New Product News SSCNETIII Compatible MOTION CONTROLLER Q series Taking motion control to the age of optics Mitsubishi Electric Corporation Nagoya Works is a factory certified for ISO14001 (standards for environmental management systems) and ISO9001(standards for quality assurance management systems) EC97J1113 to Optics! Taking the Various Possibilities of the Servo System Taking motion control to new ranges with the high-speed synchronous network SSCNETIII! MOTION CONTROLLER Qseries compatible Introducing the SSCNETIII compatible Q173HCPU/Q172HCPU to the Motion controller Q Series! High speeds and high accuracies are attained to comply with the MELSERVO-J3 servo amplifier having the industry’s highest performance(as of March 2005). The conventional Q Series Motion controller’s functions and programming environment are incorporated. (Note) • Q173HCPU/Q172HCPU can be connected only to the SSCNETIII compatible MR-J3-B. • SSCNET(Servo System Controller NETwork) - - - - Attain 50Mbps high-speed communication with optical communication Improved system responsiveness! Network communication speed The speed of exchanging data between the controller and servo amplifier has been greatly increased thereby shortening the cycle time. Speed increased by approx. 10-fold 5.6 A173UHCPU/ Q173CPUN 50 Q173HCPU Enhanced communication reliability! 0 10 20 30 40 50 Baud rate [Mbps] The optical fiber cable was adopted. Overall cable length Improved freedom to device layout! This model is compatible with long-distance wiring (Maximum overall distance: up to 50[m] (164.04[ft.] ) between stations (Note) × number of axes). Compatible with an approx. 25-fold long distance 30 A173UHCPU/ Q173CPUN 800 (Note) Q173HCPU (Note): When using long distance cable: 50[m] (164.04[ft.] ) between stations × 16 axes = 800[m] (2624.67[ft.] ) 0 200 (656.17) 400 (1312.34) 600 800 (1968.50) (2624.67) Distance [m(ft.) ] Wiring is reduced by issuing the stroke limit signal and proximity dog signal via the servo amplifier. Machine wiring for SSCNETIII Controller panel Up to 50[m] (164.04[ft.] ) between stations* MODE RUN ERR USER BAT BOOT POWER MODE RUN ERR USER BAT BOOT SSCNETIII cable PULL PULL PULL USB USB RS-232 MR-J3-B Amplifier panel Machine Amplifier panel Machine Amplifier panel Enlarged view Machine FLS DOG RLS (Note): When using long distance cable Servo external signal (FLS, RLS, DOG) 2 The wire length can be shortened Attain high speeds and high accuracies with motion control Realized a 0.44ms operation cycle! The operation cycle has been reduced by approx. half compared to the conventional model, enabling high accuracy control with smooth commands. Command position Command position When operation cycle is shortened Operation cycle Operation cycle Reduced the entire cycle time of the system, including the servomotor! This model is compatible with the MELSERVO-J3 servo amplifier having the industry’s highest performance. Powered up motion control Improved synchronization accuracy between multiple axes! Errors caused by synchronous encoder’s processing time or the servo’s droop pulses is automatically compensated with the phase compensation function. 262,144 pulse synchronous encoder (18-bit) is available! The synchronous operation accuracy at low speeds is greatly improved (16-fold compared to conventional model). Simultaneous control of synchronous control and PTP positioning possible! Real mode and virtual mode combination function. Security function to protect user’s know-how incorporated! A function to protect user programs with a password has been added. Suitable for devices, such as spinners, with the speed control function with fixed position stop (Orientation function)! Superior Motion controller usability Realized an integral engineering environment! This system can be combined with the MT Developer and MR Configurator. Multiple CPU system carried over with the Q Series PLC! (Configure a system that matches the system scale.) Easily use user programs created with the conventional Motion controller Q Series! 