Mitsubishi MOTION CONTROLLERS Q173DCPU Instruction manual

SAFETY PRECAUTIONS
(Please read these instructions before using this equipment.)
Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
These precautions apply only to this product. Refer to the Q173D(S)CPU/Q172D(S)CPU Users manual
for a description of the Motion controller safety precautions.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
DANGER
Indicates that incorrect handling may cause hazardous
conditions, resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous
conditions, resulting in medium or slight personal injury or
physical damage.
CAUTION may also be linked to serious
Depending on circumstances, procedures indicated by
results.
In any case, it is important to follow the directions for usage.
Please save this manual to make it accessible when required and always forward it to the end user.
A-1
For Safe Operations
1. Prevention of electric shocks
DANGER
Never open the front case or terminal covers while the power is ON or the unit is running, as this
may lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never open the front case or terminal cover at times other than wiring work or periodic
inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are
charged and may lead to electric shocks.
Completely turn off the externally supplied power used in the system before mounting or
removing the module, performing wiring work, or inspections. Failing to do so may lead to electric
shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance :
100 or less) Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do
so may lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to electric shocks.
Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power
is ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller
and servo amplifier, as this may lead to electric shocks.
2. For fire prevention
CAUTION
Install the Motion controller, servo amplifier, servomotor and regenerative resistor on
incombustible. Installing them directly or close to combustibles will lead to fire.
If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo
amplifier’s power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may
lead to fire.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to fire.
A-2
3. For injury prevention
CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
4. Various precautions
Strictly observe the following precautions.
Mistaken handling of the unit may lead to faults, injuries or electric shocks.
(1) System structure
CAUTION
Always install a leakage breaker on the Motion controller and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
Use the Motion controller, base unit and motion module with the correct combinations listed in the
instruction manual. Other combinations may lead to faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in the
system.
In systems where coasting of the servomotor will be a problem during the forced stop, emergency
stop, servo OFF or power supply OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop,
emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic
brakes.
A-3
CAUTION
The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or
servo OFF. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to the
life or mechanical structure (when the ball screw and servomotor are connected with a timing belt,
etc.). Install a stopping device to ensure safety on the machine side.
(2) Parameter settings and programming
CAUTION
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.
The regenerative resistor model and capacity parameters must be set to values that conform to
the operation mode, servo amplifier and servo power supply module. The protective functions
may not function if the settings are incorrect.
Set the mechanical brake output and dynamic brake output validity parameters to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Set the stroke limit input validity parameter to a value that is compatible with the system
application. The protective functions may not function if the setting is incorrect.
Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value
that is compatible with the system application. The protective functions may not function if the
setting is incorrect.
Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that
are compatible with the system application. The protective functions may not function if the
settings are incorrect.
Set the servo amplifier capacity and type parameters to values that are compatible with the
system application. The protective functions may not function if the settings are incorrect.
Use the program commands for the program with the conditions specified in the instruction
manual.
A-4
CAUTION
Set the sequence function program capacity setting, device capacity, latch validity range, I/O
assignment setting, and validity of continuous operation during error detection to values that are
compatible with the system application. The protective functions may not function if the settings
are incorrect.
Some devices used in the program have fixed applications, so use these with the conditions
specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.
Use the interlock program specified in the intelligent function module's instruction manual for the
program corresponding to the intelligent function module.
(3) Transportation and installation
CAUTION
Transport the product with the correct method according to the mass.
Use the servomotor suspension bolts only for the transportation of the servomotor. Do not
transport the servomotor with machine installed on it.
Do not stack products past the limit.
When transporting the Motion controller or servo amplifier, never hold the connected wires or
cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the Motion controller or servo amplifier, never hold the front case as it may fall
off.
When transporting, installing or removing the Motion controller or servo amplifier, never hold the
edges.
Install the unit according to the instruction manual in a place where the mass can be withstood.
Do not get on or place heavy objects on the product.
Always observe the installation direction.
Keep the designated clearance between the Motion controller or servo amplifier and control panel
inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and
other devices.
Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or
that have missing parts.
Do not block the intake/outtake ports of the Motion controller, servo amplifier and servomotor with
cooling fan.
Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil
enter the Motion controller, servo amplifier or servomotor.
The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or
apply strong impacts on them.
Securely fix the Motion controller, servo amplifier and servomotor to the machine according to
the instruction manual. If the fixing is insufficient, these may come off during operation.
A-5
CAUTION
Always install the servomotor with reduction gears in the designated direction. Failing to do so
may lead to oil leaks.
Store and use the unit in the following environmental conditions.
Environment
Ambient
temperature
Ambient humidity
Storage
temperature
Atmosphere
Altitude
Vibration
Conditions
Motion controller/Servo amplifier
According to each instruction manual.
According to each instruction manual.
According to each instruction manual.
Servomotor
0°C to +40°C (With no freezing)
(32°F to +104°F)
80% RH or less
(With no dew condensation)
-20°C to +65°C
(-4°F to +149°F)
Indoors (where not subject to direct sunlight).
No corrosive gases, flammable gases, oil mist or dust must exist
1000m (3280.84ft.) or less above sea level
According to each instruction manual
When coupling with the synchronous encoder or servomotor shaft end, do not apply impact such
as by hitting with a hammer. Doing so may lead to detector damage.
Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor
shaft. Doing so may lead to shaft breakage.
When not using the module for a long time, disconnect the power line from the Motion controller
or servo amplifier.
Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.
Also, execute a trial operation.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine
are used for disinfecting and protecting wooden packaging from insects, they cause malfunction
when entering our products.
Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method).
Additionally, disinfect and protect wood from insects before packing products.
A-6
(4) Wiring
CAUTION
Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal
screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.
After wiring, install the protective covers such as the terminal covers to the original positions.
Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF)
on the output side of the servo amplifier.
Correctly connect the output side (terminal U, V, W) and ground. Incorrect connections will lead
the servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control
signal output of brake signals, etc. Incorrect installation may lead to signals not being output
when trouble occurs or the protective functions not functioning.
Servo amplifier
DOCOM
Control output
signal
Servo amplifier
24VDC
DOCOM
Control output
signal
RA
DICOM
24VDC
RA
DICOM
For the sink output interface
For the source output interface
Do not connect or disconnect the connection cables between each unit, the encoder cable or
PLC expansion cable while the power is ON.
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may
lead to the cables coming off during operation.
Do not bundle the power line or cables.
(5) Trial operation and adjustment
CAUTION
Confirm and adjust the program and each parameter before operation. Unpredictable
movements may occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
When using the absolute position system function, on starting up, and when the Motion controller
or absolute value motor has been replaced, always perform a home position return.
Before starting test operation, set the parameter speed limit value to the slowest value, and
make sure that operation can be stopped immediately by the forced stop, etc. if a hazardous
state occurs.
A-7
(6) Usage methods
CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the
Motion controller, servo amplifier or servomotor.
Always execute a test operation before starting actual operations after the program or
parameters have been changed or after maintenance and inspection.
Do not attempt to disassemble and repair the units excluding a qualified technician whom our
company recognized.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the
Motion controller or servo amplifier.
When using the CE Mark-compliant equipment, refer to the User's manual for the Motion
controllers and refer to the corresponding EMC guideline information for the servo amplifiers,
inverters and other equipment.
Use the units with the following conditions.
Item
Conditions
Input power
According to each instruction manual.
Input frequency
According to each instruction manual.
Tolerable momentary power failure
According to each instruction manual.
(7) Corrective actions for errors
CAUTION
If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the
check details according to the instruction manual, and restore the operation.
If a dangerous state is predicted in case of a power failure or product failure, use a servomotor
with electromagnetic brakes or install a brake mechanism externally.
Use a double circuit construction so that the electromagnetic brake operation circuit can be
operated by emergency stop signals set externally.
