Q series Motion Controller for the iQ Platform

Q series Motion Controller
for the iQ Platform
Next Generation Motion Controller
Accelerated by Progress
A new platform
aimed at improving total
system performance!
Extract more performance with the multiple
CPU system-based controller platform.
Being Introduced to the Motion controller Q series is the iQ Platform-based
Q173DCPU/Q172DCPU.
Motion control performance has been drastically improved.
Including, a natural succession of the functions of the prior Motion controller Q series.
While furthermore improving work productivity in the development, debugging and
start-up stages due to the new iQ Platform Engineering Environment.
Multiple CPU High Speed Bus
-Equipped with a Multiple CPU high speed bus reserved specifically for CPUto-CPU communication.
With this reserved Multiple CPU high speed bus, data transfer of 0.88ms
period is possible for up to 14k words.
-The Multiple CPU high speed transmission cycle is synchronized with the
motion control cycle thus optimizing the control system.
PLC CPU
Universal
Motion CPU
Device Memory
Model
PLC Control
Processor
Multiple CPU
High Speed
Transmission Area
Device Memory
Multiple CPU
High Speed Bus
Motion
Multiple CPU
High Speed
Transmission Area
Processor
SSCNET3
Motion Module
(Proximity DOG, Manual
Pulse Generator Input)
Servo
Motor
Servo
Amplifier
1
PLC Intelligent Function Module
(A/D, D/A, etc.)
-2 times (0.44ms/6 axes) the motion operation
performance as before resulting in shorter system
tact times.
-Instruction communication to the servo amplifier can
be executed in as little as a 0.44ms period, realizing
high-accuracy synchronous control and
speed/position control.
-A motion control specific processor (high
performance 64bitRISC) and a proprietary
acceleration algorithm ASIC improve hardware
efficiency.
Control
Q series PLC system bus
PLC I/O Module
(DI/O)
High speed and high accuracy due to
improvements in motion control performance
-Using the MELSEC Q series universal model CPU,
sequence processing is also accelerated.
(Using the Q06UDHCPU, the PLC basic instruction
time is 9.5ns.)
-Equipped with various motion control functions such
as multi-axis interpolation, speed control, electronic
cam, tracking control and more.
-Using the Motion SFC program as a flowchart,
control with suppressed variation in response time is
realized.
Need-based System Construction
-Up to 4 CPU modules can be freely selected in the
Multiple CPU system. (1 PLC CPU required)
-Control up to 96 axes per system using multiple Motion
CPUs. (Three Q173DCPU modules use).
-An optimum decentralized control system can be
constructed using Multiple CPUs.
Control is optimized by dispersing processing across the
Multiple CPUs with the PLC CPU handling general
machine control and the Motion CPU handling servo
control tasks.
System expandability is accomplished with ease due to
the availability of over 100 different types of MELSEC Q
series modules.
A new advanced Engineering Environment
MELSOFT MT Works2
-Easier operation allows for both programming and debugging time to
be substantially reduced.
-User-create, easily understood device labels can now be created,
simplifying appropriation within the program.
-New import/export function for cam data in CSV file format.
-Substantial shortening of communication time when reading and
writing to the Motion CPU. (Q173DCPU/Q172DCPU use)
-Print documents without using Microsoft® Word or Excel.
-SSCNET3 based MR-J3 servo amplifiers deliver a high
speed, high accuracy solution.
SSCNET (Servo System Controller NETwork)
2
Higher performance motion control!
Multiple CPU High Speed Bus
■With reserved Multiple CPU high speed bus, data transfer of 0.88ms period is possible for up to 14k words.
Multiple CPU high speed data transfer
Acceleration of in-position signal response time
Q06UDHCPU
In-position response time
Q06HCPU
Program example
The Multiple high speed
transmission cycle is the same as
the Motion Control cycle time.
Increased controllability
[K0 : Real]
1 INC-1
Axis
1,
Speed
200 PLS
10000 PLS/sec
Shared memory capacity
Capacity
Q06UDHCPU + Q173DCPU
14k word
In-position signal
Q06HCPU + Q173HCPU
4k word
3.5 times increase
(Up to14k words)
Motion Processing Acceleration
■Approximately double the basic motion performance
and 1/4 the Motion SFC processing time.