3 III System Configuration Motion CPU control (Note-2) modules PLC CPU (Note-1) /Motion CPU (Up to 4 modules) Q Q61P-A (H)CPU Q17 HCPU(-T) Q172LX Q172EX-S2 Q173PX PLC CPU control (Note-3) modules QI60 QX/Y CPU base Q3 B Peripheral device configuration For PLC CPU GX Developer Ver.6 or later (CD-ROM) SW D5C-GPPW-E USB (Note-5)/RS-232 Device configuration For Motion CPU Operating system software (FD) SW6RN-SV Q Motion CPU I/O (Up to 256 points) Battery holder unit Q170HBATC (Note-7) (Q6BAT has been installed) External interrupt input (16 points) Manual pulse generator (3 modules/unit) MR-HDP01 Serial absolute synchronous encoder (2 modules/unit) Q170ENC SSC I/F card A30CD-PCF SSCNET (Note-4) Servo external signal (FLS,RLS,STOP,DOG/CHANGE) × 8 axes USB (Note-5) Laptop PC (WinNT/Win98/Win2000/WinXP) Integrated startup support environment MT Developer Ver.00K or later (CD-ROM) SW6RNC-GSVPROE MR Configurator (CD-ROM) MRZJW3-SETUP221E Teaching unit (Note-8) A31TU-D K13 SSCNETIII (System1) SSCNETIII (System2) Servo amplifier MR-J3-B SSCNET (Note-4) Servomotor Q173HCPU : 2 systems (Up to 32 axes) Q172HCPU : 1 system (Up to 8 axes) SSC I/F board A 0BD-PCF Desktop PC (WinNT/Win98/Win2000/WinXP) Integrated startup support environment Extension cable QC Graphic operation terminal (GOT) B Extension base Q6 B (Note-6) (Up to 7 extensions) Servo external signal (Note-9) (FLS, RLS, DOG) USB (Note-5) Motion CPU/PLC CPU control modules Notes : 1. PLC CPU for Multiple CPU can be used in Q-mode. 2. Only input module among Motion CPU control modules can be accessed from PLC CPU. 3. Other CPU modules cannot be accessed from Motion CPU. 4. Only 1 PC can be connected via SSCNET. 5. USB cannot be used in WindowsNT® 4.0. 6. Motion CPU cannot control the module installed to the QA1S6 B. 7. The external battery for backup of parameter/program is required at the time of continuous power failure for 1000 hours or more. (Q6BAT is not supplied with Q170HBATC). 8. In planning stages. When using the teaching unit A31TU-D K13, please use Motion CPU for teaching unit. 9. Connecting target can be selected for each axis from general-purpose input of servo amplifier or Q172LX. Operating system software packages Motion SFC compatible SV13 Dedicated language 4 Conveyor assembly use Motion SFC compatible Automatic machinery use SV22 [Applications] Electronic component assembly, Inserter, Feeder, Molder, Conveying equipment, Paint applicator, Chip mounting, Wafer slicer, Loader/Unloader, Bonding machine, X-Y table [Applications] 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 Mechanical support language New functions Phase compensation function When carrying out tracking synchronization with the synchronous encoder, delays in the processes, etc., cause the phase to deviate at servomotor shaft end in respect to the synchronous encoder. The phase compensation function compensates in this case so that the phase does not deviate. The phase deviation between the synchronous encoder and cam angle can be eliminated by using this for the electronic cam. Angle Example of use with electronic cam Operate a cutter with the electronic cam in synchronization with the conveyor speed Synchronous encoder angle Servomotor Cam angle Time Phase deviates between synchronous