R7F4HML3 MECHATROLINK I/O MODULE

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ES-8002-A Rev.3

R7F4HML3-D-DAC32A

Remote I/O R7F4H Series

MECHATROLINK I/O MODULE

(NPN/PNP discrete input & NPN transistor output, 16 points each, MIL connector, MECHATROLINK- III use)
Functions & Features
• 16 points NPN/PNP discrete input & 16 points NPN transistor output module for MECHATROLINK- III

MODEL: R7F4HML3-D-DAC32A-R[1]

ORDERING INFORMATION

• Code number: R7F4HML3-D-DAC32A-R[1]
Specify a code from below for [1].
(e.g. R7F4HML3-D-DAC32A-R/NR/Q)
• Specify the specification for option code /Q
(e.g. /C01)

TERMINAL BLOCK

D: Tension clamp terminal block for power supply
Connector for MECHATROLINK-III for communication
MIL connector for I/O

I/O TYPE

DAC32A: NPN/PNP discrete input &
NPN transistor output, 16 points each

POWER INPUT

DC power
R: 24 V DC
(Operational voltage range: ±10 %; ripple 10 %p-p max.)

[1] OPTIONS (multiple selections)

Output data read back
blank: With
/NR: Without
Other Options
blank: none
/Q: Option other than the above (specify the specification)

SPECIFICATIONS OF OPTION: Q

COATING (For the detail, refer to our web site.)
/C01: Silicone coating
/C02: Polyurethane coating
/C03: Rubber coating

GENERAL SPECIFICATIONS

Connection
MECHATROLINK-III: MECHATROLINK-III connector
I/O: MIL connector
Power input: Separable screwless spring terminal
Housing material: Flame-resistant resin (gray)
Isolation: Input to output to MECHATROLINK or FE to power
Output at the loss of communication:
Output hold (*), Output clear
Selectable with the front DIP SW
(*) factory default setting
Status indicator LEDs: PWR, ERR, CON, LNK1, LNK2 (5 LEDs) indicate the module’s operating conditions. (Refer to the instruction manual)
Discrete I/O status indicator LED: Green LED turns on with I/O ON
Read rate: 1 / 5 / 10(*) / 20 / 50 / 70 / 100 / 200 msec. selectable with front DIP SW
(*) factory default setting

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

Common: Positive or negative common (NPN/PNP) per 16 points
Maximum inputs applicable at once: No limit (at 24 V DC)
Rated input voltage: 24 V DC ±10 %; ripple 5 %p-p max.
ON voltage / current: ≥ 15 V DC (input – COM) / ≥ 3.5 mA
OFF voltage / current: ≤ 5 V DC (input – COM) / ≤ 1 mA
Input current: ≤ 5.5 mA per point at 24 V DC
Input resistance: Approx. 4.4 kΩ
ON delay: ≤ 0.2 msec.
OFF delay: ≤ 0.5 msec.

OUTPUT SPECIFICATIONS

Common: Negative common (NPN) per 16 points
Maximum outputs applicable at once: No limit (at 24 V DC)
Rated load voltage: 24 V DC ±10 %, ripple 5 %p-p max.
Rated output current: 0.1 A per point, 1.6 A per common
Residual voltage: ≤ 1.2 V
Leakage current: ≤ 0.1 mA
ON delay: ≤ 0.2 msec.
OFF delay: ≤ 0.5 msec.
Overload current protection function: Limits the current value when overcurrent is detected
Overheat protection function: Turns OFF the outputs when overheat is detected
(When driving an inductive load, connect a diode in parallel with the load.)

INSTALLATION

Current consumption
•DC: Approx. 100 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: 175 g (0.39 lb)

PERFORMANCE

Insulation resistance: ≥ 100 MΩ with 500 V DC
Dielectric strength: 1500 V AC @ 1 minute (input or output to MECHATROLINK or FE to power input)
500 V AC @ 1 minute (input to output)

STANDARDS & APPROVALS

EU conformity:
EMC Directive
EMI EN 61000-6-4
EMS EN 61000-6-2
RoHS Directive

FUNCTIONS

■Output Data Read Back
It is possible to send back by return the receiving output data of the unit to the host on MECHATROLINK-III communication data. Specifying option code for the output data read back to /NR enables to set invalid the output data read back.
(With or without the output data read back, the data allocation of DATA_RWA(20H) command data format is different. Refer to the instruction manual for detailed information.)

EXTERNAL VIEW

TERMINAL ASSIGNMENTS

■I/O TERMINAL ASSIGNMENT

■POWER SUPPLY TERMINAL ASSIGNMENT

MECHATROLINK RELATED COMMANDS

RESPONSE TIME

Response time of discrete input module is the time till when the communication ASIC of the module transmits input data from when input signal is applied to the module.
Response time of discrete output module is the time till when the module output the signal from when output data is received by the communication ASIC of the module.
T_COM: MECHATROLINK-III transmission cycle set at master
(depends on system and configuration)

T_INP: Response of input module ≤ Delay of input circuit (Ta, ON delay time or OFF delay time) + Acquire cycle (Ts) + input internal processing delay time (Tc, two transmission cycle)

T_OUT: Response of output module ≤ Output internal processing delay time (Td, one minimum transmission cycle the unit can handle) + Conversion time (Te) + Delay of output circuit (Tf, ON delay time or OFF delay time)

E.g. 1: Acquire cycle: 1 msec., MECHATROLINK-III transmission cycle: 0.125 msec., discrete input ON
Response of input module (T_INP): Delay of input circuit (0.2 msec.) + Acquire cycle (1 msec.) + input internal processing delay time (0.125 msec. x 2) = 1.45 [msec.]

E.g. 2: MECHATROLINK-III transmission cycle: 0.5 msec., discrete output OFF
Response of output module (T_0UT): Output internal processing delay time (0.125 msec.) + Delay of output circuit (0.5 msec.)
= 0.625 [msec.]