Shut off with servo ON signal OFF,
alarm, electromagnetic brake signal.
Servo motor
RA1
Electromagnetic
B
brakes
Shut off with the
emergency stop
signal (EMG).
EMG
24VDC
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the
machine. (Design the machine so that personal safety can be ensured even if the machine
restarts suddenly.)
A-8
(8) Maintenance, inspection and part replacement
CAUTION
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the Motion
controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Before touching the module, always touch grounded metal, etc. to discharge static electricity from
human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components.
Touching them could cause an operation failure or give damage to the module.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage
or wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new module settings
correctly.
When the Motion controller or absolute value motor has been replaced, carry out a home
position return operation using one of the following methods, otherwise position displacement
could occur.
1) After writing the servo data to the Motion controller using programming software, switch on the
power again, then perform a home position return operation.
2) Using the backup function of the programming software, load the data backed up before
replacement.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
Do not drop or impact the battery installed to the module.
Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the
dropped or impacted battery, but dispose of it.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the
Motion controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
Lock the control panel and prevent access to those who are not certified to handle or install
electric equipment.
Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.
A-9
(9) About processing of waste
When you discard Motion controller, servo amplifier, a battery (primary battery) and other option
articles, please follow the law of each country (area).
CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or systems
used in passenger transportation, medical, aerospace, atomic power, electric power, or
submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly
advised to install safety devices to forestall serious accidents when it is used in facilities where a
breakdown in the product is likely to cause a serious accident.
(10) General cautions
All drawings provided in the instruction manual show the state with the covers and safety
partitions removed to explain detailed sections. When operating the product, always return the
covers and partitions to the designated positions, and operate according to the instruction
manual.
A - 10
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date
Jan., 2008
Feb., 2009
Sep., 2010
Sep., 2011
Dec., 2011
Mar., 2012
Sep., 2012
Manual Number
Revision
IB(NA)-0300133-A First edition
IB(NA)-0300133-B [Additional model]
MELSOFT MT Works2, MT Developer2, Software for SV43, Q10UDH/
Q13UDH/Q20UDH/Q26UDH/Q03UDE/Q04UDEH/Q06UDEH/
Q10UDEH/Q13UDEH/Q20UDEH/Q26UDEH, Q17DCCPU-V,
QX40-S1/QX41-S1/QX42-S1/QX82-S1, MR-J3- -RJ004,
MR-J3- -RJ080, MR-J3W-B
[Additional correction/partial correction]
Safety precautions, About Manuals, Checking serial number and
operating system software version, Connector for forced stop input
cable Q170DEMICOM, Exterior dimensions (Motion CPU module,
Motion module), Warranty
IB(NA)-0300133-C [Additional model]
QX40H, QX70H, QH80H, QX90H, MR-J3- BS
[Additional correction/partial correction]
Safety precautions, About Manuals, Restrictions by the software's
version, Battery transportation, Symbol for the new EU battery
directive, EMC directive
IB(NA)-0300133-D [Additional model]
Q173DCPU-S1, Q172DCPU-S1, Q35DB, Q64PN, Q50UDEHCPU,
Q100UDEHCPU, GX Works2, MR Configurator2
[Additional correction/partial correction]
Safety precautions, About Manuals, Restrictions by the software's
version, Sample system circuit design for motion control
IB(NA)-0300133-E [Partial correction]
Section 4.2.1 Partial change of sentence
IB(NA)-0300133-F [Additional model]
Q173DSCPU, Q172DSCPU, Q173DSXY, Q171ENC-W8, MR-J4- B,
MR-J4W- B
[Additional correction/partial correction]
About Manuals, Manual Page Organization, Restrictions by the
software's version, Programming software version, Internal I/F
connector set Q170DSIOCON, Internal I/F connector specifications,
RIO cable Q173DSXYCBL M, General specifications, Sample
system circuit design for Motion control, Mounting of battery, Battery
replacement procedure, Internal input circuit troubleshooting, Exterior
dimensions (Serial absolute synchronous encoder)
IB(NA)-0300133-G [Additional correction/partial correction]
About Manuals, Restrictions by the software's version, Programming
software version, Start-up adjustment procedure, Operating system
software installation procedure
A - 11
Print Date
Apr., 2013
Nov., 2013
Manual Number
Revision
IB(NA)-0300133-H [Additional model]
Q03UCVCPU, Q04UCVCPU, Q06UCVCPU, Q13UCVCPU,
Q26UCVCPU, Q24DHCCPU-V, MR-J4- B-RJ, LJ72MS15
[Additional correction/partial correction]
Safety precautions, About Manuals, Restrictions by the software's
version, PLC module which can be controlled by Motion CPU, Start-up
adjustment procedure, Electronic circuit symbols changed (compliant
with new JIS symbols)
IB(NA)-0300133-J [Additional model]
Q24DHCCPU-LS
[Additional correction/partial correction]
Safety precautions, Restrictions by the software's version, Serial
absolute synchronous encoder cable Q170ENCCBL M-A, Serial
absolute synchronous encoder cable connector set MR-J3CN2
Japanese Manual Number IB(NA)-0300125
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent
licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property
rights which may occur as a result of using the contents noted in this manual.
© 2008 MITSUBISHI ELECTRIC CORPORATION
A - 12
INTRODUCTION
Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU.
Before using the equipment, please read this manual carefully to develop full familiarity with the functions
and performance of the Motion controller you have purchased, so as to ensure correct use.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1
Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-13
About Manuals ...............................................................................................................................................A-16
Manual Page Organization ............................................................................................................................A-18
1. OVERVIEW
1- 1 to 1-10
1.1 Overview................................................................................................................................................... 1- 1
1.2 Differences between Q173D(S)CPU/Q172D(S)CPU and Q173HCPU/Q172HCPU ............................ 1- 4
1.3 Restrictions by the Software's Version .................................................................................................... 1- 6
1.4 Programming Software Version............................................................................................................... 1-10
2. SYSTEM CONFIGURATION
2- 1 to 2-100
2.1 Motion System Configuration .................................................................................................................. 2- 1
2.1.1 Q173DSCPU/Q172DSCPU System overall configuration .............................................................. 2- 4
2.1.2 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration ................................................... 2- 6
2.1.3 Function explanation of the Motion CPU modules ........................................................................... 2- 7
2.1.4 Restrictions on Motion systems ........................................................................................................ 2- 8
2.2 Checking Serial Number and Operating System Software Version ....................................................... 2-12
2.2.1 Checking serial number .................................................................................................................... 2-12
2.2.2 Checking operating system software version................................................................................... 2-15
2.3 System Configuration Equipment ............................................................................................................ 2-17
2.4 General Specifications ............................................................................................................................. 2-24
2.5 Specifications of Equipment and Settings ............................................................................................... 2-25
2.5.1 Name of parts for CPU module ........................................................................................................ 2-25
2.5.2 Power supply module ........................................................................................................................ 2-45
2.5.3 Base unit and extension cable .......................................................................................................... 2-53
2.5.4 Q172DLX Servo external signals interface module ......................................................................... 2-56
2.5.5 Q172DEX Synchronous encoder interface module ......................................................................... 2-61
2.5.6 Q173DPX Manual pulse generator interface module ...................................................................... 2-71
2.5.7 Q173DSXY Safety signal module..................................................................................................... 2-79
2.5.8 Manual pulse generator/Serial absolute synchronous encoder ...................................................... 2-89
2.5.9 SSCNET cables ............................................................................................................................. 2-91
2.5.10 Battery ............................................................................................................................................. 2-96
2.5.11 Forced stop input terminal ............................................................................................................ 2-100
3. DESIGN
3- 1 to 3-16
3.1 System Designing Procedure .................................................................................................................. 3- 1
3.2 External Circuit Design ............................................................................................................................ 3- 4
A - 13
3.2.1 Power supply circuit design .............................................................................................................. 3- 8
3.2.2 Safety circuit design .......................................................................................................................... 3- 9
3.3 Layout Design within the Control Panel .................................................................................................. 3-11
3.3.1 Mounting environment....................................................................................................................... 3-11
3.3.2 Calculating heat generation by Motion controller ............................................................................. 3-12
3.4 Design Checklist ...................................................................................................................................... 3-15
4. INSTALLATION AND WIRING
4- 1 to 4-28
4.1 Module Installation ................................................................................................................................... 4- 1