encoder and electronic cam. P1 Phase compensation Angle Synchronous encoder angle Synchronous encoder 1-axis Cam angle Electronic cam (Servomotor) Mechanical system program Time Phase deviation is eliminated, and phases are completely synchronized. Speed control function with fixed position stop (Orientation function) The servomotor can be rotated at preset speed and then stopped at preset position after the stop command ON. Not only the speed but also acceleration/deceleration time can be changed to an optional value while operating. Value changed with speed change request command v b a Rotates at a fixed speed c t d Fixed position stop acceleration/deceleration time ON Servo program start OFF Speed change request command OFF Fixed position stop command OFF ON Stop at preset position ON Servomotor Fixed position stop acceleration /deceleration time (Indirect setting device) a b c d Combination with MR Configurator Communication between the MR Configurator (setup software) and servo amplifier via Motion controller is possible. Multiple servo amplifiers can be adjusted just by connecting between the personal computer and Motion controller with a cable. Q173HCPU/Q172HCPU MODE RUN ERR USER BAT BOOT POWER Click on the icon! PULL PULL Start MR Configurator by clicking the MR Developer icon MODE RUN ERR USER BAT BOOT PULL USB USB RS-232 Select the required number of axes and display as a list. Cables do not need to be reconnected MR-J3-B MR Configurator Data write Data read 5 III Programming environment Motion SFC monitor Servo parameter setting Color indication of executing step on flow chart Device monitor and test of execution/specification step Direct start of MT Developer in the parameter setting screen Monitor/Test Digital oscilloscope Current value monitor/Axis monitor/Error history monitor Various tests such as home position return/JOG operation by clicking mouse Data sampling synchronized with motion control cycle Waveform display/Dump display/Fail saving/Printing Software packages Software Model name Q173HCPU(-T) Q172HCPU(-T) Application Conveyor assembly use SV13 Automatic machinery use SV22 Conveyor assembly use SV13 Operating system software Programming software Automatic machinery use SV22 Digital oscilloscope use SW6RN-SV13QK SW6RN-SV13QM SW6RN-SV22QJ SW6RN-SV22QL SW6RN-GSV13P SW6RN-GSV22P SW3RN-CAMP SW6RN-DOSCP Note – Included in the "Integrated start-up support software". Integrated start-up support software configration Model name Details • Conveyor assembly software • Automatic machinery software • Cam data creation software • Digital oscilloscope software • Communication system software • Document print software SW6RNC-GSVE (Ver.00K or later) [1 CD-ROM] SW6RN-GSVPROE MT Developer SW6RNC-GSVHELPE (Operation manual [1 CD-ROM] ) Installation manual SW6RNC-GSVPROE A30CD-PCF (SSC I/F card (PCMCIA TYPE II 1CH/card) ) Q170CDCBL3M (A30CD-PCF cable 3m(9.84ft.) ) SW6RNC-GSVSETE Operating environment IBM PC/AT with which WindowsNT4.0/98/2000/XP English version operated normally. ® Item CPU Memory capacity Hard disk free space WindowsNT 4.0 (Service Pack 2 or later) ® or Windows 98 Recommended Pentium® 133MHz or more Recommended 32MB or more ® ® Windows 2000 Recommended Pentium® 233MHz or more Recommended 64MB or more Windows XP Recommended Pentium® 450MHz or more Recommended 192MB or more SW6RNC-GSVE: 250MB + SW6RNC-GSVHELPE: 81MB (Possible to select installation) SVGA (Resolution 800 ✕ 600 pixels, 256 colors) or more Display Application software : SW6RN-GSV13P : SW6RN-GSV22P : SW3RN-CAMP : SW6RN-DOSCP : SW6RN-SNETP : SW3RN-DOCPRNP SW20RN-DOCPRNP Word 97, Excel 97 or Word 2000, Excel 2000 (For document printing) Visual C++ 4.0 or more, Visual Basic 4.03 (32 bit) or more (For communication API function) ® (Note) • When using the A30CD-PCF, the PC card driver for WindowsNT provided by the personal computer manufacturer must be used. ® ® • WindowsNT , Windows , Word, Excel, Visual C++ and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. ® • Pentium is trademarks or registered trademarks of Intel Corporation or its subsidiaries in the United States and other countries. 