ES-7772-D Rev.2

R7G4HML3-6-PA1

Remote I/O R7G4H Series

MECHATROLINK I/O MODULE

(encoder input, 1 point, screw terminal block, MECHATROLINK- III use)
Functions & Features
• 1 point encoder input (speed / position) module for MECHATROLINK- III
• Easy parameter setting with the configurator software

MODEL: R7G4HML3-6-PA1[1]–R[2]

ORDERING INFORMATION

• Code number: R7G4HML3-6-PA1[1]-R[2]
Specify a code from below for each of [1] and [2].
(e.g. R7G4HML3-6-PA1A7-R/Q)
• Specify the specification for option code /Q
(e.g. /C01/SET)

TERMINAL BLOCK

6: Screw terminal block for power supply
Connector for MECHATROLINK- III
Screw terminal block for I/O

I/O TYPE

PA1: Encoder input (speed / position) 1 point

[1] INPUT

A1: 5 V open collector
A4: 12 V open collector
A7: 24 V open collector
J: RS-422 line driver pulse

POWER INPUT

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

[2] OPTIONS

blank: none
/Q: Options other than the above (specify the specification)

SPECIFICATIONS OF OPTION: Q (multiple selections)

COATING (For the detail, refer to our web site.)
/C01: Silicone coating
/C02: Polyurethane coating
/C03: Rubber coating
EX-FACTORY SETTING
/SET: Preset according to the Ordering Information Sheet
(No. ESU-7772-PA1)

RELATED PRODUCTS

• PC configurator software (model: R7CFG)
Downloadable at our web site.
A dedicated cable is required to connect the module to the PC. Please refer to the internet software download site or the users manual for the PC configurator for applicable cable types.

GENERAL SPECIFICATIONS

Connection
MECHATROLINK-III: MECHATROLINK-III connector
Power input, I/O: M3 separable screw terminal (torque 0.5 N·m)
Solderless terminal: Refer to the drawing at the end of the section.
Recommended manufacturer: Japan Solderless Terminal MFG.Co.Ltd, Nichifu Co.,ltd
Applicable wire size: 0.25 to 1.65 mm² (AWG 22 to 16)
Screw terminal: Nickel-plated steel
Housing material: Flame-resistant resin (gray)
Isolation: Input or output or sensor excitation to MECHATROLINK or FE to power
Status indicator LEDs: PWR, ERR, CON, LNK1, LNK2
(Refer to the instruction manual for details)
Parameter setting: With PC configurator software (model: R7CFG)
• Data type
• Count mode
• Counter type
• Frequency range
• Drop out
• MECHATROLINK-III command
• Alarm type
• External latch
Refer to the instruction manual for detail.
Command: Data type, Latch, Reset, Latch data clear, Reset data clear, Preset and Alarm output
(For details refer to the instruction manual.)
■Recommended solderless terminal

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

Sensor Excitation* (External):
24 V DC ± 10 %, ripple 5 %p-p max., 20 mA to 1 A
* Must be supplied since the input circuit also works with it.
When Latch or Reset turns on, its current is added.
Encoder excitation (External source; only for Ax)
A1: 5 V DC ±5 %, ≤ 1 A
A4: 12 V DC ±5 %, ≤ 1 A
A7: 24 V DC ±5 %, ≤ 1 A
■Encoder pulse input
Open collector
Maximum input frequency
∙ Position data: 400 kHz (quad multiplication)
∙ Speed data: 100 kHz
Input pulse, ON/OFF level
∙ 5 V: Approx. 4 V DC @ 4.4 mA, ≥ 3 kΩ / 3.3 V for OFF, ≤ 300 Ω / 1 V for ON
∙ 12 V: Approx. 10 V DC @ 5.7 mA, ≥ 3 kΩ / 6.5 V for OFF, ≤ 400 Ω / 1.8 V for ON
∙ 24 V: Approx. 22 V DC @ 7.8 mA, ≥ 3 kΩ / 11.5 V for OFF, ≤ 300 Ω / 2 V for ON
Pulse phase: A, B and Z
A and B phases are necessary to work.
Phase A/B
∙ Position data: ≥ 5 μsec.
∙ Speed data: ≥ 5 μsec.
Phase Z
≥ 1 msec. (firmware version 1.10)
≥ 0.5 μsec. (firmware version 1.11 or later)
RS-422 line driver pulse
Position data: 4 MHz (quad multiplication)
Speed data: 100 kHz
Receiver: Conforms to RS-422
Pulse phase: A, B and Z
A and B phases are necessary to work.
Phase A/B
∙ Position data: ≥ 0.5 μsec.
∙ Speed data: ≥ 5 μsec.
Phase Z
≥ 1 msec. (firmware version 1.10)
≥ 0.5 μsec. (firmware version 1.11 or later)
■ Reset input: Discrete input
Number of input: 1
Common: Positive common
Detecting voltage: Supplied sensor excitation voltage
Detecting current: 5.5 mA per channel (@24 V DC)
Detecting levels:
≥ 15 V DC (between +24V1 and RST), ≥ 3.5 mA for ON
≤ 5 V DC (between +24V1 and RST), ≤ 1mA for OFF
Input resistance: Approx. 4.4 kΩ
ON delay time: ≤ 50 μsec.
OFF delay time: ≤ 500 μsec.
Pulse width: ≥ 50 msec.
■ Latch input: Discrete input
Number of input: 1
Common: Positive common
Detecting voltage: Supplied sensor excitation voltage
Detecting current: 5.5 mA per channel (@24 V DC)
Detecting levels:
≥ 15 V DC (between +24 V1 and LCH), ≥ 3.5 mA for ON
≤ 5 V DC (between +24 V1 and LCH), ≤ 1mA for OFF
Input resistance: Approx. 4.4 kΩ
ON delay time: ≤ 10 μsec.
OFF delay time: ≤ 10 μsec.

OUTPUT SPECIFICATIONS

■ Alarm Output: Open collector
Number of output: 2
Common: Negative common
Rated load voltage: 24 V DC ±10 %
Max. load current: 0.1 A per point
Voltage drop at ON: ≤ 1.2 V
Leakage current at OFF: ≤ 1 mA
ON delay: ≤ 50 μsec.
OFF delay: ≤ 500 μsec.

INSTALLATION

Current consumption
•DC: Approx. 80 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: 220 g (0.49 lb)

PERFORMANCE

Speed conversion accuracy: ±0.1 %
Data range
Speed: 0 – 10000 of the input range
Position
Ring: 0 to 4 294 967 295
Linear: -2 100 000 000 to +2 100 000 000
Insulation resistance: ≥ 100 MΩ with 500 V DC
Dielectric strength: 1500 V AC @ 1 minute
(input or output or sensor excitation to MECHATROLINK or FE to power)

STANDARDS & APPROVALS

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

PC CONFIGURATOR

The following parameters can be set with using PC Configurator Software (model: R7CFG)
Refer to the users manual for the R7CFG for detailed operation of the software program.