ES-7772-D Rev.3

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: With options (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 cable (model: MCN-CON or COP-US)
• PC configurator software (model: R7CFG)
Downloadable at our web site.

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.)
Configurator connection: 2.5 dia. miniature jack
■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: TE Connectivity Industrial mini I/O connector
Max. number of Subordinate Devices: 62
(The maximum number of Subordinate Devices might change depending on the Main Device unit. Refer to the manual of the Main Device 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
Subordinate Device 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.