Mitsubishi Electronics Q172CPU9(N) ユーザーズマニュアル
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2 SYSTEM CONFIGURATION
2.4.8 A31TU-D3 /A31TU-DN Teaching unit (Japanese version only)
Teaching unit A31TU-D3 /A31TU-DN can be easily set the teaching of positioning
point, each parameter settings, creation of servo program, servo monitor, servo test,
and so on without the peripheral devices. (Motion CPU module Q173CPUN-T/
Q172CPUN-T is usable only. Refer to the A31TU-D Teaching Unit Operating Manual
for the usable operating system software and version.)
point, each parameter settings, creation of servo program, servo monitor, servo test,
and so on without the peripheral devices. (Motion CPU module Q173CPUN-T/
Q172CPUN-T is usable only. Refer to the A31TU-D Teaching Unit Operating Manual
for the usable operating system software and version.)
(1) Selection of the teaching unit
There are no deadman switch and emergency stop terminal for the external
safety circuit in a A31TU-DN .
Use the A31TU-D3 to raise safety more by the deadman switch or external
safety circuit
safety circuit in a A31TU-DN .
Use the A31TU-D3 to raise safety more by the deadman switch or external
safety circuit
(Note)
.
Refer to the following table for selection of the teaching unit.
Item A31TU-D3 A31TU-DN
3-position deadman switch
Provided
(Normally open contact, double contact)
Normally open contact is connected by
gripping/releasing this switch.
gripping/releasing this switch.
——
Emergency stop switch
(Push lock return reset type)
(Push lock return reset type)
Provided
(Normally closed contact, double contact)
Normally closed contact is released by
pushing switch.
Normally closed contact is connected by
turning to the right this switch.
pushing switch.
Normally closed contact is connected by
turning to the right this switch.
Provided
(Normally closed contact, double contact)
Normally closed contact is released by
pushing switch.
Normally closed contact is connected by
turning to the right this switch.
pushing switch.
Normally closed contact is connected by
turning to the right this switch.
Terminal for external safety circuit
Provided
(Emergency stop switch × 2,
Deadman switch × 2,
Emergency stop input to Motion CPU × 1)
Deadman switch × 2,
Emergency stop input to Motion CPU × 1)
——
Emergency stop input to Motion CPU
Connect to the external safety circuit.
(Normally closed contact input)
The emergency stop state of Motion CPU
occurs by releasing the normally closed
contact of external safety circuit.
occurs by releasing the normally closed
contact of external safety circuit.
Connect directly the emergency stop
switch of A31TU-DN .
(Normally closed contact input)
The emergency stop state of Motion CPU
occurs by pushing the emergency stop
switch of A31TU-DN .
switch of A31TU-DN .
(Normally closed contact input)
The emergency stop state of Motion CPU
occurs by pushing the emergency stop
switch of A31TU-DN .
Connecting cable with Motion CPU
Q170TUD3CBL3M
(Control panel connecting type)
Q170TUDNCBL3M
(Control panel connecting type)
Q170TUDNCBL03M-A
(Direct connecting type)
Remark
It is used as the following cases.
• When the deadman switch is used.
• When the double contact raises safety by
• When the deadman switch is used.
• When the double contact raises safety by
attaching the external safety circuit.
It is used as the following cases.
• When the deadman switch is not used.
• When the teaching unit is used with
• When the deadman switch is not used.
• When the teaching unit is used with
simple connecting.