4.1.1 Instructions for handling .................................................................................................................... 4- 1
4.1.2 Instructions for mounting the base unit ............................................................................................ 4- 4
4.1.3 Installation and removal of module ................................................................................................... 4- 7
4.1.4 Instructions for mounting of the battery holder unit .......................................................................... 4-10
4.2 Connection and Disconnection of Cable ................................................................................................. 4-11
4.2.1 SSCNET cable ............................................................................................................................... 4-11
4.2.2 Battery cable...................................................................................................................................... 4-17
4.2.3 Forced stop input cable ..................................................................................................................... 4-19
4.2.4 Internal I/F connector cable .............................................................................................................. 4-20
4.3 Mounting of Battery .................................................................................................................................. 4-21
4.4 Mounting of Serial Absolute Synchronous Encoder ............................................................................... 4-23
4.5 Wiring........................................................................................................................................................ 4-24
4.5.1 Instructions for wiring ........................................................................................................................ 4-24
4.5.2 Connecting to the power supply module .......................................................................................... 4-27
5. START-UP PROCEDURES
5- 1 to 5-10
5.1 Check Items Before Start-up ................................................................................................................... 55.2 Start-up Adjustment Procedure ............................................................................................................... 55.3 Operating System Software Installation Procedure ................................................................................ 55.4 Trial Operation and Adjustment Checklist ............................................................................................... 56. INSPECTION AND MAINTENANCE
1
3
7
9
6- 1 to 6-28
6.1 Maintenance Works ................................................................................................................................. 6- 2
6.1.1 Instruction of inspection works.......................................................................................................... 6- 2
6.2 Daily Inspection ........................................................................................................................................ 6- 4
6.3 Periodic Inspection ................................................................................................................................... 6- 5
6.4 Life ............................................................................................................................................................ 6- 6
6.5 Battery ...................................................................................................................................................... 6- 7
6.5.1 Battery life .......................................................................................................................................... 6- 8
6.5.2 Battery replacement procedure ........................................................................................................ 6-10
6.5.3 Resuming operation after storing the Motion controller ................................................................... 6-14
6.5.4 Symbol for the new EU battery directive .......................................................................................... 6-14
6.6 Troubleshooting ....................................................................................................................................... 6-15
6.6.1 Troubleshooting basics ..................................................................................................................... 6-15
6.6.2 Troubleshooting of Motion CPU module .......................................................................................... 6-16
6.6.3 Confirming error code ....................................................................................................................... 6-26
6.6.4 Internal input circuit troubleshooting ................................................................................................. 6-27
A - 14
7. EMC DIRECTIVES
7- 1 to 7-10
7.1 Requirements for Compliance with the EMC Directive........................................................................... 77.1.1 Standards relevant to the EMC directive .......................................................................................... 77.1.2 Installation instructions for EMC directive ........................................................................................ 77.1.3 Parts of measure against noise ........................................................................................................ 77.1.4 Example of measure against noise .................................................................................................. 7APPENDICES
1
2
3
6
8
App- 1 to App-28
APPENDIX 1 Cables..................................................................................................................................App- 1
APPENDIX 1.1 SSCNET cables .........................................................................................................App- 1
APPENDIX 1.2 Serial absolute synchronous encoder cable................................................................App- 4
APPENDIX 1.3 Battery cable .................................................................................................................App- 7
APPENDIX 1.4 Forced stop input cable ................................................................................................App- 8
APPENDIX 1.5 Internal I/F connector cable..........................................................................................App- 9
APPENDIX 1.6 RIO cable ..................................................................................................................... App-12
APPENDIX 1.7 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric
System & Service ........................................................................................................ App-13
APPENDIX 2 Exterior Dimensions ........................................................................................................... App-14
APPENDIX 2.1 Motion CPU module .................................................................................................... App-14
APPENDIX 2.2 Servo external signals interface module (Q172DLX) ................................................. App-17
APPENDIX 2.3 Synchronous encoder interface module (Q172DEX)................................................. App-17
APPENDIX 2.4 Manual pulse generator interface module (Q173DPX) .............................................. App-18
APPENDIX 2.5 Safety signal module (Q173DSXY) ............................................................................ App-18
APPENDIX 2.6 Power supply module .................................................................................................. App-19
APPENDIX 2.7 Battery holder unit (Q170DBATC) .............................................................................. App-21
APPENDIX 2.8 Connector .................................................................................................................... App-22
APPENDIX 2.9 Manual pulse generator (MR-HDP01) ........................................................................ App-27
APPENDIX 2.10 Serial absolute synchronous encoder ...................................................................... App-28
A - 15
About Manuals
The following manuals are also related to this product.
In necessary, order them by quoting the details in the tables below.
Related Manuals
(1) Motion controller
Manual Number
(Model Code)
Manual Name
Q173D(S)CPU/Q172D(S)CPU Motion controller User's Manual
This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface
module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface
module, Power supply modules, Servo amplifiers, SSCNET
IB-0300133
(1XB927)
cables and Synchronous encoder, and the
maintenance/inspection for the system, trouble shooting and others.
Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)
This manual explains the Multiple CPU system configuration, performance specifications, common
IB-0300134
(1XB928)
parameters, auxiliary/applied functions, error lists and others.
Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual
(Motion SFC)
This manual explains the functions, programming, debugging, error lists for Motion SFC and others.
Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual
(REAL MODE)
This manual explains the servo parameters, positioning instructions, device lists, error lists and others.
Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual
(VIRTUAL MODE)
This manual explains the dedicated instructions to use the synchronous control by virtual main shaft,
mechanical system program create mechanical module, servo parameters, positioning instructions, device
IB-0300135
(1XB929)
IB-0300136
(1XB930)
IB-0300137
(1XB931)
lists, error lists and others.
Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual
(Advanced Synchronous Control)
This manual explains the dedicated instructions to use the synchronous control by synchronous control
IB-0300198
(1XB953)
parameters, device lists, error lists and others.
Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)
This manual explains the details, safety parameters, safety sequence program instructions, device lists
IB-0300183
(1XB945)
and error lists and others for safety observation function by Motion controller.
Motion controller Setup Guidance (MT Developer2 Version1)
This manual explains the items related to the setup of the Motion controller programming software
MT Developer2.
A - 16
IB-0300142
( — )
(2) PLC
Manual Number
(Model Code)
Manual Name
QCPU User's Manual (Hardware Design, Maintenance and Inspection)
This manual explains the specifications of the QCPU modules, power supply modules, base units,
extension cables, memory card battery, and the maintenance/inspection for the system, trouble shooting,
SH-080483ENG
(13JR73)
error codes and others.
QnUCPU User's Manual (Function Explanation, Program Fundamentals)
This manual explains the functions, programming methods and devices and others to create programs
SH-080807ENG
(13JZ27)
with the QCPU.
QCPU User's Manual (Multiple CPU System)
This manual explains the Multiple CPU system overview, system configuration, I/O modules,
communication between CPU modules and communication with the I/O modules or intelligent function
SH-080485ENG
(13JR75)
modules.
QnUCPU User's Manual (Communication via Built-in Ethernet Port)
This manual explains functions for the communication via built-in Ethernet port of the CPU module.