6 Motion control specifications Item Motion SFC Performance Specifications Q172HCPU(-T) Q173HCPU(-T) 8 axes Number of control axes 32 axes (Up to 16 axes/system) Operation cycle 0.44~ Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Interpolation functions Helical interpolation (3 axes) PTP (Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed, Constant speed control, Position follow-up control, Control modes Speed control with fixed position stop, Speed switching control, High-speed oscillation control, Synchronous control (SV22) Item Motion SFC program capacity Q173HCPU(-T) / Q172HCPU(-T) Code total (Motion SFC chart + Operation control + Transition) Text total (Operation control+ Transition) Number of Motion SFC programs Motion SFC chart size/program Motion SFC program Up to 4094 steps Number of selective branches/branch 255 Parallel branch nesting Number of operation control programs Programming language Motion SFC, Dedicated instruction, Mechanical support language (SV22) 14k steps Number of positioning points 3200 points (Positioning data can be designated indirectly) IBM PC/AT Programming tool USB/SSCNET Peripheral I/F Teaching operation function Home position return function Number of transition programs Operation control program (F/FS) / Transition program(G) Provided (Q17 HCPU-T, SV13 use) Proximity dog (2 types), Count (3 types), Data set (2 types), Dog cradle, Stopper (2 types), Limit switch combined Provided JOG operation function Manual pulse generator Possible to connect 3 modules operation function Synchronous encoder Possible to connect 12 modules Possible to connect 8 modules operation function (SV22 use) (SV22 use) M-code output/M-code completion wait function provided M-code function Number of output points 32 points Limit switch output Watch data: Motion control data/Word device function Made compatible by setting battery to servo amplifier. (Possible to Absolute position select the absolute data method or incremental method for each axis) system Number of SSCNETIII 2 systems 1 system systems (Note-1) Number of usable Q172LX : 1 module Q172LX : 4 modules motion related Q172EX-S2 : 4 modules Q172EX-S2 : 6 modules interface modules Q173PX : 3 modules(Note-2) Q173PX : 4 modules(Note-2) (Note-1) : The servo amplifiers for SSCNET cannot be used. (Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules. When connecting the manual pulse generator, you can use only 1 module. 256 (No.0 to 255) Up to 64k bytes (Included Motion SFC chart comments) Number of Motion SFC steps/program Number of parallel branches/branch Automatic trapezoidal acceleration/deceleration, Acceleration/ S-curve acceleration/deceleration deceleration processing Compensation function Backlash compensation, Electronic gear, Phase compensation (SV22) Servo program capacity 543k bytes 484k bytes 255 Up to 4 levels 4096 (F/FS0 to F/FS4095) with F(Once execution type) and FS(Scan execution type) combined. 4096 (G0 to G4095) Code size/program Number of blocks(line)/program Up to approx. 