure to

observe this could result in fires or faults.

The combination of the servomotor and servo drive unit that can be used is determined. Be sure to check the

models of servomotor and servo drive unit before test operation.

The brakes (electromagnetic brakes) mounted in the servomotor are used for the purpose of holding, and must

not be used for normal braking. Also, do not run the motor with the motor brake applied. Motor brake is used for

the purpose of holding.

For the system running via a timing belt, install a brake on the machine side so that safety can be ensured.

Be sure to confirm SERVO OFF (or READY OFF) when applying the magnetic brake. Also, be sure to confirm

SERVO ON prior to releasing the brake.

When using the DC OFF type electromagnetic brake, be sure to install a surge absorber on the brake terminal.

Do not connect or disconnect the cannon plug while the electromagnetic brakes power is ON. The cannon plug

pins could be damaged by sparks.

After changing programs/parameters, or after maintenance/inspection, always carry out a test operation before

starting actual operation.

Use the power (input voltage, input frequency, tolerable instantaneous power failure time) that are complied

with the power specification conditions indicated in each Specifications manual.

When making detector cables, do not mistake connection. Failure to observe this could result in malfunction,

runaway or fire.

(5) Troubleshooting

CAUTION Use a servomotor with electromagnetic brakes or

establish an external brake mechanism for the

purpose of holding; this serves as countermeasures

for possible hazardous situation caused by power

failure or product fault.

Use a double circuit structure for the

electromagnetic brakes operation circuit so that the

brakes will activate even when the external

emergency stop signal is issued.

The machine could suddenly restart when the power is restored after an instantaneous power failure, so stay

away from the machine. (Design the machine so that the operator safety can be ensured even if the machine

restarts.)

To secure the absolute position, do not shut off the servo drive units control power supply when its battery

voltage becomes low (warning 9F)

If the battery voltage drop warning alarm occurs, make sure to back up the machining programs, tool data and

parameters, etc. with the input/output device before replacing the battery.

Depending on the level of voltage drop, there is the possibility of memory loss. Reload all the data backed up

before the alarm occurrence.

MBR EMGMotor

Electro- magnetic brake

Shut off with motor brake control output

Shut off with CNC brake control PLC output

24VDC

(6) Maintenance, inspection and part replacement

(7) Disposal

(8) General precautions

CAUTION Periodically back up the programs, tool data and parameters to avoid potential data loss. Also, back up those

data before maintenance and inspections.

When replacing the battery on the controller side, the machining programs, tool data and parameters, etc.,

should be backed up with the input/output device beforehand.

In case the memory is damaged in replacing the batteries, reload all the data backed up before the alarm

occurrence.

The electrolytic capacitors capacity will drop due to deterioration. To prevent secondary damage due to

capacitors faults, Mitsubishi recommends the electrolytic capacitor to be replaced approx. every five years

even when used in a normal environment. Contact the Service Center or Service Station for replacements.

Do not perform a megger test (insulation resistance measurement) during inspection.

Do not replace parts or devices while the power is ON.

Do not short-circuit, charge, overheat, incinerate or disassemble the battery.

There may be a unit filled with substitute Freon in the heat radiating fins of the 37kW or smaller unit. Be careful

not to break the heat radiating fins during maintenance or replacement.

CAUTION Take the batteries and backlights for LCD off from the controller, servo drive unit and servomotor, and dispose

of them as general industrial wastes.

Do not alter or disassemble controller, servo drive unit, or servomotor.

Dispose of the spent batteries and the backlights for LCD according to the local laws.

To explain the details, drawings given in this instruction manual, etc., may show the unit with the cover or safety partition

removed. When operating the product, always place the cover or partitions back to their original position, and operate as

indicated in the instruction manual, etc.

Treatment of waste

The following two laws will apply when disposing of this product. Considerations must be made to each law.

The following laws are in effect in Japan. Thus, when using this product overseas, the local laws will have a

priority. If necessary, indicate or notify these laws to the final user of the product.

(1) Requirements for "Law for Promotion of Effective Utilization of Resources"

(a) Recycle as much of this product as possible when finished with use.

(b) When recycling, often parts are sorted into steel scraps and electric parts, etc., and sold to scrap

contractors. Mitsubishi recommends sorting the product and selling the members to appropriate

contractors.