MELSEC-Q/L Programming Manual (Common Instruction)
This manual explains how to use the sequence instructions, basic instructions, application instructions and
SH-080811ENG
(13JZ29)
SH-080809ENG
(13JW10)
micro computer program.
MELSEC-Q/L/QnA Programming Manual (PID Control Instructions)
This manual explains the dedicated instructions used to exercise PID control.
MELSEC-Q/L/QnA Programming Manual (SFC)
This manual explains the system configuration, performance specifications, functions, programming,
SH-080040
(13JF59)
SH-080041
(13JF60)
debugging, error codes and others of MELSAP3.
I/O Module Type Building Block User's Manual
This manual explains the specifications of the I/O modules, connector, connector/terminal block
SH-080042
(13JL99)
conversion modules and others.
MELSEC-L SSCNET /H Head Module User's Manual
This manual explains specifications of the head module, procedures before operation, system
configuration, installation, wiring, settings, and troubleshooting.
A - 17
SH-081152ENG
(13JZ78)
(3) Servo amplifier
Manual Number
(Model Code)
Manual Name
SSCNET /H interface MR-J4- B Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for
SH-030106
(1CW805)
MR-J4- B Servo amplifier.
SSCNET /H interface Multi-axis AC Servo MR-J4W- B Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Multi-
SH-030105
(1CW806)
axis AC Servo MR-J4W - B Servo amplifier.
SSCNET
interface MR-J3- B Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for
SH-030051
(1CW202)
MR-J3- B Servo amplifier.
SSCNET
Manual
interface 2-axis AC Servo Amplifier MR-J3W- B Servo amplifier Instruction
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for 2-axis
AC Servo Amplifier MR-J3W- B Servo amplifier.
SSCNET
Compatible Linear Servo MR-J3- B-RJ004 Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Linear
SH-030073
(1CW604)
SH-030054
(1CW943)
Servo MR-J3- B-RJ004 Servo amplifier.
SSCNET Compatible Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier
Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully
SH-030056
(1CW304)
Closed Loop Control MR-J3- B-RJ006 Servo amplifier.
SSCNET
Manual
Interface Direct Drive Servo MR-J3- B-RJ080W Servo amplifier Instruction
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Direct
SH-030079
(1CW601)
Drive Servo MR-J3- B-RJ080W Servo amplifier.
SSCNET
Manual
interface Drive Safety integrated MR-J3- B Safety Servo amplifier Instruction
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for safety
SH-030084
(1CW205)
integrated MR-J3- B Safety Servo amplifier.
Manual Page Organization
The symbols used in this manual are shown below.
Symbol
QDS
QD
Description
Symbol that indicates correspondence to only Q173DSCPU/Q172DSCPU.
Symbol that indicates correspondence to only Q173DCPU(-S1)/Q172DCPU(-S1).
A - 18
1 OVERVIEW
1. OVERVIEW
1
1.1 Overview
This User's Manual describes the hardware specifications and handling methods of the
Motion Controller for the Q series PLC Multiple CPU system.
The Manual also describes those items related to the specifications of the option
module for the Motion controller, Manual pulse generator, Synchronous encoder and
cables.
In this manual, the following abbreviations are used.
Generic term/Abbreviation
Description
Q173D(S)CPU/Q172D(S)CPU or
Motion CPU (module)
Q173DSCPU/Q172DSCPU/Q173DCPU/Q172DCPU/Q173DCPU-S1/
Q172DCPU-S1 Motion CPU module
Q172DLX/Q172DEX/Q173DPX/
Q173DSXY or Motion module
Q172DLX Servo external signals interface module/
(Note-1)
Q172DEX Synchronous encoder interface module
/
Q173DPX Manual pulse generator interface module/
Q173DSXY Safety signal module
MR-J4(W)- B
Servo amplifier model MR-J4- B/MR-J4W- B
MR-J3(W)- B
Servo amplifier model MR-J3- B/MR-J3W- B
AMP or Servo amplifier
General name for "Servo amplifier model MR-J4- B/MR-J4W- B/MR-J3- B/
MR-J3W- B"
QCPU, PLC CPU or PLC CPU module QnUD(E)(H)CPU/QnUDVCPU
Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series"
CPUn
Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU
system"
Operating system software
General name for "SW7DNC-SV Q /SW8DNC-SV Q "
SV13
Operating system software for conveyor assembly use (Motion SFC) :
SW8DNC-SV13Q
SV22
Operating system software for automatic machinery use (Motion SFC) :
SW8DNC-SV22Q
SV43
Operating system software for machine tool peripheral use :
SW7DNC-SV43Q
Programming software package
General name for MT Developer2/GX Works2/GX Developer/MR Configurator
MELSOFT MT Works2
Abbreviation for "Motion controller engineering environment MELSOFT
MT Works2"
MT Developer2
Abbreviation for "Motion controller programming software MT Developer2
(Version 1.00A or later)"
GX Works2
Abbreviation for "Programmable controller engineering software
MELSOFT GX Works2 (Version 1.15R or later)"
GX Developer
Abbreviation for "MELSEC PLC programming software package
GX Developer (Version 8.48A or later)"
(Note-2)
MR Configurator
(Note-2)
General name for "MR Configurator/MR Configurator2"
MR Configurator
Abbreviation for "Servo setup software package
MR Configurator (Version C0 or later)"
MR Configurator2
Abbreviation for "Servo setup software package
MR Configurator2 (Version 1.01B or later)"
Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)"
Serial absolute synchronous encoder
or Q171ENC-W8/Q170ENC
Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8/
Q170ENC)"
1-1
1 OVERVIEW
Generic term/Abbreviation
Description
(Note-3)
SSCNET /H
SSCNET
High speed synchronous network between Motion controller and servo amplifier
(Note-3)
(Note-3)
SSCNET (/H)
General name for SSCNET /H, SSCNET
Absolute position system
General name for "system using the servomotor and servo amplifier for absolute
position"
Battery holder unit
Battery holder unit (Q170DBATC)
Intelligent function module
General name for module that has a function other than input or output such as
A/D converter module and D/A converter module.
(Note-3)
SSCNET /H head module
Abbreviation for "MELSEC-L series SSCNET /H head module (LJ72MS15)"
(Note-1): Q172DEX can be used in SV22.
(Note-2): This software is included in Motion controller engineering environment "MELSOFT MT Works2".
(Note-3): SSCNET: Servo System Controller NETwork
REMARK
For information about each module, design method for program and parameter, refer
to the following manuals relevant to each module.