64k bytes (32766 steps) Up to 8192 blocks (in the case of 4 steps(min)/blocks) ( ) nesting/block Descriptive Expression Operation control program Transition program Number of multi executed programs Up to 32 Calculation expression/bit conditional expression Calculation expression/bit conditional expression/comparison conditional expression Up to 256 Number of multi active steps Normal task Execute specification Executed task Event task Fixed cycle (Execution External can be interrupt masked.) PLC interrupt NMI task Number of I/O points (X/Y) Up to 256 steps/all programs Executed in motion main cycle Executed in fixed cycle (0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms) Executed when input ON is set among interrupt module QI60 (16 points). Executed with interrupt (GINT) from PLC CPU. Executed when input ON is set among interrupt module QI60 (16 points). 8192 points Number of real I/O points (PX/PY) • Internal relays(M), Latch relays: Total 8192 points • Link relays (B) 8192 points Number of devices • Annunciators (F) 2048 points • Special relays (M) 256 points • Data registers (D) 8192 points 256 points • Link registers(W) 8192 points • Special registers (D) 256 points • Motion registers (#) 8192 points • Coasting timers (FT) 1 point (888µs) Motion related module specifications Part name Model name Description Use with Q PLC Up to 32 axes control, Operation cycle 0.4[ms]~ Up to 8 axes control, Operation cycle 0.4[ms]~ Up to 32 axes control, Operation cycle 0.4[ms]~, For teaching unit Up to 8 axes control, Operation cycle 0.4[ms]~, For teaching unit Program capacity 8k steps Program capacity 14k steps Program capacity 28k steps Program capacity 28k steps Program capacity 60k steps Program capacity 124k steps Program capacity 252k steps Power supply + CPU + 3 I/O slots, For Q series modules Power supply + CPU + 5 I/O slots, For Q series modules Power supply + CPU + 8 I/O slots, For Q series modules Power supply + CPU + 12 I/O slots, For Q series modules Power supply + 3 I/O slots, For Q series modules Power supply + 5 I/O slots, For Q series modules Power supply + 8 I/O slots, For Q series modules Power supply + 12 I/O slots, For Q series modules Length 0.45m(1.48ft.), 0.6m(1.97ft.), 1.2m(3.94ft.), 3m(9.84ft.), 5m(16.40ft.), 10m(32.81ft.) 100 to 120VAC input/ 5VDC 6A output 200 to 240VAC input/ 5VDC 6A output 100 to 240VAC input/ 5VDC 3A/ 24VDC 0.6A output 24VDC input/ 5VDC 6A output 100 to 120VAC/200 to 240VAC input/ 5VDC 8.5A output Servo external signal 8 axes (FLS, RLS, STOP, DOG/CHANGE×8) Serial absolute synchronous encoder Q170ENC interface×2, Tracking input 2 points (A6BAT built-in) Manual pulse generator MR-HDP01/Incremental synchronous encoder interface×3, Tracking input 3 points Resolution: 262144PLS/rev, Permitted speed: 3600r/min Serial absolute synchronous encoder Q170ENC Permitted axial loads [Radial load: Up to 19.6N, Thrust load: Up to 9.8N] Serial absolute synchronous encoder cable (Note-3) Q170ENC ↔ Q172EX-S2 2m, 5m, 10m, 20m, 30m, 50m Q170ENCCBL M Battery holder unit Battery holder for Q6BAT (Attachment: battery cable) Q170HBATC (Note-2) For IC-RAM memory backup of Q17 HCPU(-T) module (SFC programs, Servo programs, Parameters) Q6BAT Battery For backup of Q170ENC A6BAT Pulse resolution: 25PLS/rev(100PLS/rev after magnification by 4), Permitted speed: 200r/min(Normal rotation) Manual pulse generator MR-HDP01 Permitted axial loads [Radial load: Up to 19.6N, Thrust load: Up to 9.8N], Open collector output Standard code for inside panel MR-J3BUS M • Q17 HCPU(-T) ↔ MR-J3- B 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3.28ft.), 3m(9.84ft.) SSCNETIII cable (Note-3) • MR-J3- B ↔ MR-J3- B MR-J3BUS M-A Standard cable for outside panel 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.) Long distance cable 