(2) Requirements for "Law for Treatment of Waste and Cleaning"

(a) Mitsubishi recommends recycling and selling the product when no longer needed according to item

(1) above. The user should make an effort to reduce waste in this manner.

(b) When disposing a product that cannot be resold, it shall be treated as a waste product.

(c) The treatment of industrial waste must be commissioned to a licensed industrial waste treatment

contractor, and appropriate measures, including a manifest control, must be taken.

(d) Batteries correspond to "primary batteries", and must be disposed of according to local disposal

laws.

Disposal

(Note) This symbol mark is for EU countries only.

This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-

users and Annex II.

Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and

components which can be recycled and/or reused.

This symbol means that batteries and accumulators, at their end-of-life, should be disposed of

separately from your household waste.

If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the

battery or accumulator contains a heavy metal at a certain concentration. This will be indicated as

follows:

Hg: mercury (0,0005%), Cd: cadmium (0,002%), Pb: lead (0,004%)

In the European Union there are separate collection systems for used batteries and accumulators.

Please, dispose of batteries and accumulators correctly at your local community waste collection/

recycling centre.

Please, help us to conserve the environment we live in!

Trademarks

MELDAS, MELSEC, EZSocket, EZMotion, iQ Platform, MELSOFT, GOT, CC-Link, CC-Link/LT and CC-Link

IE are either trademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and/or other

countries.

Ethernet is a registered trademark of Xerox Corporation in the United States and/or other countries.

Microsoft and Windows are either trademarks or registered trademarks of Microsoft Corporation in the

United States and/or other countries.

CompactFlash and CF are either trademarks or registered trademarks of SanDisk Corporation in the United

States and/or other countries.

Other company and product names that appear in this manual are trademarks or registered trademarks of the

respective companies.

( /Japanese)

( A)

Handling of our product

(English)

This is a class A product. In a domestic environment this product may cause radio interference in which case the

user may be required to take adequate measures.

( /Korean)

(A )

.

CONTENTS

1 System Configuration.................................................................................................................................. 1

1.1 System Basic Configuration Drawing..................................................................................................... 2 1.2 General Connection Diagram ................................................................................................................ 3 1.3 Component Modules.............................................................................................................................. 4

1.3.1 CNC Control Unit ........................................................................................................................... 4 1.3.2 GOT ............................................................................................................................................. 23

1.3.2.1 GT27.................................................................................................................................... 23 1.3.2.2 GT16.................................................................................................................................... 25 1.3.2.3 GT15.................................................................................................................................... 27 1.3.2.4 Option .................................................................................................................................. 28

1.3.3 Peripheral Device......................................................................................................................... 29 1.3.4 Dual Signal Module...................................................................................................................... 29

2 General Specifications .............................................................................................................................. 31

2.1 Installation Environment Conditions..................................................................................................... 32 2.2 Base Unit ............................................................................................................................................. 33 2.3 Power Supply....................................................................................................................................... 34 2.4 PLC CPU ............................................................................................................................................. 39 2.5 CNC CPU Module................................................................................................................................ 46 2.6 Battery Box for CNC CPU (Q173NCCPU)........................................................................................... 50 2.7 Dual Signal Module.............................................................................................................................. 51 2.8 Signal Splitter....................................................................................................................................... 55 2.9 Manual Pulse Generator ...................................................................................................................... 57 2.10 Terminal block for Dual Signal Module (Recommended) .................................................................. 59 2.11 I/O Extension Connector Unit ............................................................................................................ 60

3 Installation .................................................................................................................................................. 65

3.1 Module Installation ............................................................................................................................... 66 3.1.1 Precautions for Handling.............................................................................................................. 66 3.1.2 Precautions for Installation of Basic Base Unit ............................................................................ 69 3.1.3 Module Installation and Removal................................................................................................. 71

3.2 Precautions for Mounting the Battery Holder Unit................................................................................ 73 3.3 Calculating Heat Generation by C70 ................................................................................................... 74

4 Wiring and Connecting.............................................................................................................................. 77

4.1 Precautions .......................................................................................................................................... 78 4.1.1 Power supply wiring ..................................................................................................................... 78 4.1.2 Wiring of I/O equipment ............................................................................................................... 79 4.1.3 Grounding .................................................................................................................................... 79