Item
Reference Manual
PLC CPU, peripheral devices for sequence program design,
I/O modules and intelligent function module
Operation method for MT Developer2
Manual relevant to each module
Help of each software
• Multiple CPU system configuration
SV13/SV22/
• Performance specification
Q173D(S)CPU/Q172D(S)CPU Motion controller
SV43
• Design method for common parameter
Programming Manual (COMMON)
• Auxiliary and applied functions (common)
• Design method for Motion SFC program
• Design method for Motion SFC parameter
• Motion dedicated PLC instruction
Q173D(S)CPU/Q172D(S)CPU Motion controller
(SV13/SV22) Programming Manual (Motion SFC)
• Design method for positioning control
program in the real mode
SV13/SV22
• Design method for positioning control
Q173D(S)CPU/Q172D(S)CPU Motion controller
(SV13/SV22) Programming Manual (REAL MODE)
parameter
• Design method for safety observation
parameter
• Design method for user made safety
Q173D(S)CPU/Q172D(S)CPU Motion controller
Programming Manual (Safety Observation)
sequence program
SV22
(Virtual mode)
• Design method for mechanical system
program
Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22)
Programming Manual (VIRTUAL MODE)
SV22
(Advanced
synchronous
• Design method for synchronous control
parameter
Q173DSCPU/Q172DSCPU Motion controller (SV22)
Programming Manual (Advanced Synchronous Control)
control)
1-2
1 OVERVIEW
MEMO
1-3
1 OVERVIEW
1.2 Differences between Q173D(S)CPU/Q172D(S)CPU and Q173HCPU/Q172HCPU
Item
Q173DSCPU
Q172DSCPU
Q173DCPU(-S1)
Q172DCPU(-S1)
SV13
0.22ms/ 1 to 4 axes
0.44ms/ 5 to 10 axes
0.88ms/11 to 24 axes
1.77ms/25 to 32 axes
0.22ms/ 1 to 4 axes
0.44ms/ 5 to 10 axes
0.88ms/11 to 16 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 18 axes
1.77ms/19 to 32 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 8 axes
SV22
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 16 axes
1.77ms/17 to 32 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 16 axes
0.44ms/ 1 to 4 axes
0.88ms/ 5 to 8 axes
SV43
—
—
0.44ms/ 1 to 4 axes
0.88ms/ 5 to 12 axes
1.77ms/13 to 28 axes
3.55ms/29 to 32 axes
Operation cycle
(default)
Model name of operating
system software
Peripheral I/F
Main base unit
SW DNC-SV Q
USB/RS-232/Ethernet (via PLC CPU)
PERIPHERAL I/F (Motion CPU)
USB/RS-232/Ethernet (via PLC CPU)
(Note-1)
PERIPHERAL I/F (Motion CPU)
Multiple CPU high speed main base unit (Q35DB/Q38DB/Q312DB)
Color of base cover
Gray
Mounting on panel
Be sure to mount the unit by unit fixing screws.
DIN rail
Unusable
CPU module No.1
Universal model (QnUD(E)(H)CPU/QnUDVCPU)
Installation orders CPU No.2
or later
No restriction
CPU empty slot
Settable between CPU modules
PLC CPU module
Motion CPU module
Combination of Motion
CPU modules
Installation on main base
unit
Universal model (QnUD(E)(H)CPU/QnUDVCPU)
Q173DSCPU/Q172DSCPU
Q173DCPU(-S1)/Q172DCPU(-S1)
Combination with Q173DCPU(-S1)/Q172DCPU(-S1)
Combination with Q173DSCPU/Q172DSCPU
Be sure to install Motion CPU modules by unit fixing screws.
Function select switch
Rotary switch 1, Rotary switch 2
RESET/L.CLR switch
None
LED indication
7-segment LED display
Battery
Battery holder unit
Forced stop input
Demand
—
Q170DBATC
• Use EMI connector of Motion CPU module
• Use device set by forced stop input setting in the system setting.
Cable for forced stop input
Motion module
Installation on main base
unit
Demand
Q172DLX/Q172DEX/Q173DPX/Q173DSXY
Q172DLX/Q172DEX/Q173DPX/Q173DSXY
Q172DLX/Q172DEX/Q173DPX: Impossible to install on I/O slots of 0 to 2
Multiple CPU high speed
transmission memory for data
transfer between CPU
modules
Included
1-4
(Note-1)
1 OVERVIEW
Q173HCPU
Q173HCPU
0.44ms/ 1 to 3 axes
0.88ms/ 4 to 10 axes
1.77ms/11 to 20 axes
3.55ms/21 to 32 axes
0.44ms/ 1 to 3 axes
0.88ms/ 4 to 8 axes
0.88ms/ 1 to 5 axes
1.77ms/ 6 to 14 axes
3.55ms/15 to 28 axes
7.11ms/29 to 32 axes
0.88ms/ 1 to 5 axes
1.77ms/ 6 to 8 axes
SW RN-SV Q
USB/SSCNET
Main base unit
(Q33B/Q35B/Q38B/Q312B)
Clear
Mount the unit by unit fixing screws when using
system in a place where the vibration or impact is
large.
Usable
High performance model (Qn(H)CPU)
Install Motion CPU modules on the right-hand side of
PLC CPU module.
Not settable between CPU modules
High performance model (Qn(H)CPU)
Q173HCPU(-T)/Q172HCPU(-T)
Combination with Q173CPUN(T)/Q172CPUN(-T)
Install Motion CPU modules by unit fixing screws
when using them in a place where the vibration or
impact is large.
Dip switch 1 to 5
Provided
Each LED of MODE, RUN, ERR, M.RUN, BAT and
BOOT
Add Q6BAT at continuous power failure for 1 month
or more
Q170HBATC
• Use device set by forced stop input setting in the
system setting.
—
Q172LX/Q172EX/Q173PX
No restriction
—
(Note-1) : Q173DCPU-S1/Q172DCPU-S1 only
1-5
1 OVERVIEW
1.3 Restrictions by the Software's Version
There are restrictions in the function that can be used by the version of the operating
system software and programming software.
The combination of each version and a function is shown in Table1.1.
Table 1.1 Restrictions by the Software's Version
Operating system software version
Function
Q173DSCPU/Q172DSCPU
(Note-1), (Note-2)
Q173DCPU(-S1)/Q172DCPU(-S1)
SV13/SV22
SV13/SV22
SV43
Checking Motion controller's serial number and operating
system software version in GX Developer
—
00D
—
Advanced S-curve acceleration/deceleration
(Except constant-speed control (CPSTART) of servo
program.)
—
00H
Direct drive servo
MR-J3- B-RJ080W
—
00H
00B
00B
Servo amplifier display servo error code (#8008+20n)
—
00H
0.44ms fixed-cycle event task
—
00H
444μs coasting timer (SD720, SD721)
—
00H
Synchronous encoder current value monitor in real mode
—
00H
Display of the past ten times history in current value history
monitor
—
00H
Amplifier-less operation
—
00H
Servo instruction (Home position return (ZERO), high
speed oscillation (OSC)) and manual pulse generator
operation in mixed function of virtual mode/real mode
—
00H
Advanced S-curve acceleration/deceleration in constantspeed control (CPSTART) of servo program.
—
00K
External input signal (DOG) of servo amplifier in home
position return of count type and speed/position switching
control
—
00G
00B
Communication via PERIPHERAL I/F
—
00H
00C
Motion SFC operation control instruction
Type conversion (DFLT, SFLT)
—
00L
—
Vision system dedicated function (MVOPEN, MVLOAD,
MVTRG, MVPST, MVIN, MVFIN, MVCLOSE, MVCOM)
—
00L
Home position return of scale home position signal
detection type
—
00L
00C
Real time display function in digital oscilloscope function
—
00N
Not support
1-6
00B
00C
1 OVERVIEW
Programming software version
MELSOFT MT Works2 (MT Developer2)
Q173DSCPU/Q172DSCPU
Q173DCPU(-S1)/Q172DCPU(-S1)
Section of reference
MR Configurator2
MR Configurator
—
—
Section 2.2
—
—
(Note-5)
SV13/SV22
SV13/SV22
SV43
—
—
—
1.39R
1.06G
1.39R
1.06G
1.06G
1.01B
C2
—
—
—
—
—
(Note-5), (Note-6)
1.39R
1.06G
—
—
(Note-4)
—
—
(Note-3)
—
—
(Note-6)
—
—
(Note-3)
—
—
—
—
—
1.39R
1.06G
—
—
—
—
(Note-3)
1.39R
1.09K
—
—
(Note-6)
1.39R
1.09K
—
—
(Note-5)
1.39R
1.15R
Not support
—
—
1.39R
1.15R
Not support
—
—
(Note-3)
1.39R
1.15R
—
—
—
(Note-4)
1.39R
1.15R
—
—
(Note-4)
1.39R
1.15R
Not support
—
—
(Note-5)
1.39R
1.17T
Not support
—
—
Not support
—: There is no restriction by the version.
(Note-1): SV13/SV22 is the completely same version.
(Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or
GX Works2/GX Developer. (Refer to "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON) Section
1.3, 1.4".)