30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.) MR-J3BUS M-B (Note-4) PCI bus loading type, 2ch/board A10BD-PCF SSC I/F board ISA bus loading type, 2ch/board A30BD-PCF SSC I/F card PCMCIA TYPE II, 1ch/card A30CD-PCF Cable for SSC I/F board (Note-3) Q17 HCPU(-T) ↔ SSC I/F board 3m(9.84ft.), 5m(16.40ft.), 10m(32.81ft.) Q170BDCBL M Cable for SSC I/F card (Note-3) Q17 HCPU(-T) ↔ SSC I/F card 3m(9.84ft.), 5m(16.40ft.), 10m(32.81ft.) Q170CDCBL M For SV13, With 3-position deadman switch, Only Japanese A31TU-D3K13 Teaching unit (Note-5) For SV13, Without deadman switch, Only Japanese A31TU-DNK13 Q17 HCPU-T ↔ A31TU-D3K13, 3m(9.84ft.) Q170TUD3CBL3M (Attachment : short-circuit connector (A31TUD3TM) for teaching unit) Cable for the teaching unit Q17 HCPU-T ↔ A31TU-DNK13, 3m(9.84ft.) Q170TUDNCBL3M Q170TUDNCBL03M-A Exchange cable for direct connection of Q17 HCPU-T ↔ A31TU-DNK13, 0.3m(0.98ft.) For direct connection to Q17 HCPU-T, It is packed together with Q17 HCPU-T. Q170TUTM Short-circuit connector for teaching unit For connection to Q170TUD CBL3M, It is packed together with Q170TUD CBL3M. A31TUD3TM (Note-1) : Please use the power supply module within the range of power supply capacity. (Note-2) : Battery Q6BAT is not attached to Battery holder unit Q170HBATC. Please arrange separately. (Note-3) : =Cable length (015: 0.15m(0.49ft.), 0: 0.3m(0.98ft.), 05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 2: 2m(6.56ft.), 3: 3m(9.84ft.), 5: 5m(16.40ft.), 10: 10m(32.81ft.), 20: 20m(65.62ft.), 30: 30m(98.43ft.), 40: 40m(131.23ft.), 50: 50m(164.04ft.)) (Note-4) : Please contact your nearest Mitsubishi sales representative for the cable of less than 30m(98.43ft.). (Note-5) : In planning stages. Q173HCPU Q172HCPU Motion CPU module Q173HCPU-T Q172HCPU-T Q00CPU Q01CPU Q02CPU PLC CPU module Q02HCPU Q06HCPU Q12HCPU Q25HCPU Q33B Q35B CPU base unit Q38B Q312B Q63B Q65B Extension base unit Q68B Q612B Extension cable QC B Q61P-A1 Q61P-A2 (Note-1) Power supply module Q62P Q63P Q64P Servo external signals interface module Q172LX Serial absolute synchronous encoder interface module Q172EX-S2 Manual pulse generator interface module Q173PX 7 MOTION CONTROLLERS Q series –SSCNETIII Compatible– Exterior dimensions Q173HCPU (-T) Q172HCPU (-T) Q173HCPU-T Q172HCPU-T MODE RUN ERR. M.RUN BAT. BOOT MODE RUN ERR. M.RUN BAT. BOOT FRONT FRONT SSCNETIII CN2 TU PULL BAT CN1 PC TU PULL USB 27.4(1.08) 114.3(4.50) USB Q172LX 27.4(1.08) 114.3(4.50) [Unit : mm(inch)] Q172EX-S2 Q172LX [Unit : mm(inch)] Q173PX Q173PX Q172EX-S2 PLS.A PLS.B TREN 1 1 1 2 2 2 3 3 3 SY.ENC TREN 1 1 2 2 CTRL 98(3.86) 98(3.86) SY.ENC1 PULSER 98(3.86) PC 104.6(4.12) BAT 104.6(4.12) SSCNETIII CN1 SY.ENC2 Q172LX 90(3.14) Q173PX Q172EX 27.4(1.08) [Unit : mm(inch)] 90(3.14) 27.4(1.08) [Unit : mm(inch)] 90(3.14) 27.4(1.08) [Unit : mm(inch)] For safe use • To use the products given in this catalog properly, always read the “manuals” before starting to use them. • These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life. • Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi. • These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system. • When exporting any of the products or related technologies described in this catalogue, you must obtain an export license if it is subject to Japanese Export Control Law. Precautions for Choosing the Products Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; opportunity loss or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties. HEAD OFFICE : MITSUBISHI DENKI BLDG., 2-2-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN SV0503-2 <MDOC> New publication, effective March 2005 Specifications subject to change without notice.