4.2 Wiring to the Power Supply Module..................................................................................................... 80 4.3 Connecting the Emergency Stop Signal .............................................................................................. 81 4.4 Connecting the GOT ............................................................................................................................ 82 4.5 Connecting the Servo Drive Unit.......................................................................................................... 83

4.5.1 Precautions for handling the optical fiber cable ........................................................................... 83 4.6 Connecting the Dual Signal Module..................................................................................................... 85 4.7 Connecting the Signal Splitter.............................................................................................................. 86 4.8 Connecting the Skip Signal (Sensor) ................................................................................................... 87 4.9 Connecting the Manual Pulse Generator............................................................................................. 88 4.10 Connecting the I/O Extension Connector Unit ................................................................................... 91

Appendix 1 EMC Installation Guidelines .................................................................................................... 93

Appendix 1.1 Introduction .......................................................................................................................... 94 Appendix 1.2 EMC Directives .................................................................................................................... 95 Appendix 1.3 EMC Measures .................................................................................................................... 96 Appendix 1.4 Panel Structure .................................................................................................................... 96

Appendix 1.4.1 Measures for Control Panel Body ................................................................................ 96

Appendix 1.4.2 Measures for Door ....................................................................................................... 97 Appendix 1.4.3 Measures for Power Supply......................................................................................... 97

Appendix 1.5 Measures for Wiring in Panel ............................................................................................... 98 Appendix 1.5.1 Precautions for Wiring in Panel.................................................................................... 98 Appendix 1.5.2 Shield Treatment of Cables ......................................................................................... 98

Appendix 1.6 EMC Countermeasure Parts ................................................................................................ 99 Appendix 1.6.1 Shield Clamp Fitting..................................................................................................... 99 Appendix 1.6.2 Ferrite Core................................................................................................................ 100 Appendix 1.6.3 Surge Absorber.......................................................................................................... 102 Appendix 1.6.4 Selection of Stabilized Power Supply ........................................................................ 104

Appendix 2 Cable ........................................................................................................................................ 105

Appendix 2.1 Cable Wire and Assembly.................................................................................................. 107 Appendix 2.2 CNP2E-1 Cable.................................................................................................................. 109 Appendix 2.3 CNV22J-K1P / CNV22J-K2P Cable ................................................................................... 110 Appendix 2.4 CNV2E-8P/CNV2E-9P Cable............................................................................................. 111 Appendix 2.5 CNV2E-D Cable ................................................................................................................. 112 Appendix 2.6 CNV2E-HP Cable............................................................................................................... 113 Appendix 2.7 CNV2E-K1P / CNV2E-K2P Cable...................................................................................... 114 Appendix 2.8 DG21 Cable ....................................................................................................................... 115 Appendix 2.9 DG22 Cable ....................................................................................................................... 115 Appendix 2.10 DG23 Cable ..................................................................................................................... 116 Appendix 2.11 DG24 Cable ..................................................................................................................... 116 Appendix 2.12 F020/F021/F022 Cable .................................................................................................... 117 Appendix 2.13 G020/G021/G022 Cable .................................................................................................. 118 Appendix 2.14 G302 Cable ...................................................................................................................... 119 Appendix 2.15 G303 Cable ...................................................................................................................... 119 Appendix 2.16 G380 Cable ...................................................................................................................... 120 Appendix 2.17 G395 Cable ...................................................................................................................... 121 Appendix 2.18 G396 Cable ...................................................................................................................... 122 Appendix 2.19 H010 Cable ...................................................................................................................... 123 Appendix 2.20 H100 Cable ...................................................................................................................... 124 Appendix 2.21 H200 Cable ...................................................................................................................... 124 Appendix 2.22 H300 Cable ...................................................................................................................... 125 Appendix 2.23 H310 Cable ...................................................................................................................... 126 Appendix 2.24 H400 Cable ...................................................................................................................... 126 Appendix 2.25 H500 Cable ...................................................................................................................... 127 Appendix 2.26 H810 Cable ...................................................................................................................... 128 Appendix 2.27 MR-BKS1CBL-A1-H / MR-BKS1CBL-A2-H Cable ........................................................... 129 Appendix 2.28 MR-PWS1CBL-A1-H / MR-PWS1CBL-A2-H Cable ......................................................... 129 Appendix 2.29 SH21 Cable...................................................................................................................... 130

Appendix 3 Restrictions for Lithium Batteries......................................................................................