Servo program start
dedicated instruction
D(P).SVST
PLC program interrupt for
Multiple CPUs synchronization
■Using the new PLC interrupt function synchronized
with the motion operation cycle (0.88ms),
it is possible to achieve real time processing
of the ladder program.
Basic motion performance
(With 0.44 ms operation cycle time)
In case of SV13
Application Example
Performance
Q173DCPU
6 axes
3 axes
Q173HCPU
Approx. 2 times
the performance
2) Multiple Motion CPUs can be started simultaneously.
Motion SFC processing time
Process time for D800L=D802L + D804L
Processing time
Q173DCPU
Q173HCPU
3
2.34ms
1) A motor real time value can be compared against a
specific point and if this point is overrun, the PLC can
turn on an output signal.
(Variation of comparison processing does not have an
influence on the scan time of the ladder which is
processed within 0.88ms.)
Reduced to
approx. 1/4
11.75ms
■Automatic refresh setting count has increased from 4 to 32.
Processing time
+ Q173DCPU
Decreased
in 1/2
+ Q173HCPU
Measurement details
Motor
speed
Time
In-position
signal
In-position response time
<In-position response time>
In a 2 CPUs, Multiple CPU system consisting of a PLC CPU and Motion CPU, the Motion CPU
receives the in-position signal from the servo amplifier of the first axis. Next, the PLC CPU sends
a start command to the second amplifier. This example thus shows the time it takes from the
stopping of motion on one axis until the beginning of motion on a second axis. Since the Motion
CPU and PLC CPU must continuously communicate back-and-forth, this time is a good indicator
of CPU-to-CPU data transfer speed and more importantly, overall system performance and tact
time.
Motion Dedicated PLC Instruction
■Introducing easy-to-use Motion dedicated PLC
instructions.
-More freedom in setting up the program for CPUto-CPU data exchange.
-Motion critical data such as position and velocity
information can be assigned to specific CPU-toCPU high-speed refresh area thus synchronizing
their exchange between the Multiple CPU’s with
that of the motion control system’s operation
cycle.
Large reduction in programming
read/write time
■Increased debugging efficiency by reducing
program read/write time to 1/3 the previous
execution time.
Issue multiple instructions at the same time
Ex: Execution of 3 Motion dedicated SVST instruction at the same time.
Motion CPU communication time
M0
Ladder program
Servo program read time
D P. S V S T
H3E1
"J1"
K0
D P. S V S T
H3E1
"J2"
K1
D P. S V S T
H3E1
"J3"
K2
Communication time
Q173DCPU
RST M0
Approx. 3 times
faster
Q173HCPU
Indirectly set data and execute instructions at the same time
Ex: Indirect data setting of speed and position plus execution of the Motion dedicated SVST instruction all at the same time.
M0
Ladder program
DMOV
K10000
U3E0¥
G12046
DMOV
K500
U3E0¥
G12048
DP.SVST
Servo program
H3E1
"J1"
K0
[K0 : Real]
1 INC-1
Axis
1, U3E0¥G12046 PLS
Speed
U3E0¥G12048 PLS/sec
4
System Configuration
Flexible High-Speed Motion Control System Achieved with Multiple
■Compatible with the Q Series PLC (Platform) in the Multiple CPU system.
■The appropriate CPU modules for PLC control and Motion control can be selected to meet the application requirements.
■The Multiple CPU configuration allows up to 4 CPU modules to be selected. (1 PLC CPU must be used.)
■Up to 96 axes of servomotors per system can be controlled by using 3 modules of Q173DCPU.