(Note-3): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)
(Note-4): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)
(Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)
(Note-6): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)
(Note-7): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)
(Note-8): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)
1-7
1 OVERVIEW
Table 1.1 Restrictions by the Software's Version (continued)
Operating system software version
Q173DSCPU/Q172DSCPU
Function
(Note-1), (Note-2)
Q173DCPU(-S1)/Q172DCPU(-S1)
SV13/SV22
SV13/SV22
Rapid stop deceleration time setting error invalid function
—
00S
Vision system dedicated function (MVOUT)
—
00S
Motion SFC operation control instruction
Program control (IF - ELSE - IEND, SELECT -CASE SEND, FOR -NEXT, BREAK)
—
00R
Display format depending on the error setting data
information of motion error history device (#8640 to #8735)
—
00S
Product information list device (#8736 to #8751)
—
00S
Safety observation function
—
00S
Feed current value update command (M3212+20n) valid in
speed control ( )
00B
Not support
External forced stop input ON latch (SM506)
00B
00S
Operation method (SD560)
00B
Not support
Advanced synchronous control
00B
Not support
Limit switch output function expansion
00B
Not support
Driver communication function (SSCNET )
00C
Not support
Intelligent function module support
00C
Not support
SSCNET /H head module connection
00C
Not support
Cam auto-generation (CAMMK) easy stroke ratio cam
00C
Not support
Acceleration/deceleration time change function
00C
Not support
Home position return of dogless home position signal
reference type
00C
Not support
Setting range expansion of backlash compensation
amount
00C
Not support
Multiple CPU synchronous control
00C
Not support
Cam axis length per cycle change during synchronous
control
00C
Not support
—
00L
00D
Not support
Servo driver VC series
manufactured by Nikki Denso Co., Ltd.
SSCNET
SSCNET /H
Inverter FR-A700 series
—
—
Synchronous encoder via servo amplifier
00D
Not support
Driver communication function (SSCNET /H)
00D
Not support
1-8
SV43
1 OVERVIEW
Programming software version
MELSOFT MT Works2 (MT Developer2)
Q173DSCPU/Q172DSCPU
SV13/SV22
Q173DCPU(-S1)/Q172DCPU(-S1)
SV13/SV22
MR Configurator2
MR Configurator
Section of reference
SV43
—
—
—
—
(Note-5)
1.39R
1.39R
—
—
(Note-4)
1.39R
1.39R
—
—
(Note-4)
—
—
—
—
(Note-4)
—
—
—
—
(Note-5), (Note-6)
1.39R
1.39R
—
—
(Note-7)
—
Not support
—
—
(Note-5)
—
—
—
—
(Note-3)
—
Not support
—
—
(Note-3)
Not support
—
—
(Note-8)
1.47Z
1.47Z
Not support
—
—
(Note-3)
—
Not support
—
—
(Note-3)
1.56J
Not support
—
—
(Note-3)
1.56J
Not support
—
—
(Note-3)
1.56J
Not support
—
—
(Note-4)
1.56J
Not support
—
—
(Note-5)
1.56J
Not support
—
—
(Note-5)
1.56J
Not support
—
—
(Note-5)
1.56J
Not support
—
—
(Note-8)
1.56J
Not support
—
—
(Note-8)
1.34L
1.15R
—
—
(Note-5)
1.56J
Not support
—
—
(Note-5)
1.34L
1.15R
—
—
(Note-5)
1.68W
Not support
—
Not support
(Note-8)
1.68W
Not support
—
Not support
(Note-3)
—: There is no restriction by the version.
(Note-1): SV13/SV22 is the completely same version.
(Note-2): The operating system software version can be confirmed in the operating system software (CD-ROM), MT Developer2 or
GX Works2/GX Developer. (Refer to "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON) Section
1.3, 1.4".)
(Note-3): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (COMMON)
(Note-4): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)
(Note-5): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)
(Note-6): Q173D(S)CPU/Q172D(S)CPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)
(Note-7): Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual (Safety Observation)
(Note-8): Q173DSCPU/Q172DSCPU Motion controller (SV22) Programming Manual (Advanced Synchronous Control)
1-9
1 OVERVIEW
1.4 Programming Software Version
The programming software versions that support Motion CPU are shown below.
Motion CPU
MELSOFT MT Works2 (MT Developer2)
SV13/SV22
Q173DSCPU
1.39R
Q172DSCPU
1.39R
Q173DCPU-S1
1.00A
Q172DCPU-S1
1.00A
SV43
(Note-1)
(Note-1)
(Note-2)
(Note-2)
1.03D
1.03D
(Note-3)
(Note-3)
MR Configurator2
MR Configurator
1.10L
Not support
1.10L
Not support
1.00A
C0
1.00A
C0
Q173DCPU
1.00A
1.03D
1.00A
C0
Q172DCPU
1.00A
1.03D
1.00A
C0
(Note-4)
(Note-4)
(Note-4)
(Note-4)
(Note-1): Use version 1.47Z or later to use advanced synchronous control method.
(Note-2): Use version 1.12N or later to communicate via PERIPHERAL I/F.
(Note-3): Use version 1.23Z or later to communicate via PERIPHERAL I/F.
(Note-4): Use version C1 or later to use MR Configurator combination with MT Developer2.
1 - 10
2 SYSTEM CONFIGURATION
2. SYSTEM CONFIGURATION
This section describes the Motion controller system configuration, precautions on use
of system and configured equipments.
2.1 Motion System Configuration
2
(1) Equipment configuration in system
(a) Q173DSCPU/Q172DSCPU
Extension of the Q series module
(Note-2)
Power supply module/
QnUD(E)(H)CPU/QnUDVCPU/
I/O module/Intelligent function
module of the Q series
Motion module
(Q172DLX, Q173DPX)
Motion module
(Q172DLX, Q172DEX, Q173DPX)
Main base unit
(Q35DB, Q38DB, Q312DB)
Extension cable
(QC B)
Q6 B extension base unit
(Q63B, Q65B, Q68B, Q612B)
Safety signal module
(Q173DSXY)
Motion CPU module
(Q173DSCPU/Q172DSCPU)
Forced stop input cable
(Q170DEMICBL M)
Power supply module/
I/O module/Intelligent function
module of the Q series
(Note-1)
M IT S U B I S H I
L IT H IU M
B A T T E R Y
PROGRAMMABLE CONTROLLER
TYPE Q6BAT
RIO cable
(Q173DSXYCBL M)
SSCNET cable
(MR-J3BUS M(-A/-B))
Battery
(Q6BAT)
Servo amplifier
(MR-J3(W)- B)
Servo amplifier
(MR-J4(W)- B)
It is possible to select the best according to the system.
(Note-1): Be sure to install the Battery (Q6BAT).
It is packed together with Q173DSCPU/Q172DSCPU.
(Note-2): Q172DEX cannot be used in the extension base unit.
Install it to the main base unit.
2-1
2 SYSTEM CONFIGURATION
(b) Q173DCPU(-S1)/Q172DCPU(-S1)
Extension of the Q series module
(Note-2)
Power supply module/
QnUD(E)(H)CPU/QnUDVCPU/
I/O module/Intelligent function
module of the Q series
Motion module
(Q172DLX, Q172DEX, Q173DPX)
Motion module
(Q172DLX, Q173DPX)
Main base unit
(Q35DB, Q38DB, Q312DB)
Extension cable
(QC B)
Q6 B extension base unit
(Q63B, Q65B, Q68B, Q612B)
Motion CPU module
(Q173DCPU(-S1)/
Q172DCPU(-S1))
Forced stop input cable
(Q170DEMICBL M)
Power supply module/
I/O module/Intelligent function
module of the Q series
(Note-3)
Safety signal module
(Q173DSXY)
(Note-3)
RIO cable
(Q173DSXYCBL M)
(Note-1)
SSCNET cable
(MR-J3BUS M(-A/-B))
Battery holder unit
(Q170DBATC)
(Note-1)
M IT S U B I S H I
L IT H IU M
B A T T E R Y
PROGRAMMABLE CONTROLLER
TYPE Q6BAT
Servo amplifier
(MR-J3(W)- B)
Battery
(Q6BAT)
It is possible to select the best according to the system.
