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CONTENTS
1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS..................................................... 1- 1 to 1-57
1.1 Overview of the Motion System ......................................................................................................... 1- 1
1.2 Overall Configuration of Motion System ............................................................................................ 1- 3
1.2.1 A172SHCPUN/A171SHCPUN System Overall Configuration.................................................... 1- 3
1.2.2 A173UHCPU System Overall Configuration ............................................................................... 1- 5
1.3 Equipment in System ......................................................................................................................... 1- 7
1.4 General Specifications ...................................................................................................................... 1-10
1.5 Specifications and Settings of Components ..................................................................................... 1-11
1.5.1 A173UHCPU/A172SHCPUN/A171SHCPUN............................................................................. 1-11
1.5.2 Extension Base Power Supply Module ...................................................................................... 1-25
1.5.3 Base Units and Extension Cables.............................................................................................. 1-28
1.5.4 Manual Pulse Generator/Synchronous Encoder Interface Module............................................ 1-38
1.5.5 Teaching Unit ............................................................................................................................. 1-49
1.5.6 SSCNET Cables and Termination Resistor and Their Connection Method .............................. 1-53
1.5.7 Battery ........................................................................................................................................ 1-57
2. DESIGN...................................................................................................................................... 2- 1 to 2-22
2.1 System Designing Procedure ............................................................................................................ 2- 1
2.2 System Design ................................................................................................................................... 2- 4
2.3 External Circuit Design....................................................................................................................... 2- 5
2.3.1 Power Supply Circuit Design...................................................................................................... 2-10
2.3.2 Safety Circuit Design.................................................................................................................. 2-12
2.3.3 Instructions for External Circuit Wiring Design...........................................................................2-16
2.4 Layout Design within Enclosure........................................................................................................ 2-17
2.4.1 Location Environment................................................................................................................. 2-17
2.4.2 Installing the Base Units............................................................................................................. 2-18
2.4.3 Installation .................................................................................................................................. 2-19
2.4.4 Calculating Heat Generated by A173UHCPU/A172SHCPUN/A171SHCPUN .......................... 2-20
2.5 Design Checklist ............................................................................................................................... 2-22
3. MOUNTING AND WIRING.........................................................................................................3- 1 to 3-12
3.1 Mounting and Wiring Methods ........................................................................................................... 3- 1
3.2 Mounting the Base Unit...................................................................................................................... 3- 1
3.2.1 Mounting without DIN Rail........................................................................................................... 3- 2
3.2.2 Mounting with DIN Rail................................................................................................................ 3- 2
3.3 Mounting and Removing Modules ..................................................................................................... 3- 4
3.4 Mounting the Serial Absolute Synchronous Encoder ........................................................................ 3- 7
3.5 Wiring ................................................................................................................................................. 3- 9
3.5.1 How to Run the Power Supply and I/O Wires ............................................................................. 3- 9
3.5.2 Example of Routing the Power Supply and I/O Wires ............................................................... 3-11
3.6 Mounting/Wiring Checklist ................................................................................................................ 3-12
4. TRIAL RUN AND ADJUSTMENT ............................................................................................... 4- 1 to 4- 8
4.1 Checklist before Trial Operation ........................................................................................................ 4- 1
4.2 Trial Run and Adjustment Procedure................................................................................................. 4- 3