PLC CPU/Motion CPU
(Up to 4 modules)
Q6䊐P
Q䊐UD(E)(H)CPU
Q17䊐DCPU
QI60
Integrated FA software MELSOFT
PLC programming software
GX Developer
SW8D5C-GPPW-E Ver.8.48A or later
(CD-ROM)
CPU base Q3䊐DB(Note6)
Motion controller engineering environment
MELSOFT MT Works2
SW1DNC-MTW2-E
(CD-ROM)
USB(Note9)/RS-232
Servo set up software
MR Configurator
MRZJW3-SETUP221E Ver.C0 or later
(CD-ROM)
Laptop personal computer
SSCNET3
(1 system)
Peripheral device
configuration
SSCNET3
(2 systems)
Extension cable QC䊐B
Graphic operation
terminal (GOT)
5
Motion CPU/
PLC CPU
control module
Extension base(Note10)
(Up to 7 stages)
Q6䊐B
Battery holder unit
Q170DBATC
(Q6BAT has been installed)
EMI Forced stop input
(24VDC)
Operating system software packages
Operating system software
SW8DNC-SV䊐䊐Q䊐
(CD-ROM)
Conveyor assembly use
Automatic machinery use
Motion SFC compatible
Motion SFC compatible
SW8DNC-SV13QB (Q173DCPU)
SW8DNC-SV13QD (Q172DCPU)
Dedicated language
Q172DLX
Q172DEX(Note4)
SW8DNC-SV22QA (Q173DCPU)
SW8DNC-SV22QC (Q172DCPU)
Electronic component assembly,
Inserter, Feeder, Molder, Conveying
equipment, Paint applicator, Chip
mounting, Wafer slicer, Loader/Unloader,
Bonding machine, X-Y table
Press feeder, Food processing, Food
packaging, Winding machine, Spinning
machine, Textile machine, Printing
machine, Book binder, Tire molder,
Paper-making machine
Linear interpolation (1 to 4 axes), Circular interpolation,
Constant-speed, Fixed-pitch feed, Speed control with
fixed position stop, Speed switching, Speed control,
Speed/position switching
Synchronous control, Electronic shaft,
Electronic clutch, Electronic cam, Draw
control
Motion CPU control(Note1, 2, 3)
modules
QX/Y䊐䊐
Mechanical support language
Notes :
1. Only input module among Motion CPU control modules can be accessed from
PLC CPU.
2. Motion modules (Q172DLX/Q172DEX/Q173DPX) cannot be installed in CPU slot
and I/O slot 0 to 2 of the main base unit.
3. Motion modules (Q172LX/Q172EX(-S2)/Q173PX) for Q17䊐HCPU/Q17䊐CPUN
cannot be used.
4. Installation position of Q172DEX is only the main base unit. It cannot be used on
the extension base unit.
5. Other CPU modules cannot be accessed from Motion CPU.
6. It is impossible to mount the main base unit by DIN rail when using the Motion
CPU module.
7. Be sure to use the cable for forced stop input (sold separately). The forced stop
cannot be released without using it.
8. Be sure to use the external battery.
9. USB cannot be used in WindowsNT® 4.0.
10. Motion CPU cannot control the module installed to the QA1S6䊐B.
11. The servo amplifiers for Linear servomotors are required.
12. Connecting target can be selected for each axis from general-purpose input of
servo amplifier or Q172DLX.
PLC CPU control (Note5)
modules
Q173DPX
Device
configuration
Manual pulse generator (3 units per module)
MR-HDP01
Serial absolute synchronous encoder
(2 units per module)
Q170ENC
Servo external signal (Note12)
(FLS,RLS,STOP,DOG/CHANGE)✕8 axes/module
Motion CPU input/output
(Up to 256 points)
External interrupt input
(16 points)
Servo amplifier MR-J3-䊐B
Servo amplifier MR-J3-䊐B
Servomotor
Linear servomotor(Note11)
Servomotor
Q173DCPU : 2 systems(Up to 32 axes)
Q172DCPU : 1 system(Up to 8 axes)
Servo external signal(Note12)
(FLS, RLS, DOG)
6
Q series Motion Controller for the iQ Platform
HEAD OFFICE : TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
L(NA)03036-A 0806 Printed in Japan <MDOC>
New publication, effective Jun. 2008
Specifications subject to change without notice.