(Note-1): Be sure to install the Battery (Q6BAT) to the Battery holder unit (Q170DBATC).
It is packed together with Q173DCPU(-S1)/Q172DCPU(-S1).
(Note-2): Q172DEX cannot be used in the extension base unit.
Install it to the main base unit.
(Note-3): Q173DCPU-S1/Q172DCPU-S1 only.
2-2
2 SYSTEM CONFIGURATION
(2) Peripheral device configuration for the Q173D(S)CPU/
Q172D(S)CPU
The following (a)(b)(c) can be used.
(a) USB configuration
(b) RS-232 configuration
(c) Ethernet configuration
PLC CPU module
(QnUD(E)(H)CPU/QnUDVCPU)
PLC CPU module
(QnUD(H)CPU)
Motion CPU module
(Q17 DSCPU/Q17 DCPU-S1)
PLC CPU module
(QnUDE(H)CPU/QnUDVCPU)
USB cable
RS-232 communication cable
(QC30R2)
Ethernet cable (Note-1)
Personal computer
Personal computer
Personal computer
(Note-1): Corresponding Ethernet cables
1) Connecting to Motion CPU module
Part name
Connection type
Connection with HUB
Cable type
Straight cable
Ethernet cable
Direct connection
Crossover cable
Ethernet standard
Specification
10BASE-T
100BASE-TX
10BASE-T
Compliant with Ethernet standards, category 5 or higher.
• Shielded twisted pair cable (STP cable)
100BASE-TX
[Selection criterion of cable]
• Category
: 5 or higher
• Diameter of lead : AWG26 or higher
• Shield
: Copper braid shield and drain wire
Copper braid shield and aluminium layered type shield
2) Connecting to PLC CPU module
Refer to the "QnUCPU User's Manual (Communication via Built-in
Ethernet Port)".
2-3
2 SYSTEM CONFIGURATION
2.1.1 Q173DSCPU/Q172DSCPU System overall configuration
Q61P
QnUD
CPU
Panel personal
computer
Q17 DS
CPU
QI60
QX
QY
100/200VAC
Manual pulse
generator
interface module
PLC CPU/
Motion CPU
Synchronous
encoder
interface module
Main base unit
(Q3 DB)
Intelligent
function module
PERIPHERAL I/F
Servo external
signals
interface module
Motion CPU control module
Q6 AD Q172D Q172D Q173D
/
LX
EX
PX
Q6 DA
Manual pulse generator
(MR-HDP01)
P
USB/RS-232/
Ethernet (Note-1)
I/O module/
Intelligent function
module
3/module
Serial absolute synchronous encoder cable
(Q170ENCCBL M)
E
Personal Computer
IBM PC/AT
Battery (Q6BAT)
Serial absolute synchronous encoder
(Q171ENC-W8)
2/module
External input signals
Number of Inputs
FLS
: Upper stroke limit
RLS
: Lower stroke limit
STOP
: Stop signal
DOG/CHANGE : Proximity dog/Speed-position switching
8 axes/module
Analogue input/output
Forced stop input cable
(Q170DEMICBL M)
Input/output (Up to 256 points)
EMI forced stop input (24VDC)
External input signals
Extension base unit
(Q6 B)
Power supply
module
Interrupt signals (16 points)
P
Extension
cable
(QC B) UP to 7 extensions
Line 2
SSCNET (/H)
(CN2)
Manual pulse generator/
Incremental synchronous encoder
1/module
Upper stroke limit
Lower stroke limit
STOP signal
Proximity dog/Speed-position switching
Input signal/Mark detection input signal (4 points)
SSCNET cable
(MR-J3BUS M(-A/-B))
d16
d01
Line 1
SSCNET (/H)
(CN1)
d01
d16
L61P LJ72MS15
M
M
M
M
E
E
E
E
Serial absolute
synchronous
encoder cable
(Q170ENCCBL M-A)
E
Serial absolute synchronous
encoder (Note-2)
(Q171ENC-W8)
MR-J3(W)- B/MR-J4(W)- B model Servo amplifier
Q173DSCPU: 2 lines (Up to 32 axes (Up to 16 axes/line))
Q172DSCPU: 1 line (Up to 16axes)
External input signals of servo amplifier
Proximity dog/Speed-position switching
Upper stroke limit
Lower stroke limit
L61P LJ72MS15
I/O module/
Intelligent function
module
I/O module/
Intelligent function
module
MELSEC-L series SSCNET /H head module
(LJ72MS15)
Q173DSCPU: 2 lines (Up to 8 stations (Up to 4 stations/line))
Q172DSCPU: 1 line (Up to 4 stations)
(Note-1): QnUDE(H)CPU/QnUDVCPU only
(Note-2): MR-J4- B-RJ only
2-4
2 SYSTEM CONFIGURATION
CAUTION
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in
the system.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier
and servomotor.
Set the parameter values to those that are compatible with the Motion controller, servo
amplifier, servomotor and regenerative resistor model and the system application. The
protective functions may not function if the settings are incorrect.
2-5
2 SYSTEM CONFIGURATION
2.1.2 Q173DCPU(-S1)/Q172DCPU(-S1) System overall configuration
Q61P
QnUD
CPU
Q17 D
CPU
QI60
QX
/
QY
Manual pulse
generator
interface module
(Note-1)
Synchronous
encoder
interface module
PLC CPU/
Motion CPU
Main base unit
PERIPHERAL I/F (Q3 DB)
Panel personal
computer
Servo external
signals
interface module
Motion CPU control module
Q6 AD Q172D Q172D Q173D
PX
/
LX
EX
Q6 DA
I/O module/
Intelligent function module
100/200VAC
P
USB/RS-232/
Ethernet (Note-2)
3/module
Serial absolute synchronous encoder cable
(Q170ENCCBL M)
E
Personal Computer
IBM PC/AT
Battery holder unit
Q170DBATC
Forced stop input cable
(Q170DEMICBL M)
EMI forced stop input (24VDC)
Manual pulse generator
(MR-HDP01)
Serial absolute synchronous encoder
(Q170ENC)
2/module
External input signals
Number of Inputs
FLS
: Upper stroke limit
RLS
: Lower stroke limit
STOP
: Stop signal
DOG/CHANGE : Proximity dog/Speed-position switching
8 axes/module
Analogue input/output
Input/output (Up to 256 points)
Interrupt signals (16 points)
Power supply
module
Extension base unit
(Q6 B)
Extension
cable
(QC B) UP to 7 extensions
SSCNET cable
(MR-J3BUS M(-A/-B))
Line 2 SSCNET
Line 1 SSCNET
d01
(CN2)
(CN1)
d16
d01
d16
M
M
M
M
E
E
E
E
MR-J3(W)- B model Servo amplifier
Q173DCPU(-S1): 2 lines (Up to 32 axes (Up to 16 axes/line))
Q172DCPU(-S1): 1 line (Up to 8 axes)
External input signals of servo amplifier
Proximity dog/Speed-position switching
Upper stroke limit
Lower stroke limit
(Note-1): Q173DCPU-S1/Q172DCPU-S1 only
(Note-2): QnUDE(H)CPU/QnUDVCPU only
CAUTION
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in
the system.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Set the parameter values to those that are compatible with the Motion controller, servo
amplifier, servomotor and regenerative resistor model and the system application. The
protective functions may not function if the settings are incorrect.
2-6
2 SYSTEM CONFIGURATION
2.1.3 Function explanation of the Motion CPU modules
(1) The following servo amplifiers can be controlled in Motion CPU module.
Q173DSCPU/Q173DCPU(-S1) : Up to 32 axes per 2 lines (up to 16 axes per 1
line)
Q172DSCPU
: Up to 16 axes per 1 line
Q172DCPU(-S1)
: Up to 8 axes per 1 line
(2) It is possible to set the program which synchronized with the motion operation
cycle and executed at fixed cycle (Min. 0.22ms: Q173DSCPU/Q172DSCPU use).
(3) It is possible to execute a download of servo parameters to servo amplifier, servo
ON/OFF to servo amplifier and position commands, etc. by connecting between
the Motion CPU module and servo amplifier with SSCNET cable.
(4) It is possible to select the servo control functions/programming languages by
installing the corresponding operating system software in the Motion CPU module.
(5) Motion modules (Q172DLX/Q172DEX/Q173DPX) are controlled with the Motion
CPU module, and the signals such as stroke limit signals connected to Motion
modules and synchronous encoder can be used as motion control.
(6) PLC I/O modules and intelligent function modules (excluding some modules) can
be controlled with the Motion CPU module.
(Refer to Section 2.3 (2) for modules that can be controlled with Motion CPU
module.)
(7) Data exchange between CPU modules is possible by Multiple CPU high speed
transmission memory or automatic refresh in the Multiple CPU system.
(8) Wiring is reduced by issuing the external signal (upper/lower stroke limit signal,
proximity dog signal) via the servo amplifier.
2-7
2 SYSTEM CONFIGURATION
2.1.4 Restrictions on Motion systems
(1) Combination of Multiple CPU system
(a) Motion CPU module cannot be used as standalone module.
Be sure to install the universal model PLC CPU module to CPU No.1.
For Universal model PLC CPU module, "Multiple CPU high speed
transmission function" must be set in the Multiple CPU settings.
(b) Only Multiple CPU high speed main base unit (Q35DB/Q38DB/Q312DB)
can be used.
(c) The combination of Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/
Q172DCPU(-S1) and Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/
Q172CPUN(-T) cannot be used.
The combination of Q173DSCPU/Q172DSCPU/Q173DCPU(-S1)/
Q172DCPU(-S1) can be used.
(d) Up to four modules of universal model PLC CPU modules/Motion CPU
modules can be installed from the CPU slot (the slot on the right side of
power supply module) to slot 2 of the main base unit. CPU modules called
as CPU No.1 to CPU No.4 from the left sequentially.
There is no restriction on the installation order of CPU No.2 to No.4.
For CPU module except CPU No.1, an empty slot can be reserved for
addition of CPU module. An empty slot can be set between CPU modules.
However, the installation condition when combining with the High
performance PLC CPU module/Process CPU module/PC CPU module/
C controller module is different depending on the specification of CPU
modules, refer to the Manuals of each CPU modules.
(e) It takes about 10 seconds to startup (state that can be controlled) of Motion
CPU. Make a Multiple CPU synchronous startup setting suitable for the
system.
(f) Execute the automatic refresh of the Motion CPU modules and universal
model PLC CPU modules by using the automatic refresh of Multiple CPU
high speed transmission area setting.
When the High performance PLC CPU module/Process CPU module/PC
CPU module/C controller module is installed in the combination of Multiple
CPU system, the Motion CPU module cannot be execute the automatic
refresh with these modules.
(g) Use the Motion dedicated PLC instructions that starts by "D(P).". The Motion
dedicated PLC instructions that starts by "S(P)." cannot be used. When the
High performance PLC CPU module/Process CPU module/PC CPU
module/C controller module is installed in the combination of Multiple CPU
system, the Motion dedicated PLC instruction from these modules cannot be
executed.
2-8
2 SYSTEM CONFIGURATION
(2) Motion modules
(Note-1)
(a) Installation position of Q172DEX
and Q173DSXY is only the main base
unit.
It cannot be used on the extension base unit.
(b) Q172DLX/Q173DPX can be installed on any of the main base unit/
extension base unit.
(Note-1)
/Q173DPX cannot be installed in CPU slot and I/O
(c) Q172DLX/Q172DEX
slot 0 to 2 of the main base unit. Wrong installation might damage the main
base unit.
(d) Q173DSXY cannot be used in Q173DCPU/Q172DCPU.
(e) Q172EX(-S1/-S2/-S3)/Q172LX/Q173PX(-S1) for Q173HCPU(-T)/
Q172HCPU(-T)/Q173CPUN(-T)/Q172CPUN(-T)/Q173CPU/Q172CPU
cannot be used.
(f) Be sure to use the Motion CPU as the control CPU of Motion modules
(Note-1)
(Q172DLX, Q172DEX
, Q173DPX, etc.) for Motion CPU. They will not
operate correctly if PLC CPU is set and installed as the control CPU by
mistake. Motion CPU is treated as a 32-point intelligent module by PLC CPU
of other CPU.
(g) Q173DSXY is managed with PLC CPU.
The Motion CPU to connect Q173DSXY is only CPU No.2 in the Multiple
CPU system. Q173DSXY cannot be used for the CPU No. 3 or 4.
(Note-1): Q172DEX can be used in SV22. It cannot be used in SV13/SV43.
2-9
2 SYSTEM CONFIGURATION
(3) Other restrictions
(a) Motion CPU module cannot be set as the control CPU of intelligent function
module (excluding some modules) or Graphic Operation Terminal(GOT).
(b) Be sure to use the battery.
(c) There are following methods to execute the forced stop input.
• Use a EMI connector of Motion CPU module
• Use a device set in the forced stop input setting of system setting
(d) Forced stop input for EMI connector of Motion CPU module cannot be
invalidated by the parameter.
When the device set in the forced stop input setting is used without use of
EMI connector of Motion CPU module, apply 24VDC voltage on EMI
connector and invalidate the forced stop input of EMI connector.
(e) Be sure to use the cable for forced stop input (sold separately). The forced
stop cannot be released without using it.
(f) Set "SSCNET /H" or "SSCNET " for every line in the SSCNET setting of
system setting to communicate with the servo amplifiers.
MR-J4(W)- B can be used by setting "SSCNET /H", and MR-J3(W)- B
can be used by setting "SSCNET ". QDS
(g) There are the following restrictions when "SSCCNET " is set as
communication method.
When the operation cycle is 0.2[ms], set the system setting and the axis
select rotary switch of servo amplifier to "0 to 3".
If the axis select rotary switch of servo amplifier is set to "4 to F", the servo
amplifiers are not recognized. QDS
When the operation cycle is 0.4[ms], set the system setting and the axis
select rotary switch of servo amplifier to "0 to 7".
If the axis select rotary switch of servo amplifier is set to "8 to F", the servo
amplifiers are not recognized.
There is no restriction when "SSCNET /H" is set in the SSCNET setting.
(Note): The setting of axis select rotary switch differs according to the servo
amplifier. Refer to the "Servo amplifier Instruction Manual" for details.
(h) Maximum number of control axes of servo amplifier is shown below.
• Operation cycle is 0.2[ms]: 4 axes per line
• Operation cycle is 0.4[ms]: 8 axes per line
There is no restriction when "SSCNET /H" is set in the SSCNET setting.
QDS
(i) When the operation cycle is "default setting", the operation cycle is set
depending on the number of axes used. However, when "SSCNET " is set
in the SSCNET communication setting and the number of axes used of
servo amplifier is 9 axes or more per line, the operation cycle of 0.8 [ms] or
more is set. (Refer to Section 2.5.1(6).) QDS
2 - 10
2 SYSTEM CONFIGURATION
(j) MR-J4W3- B (Software version "A2" or before) and MR-J3W- B does not
support operation cycle 0.2 [ms]. Set 0.4[ms] or more as operation cycle to
use MR-J4W3- B (Software version "A2" or before) and MR-J3W- B.
QDS
MR-J4W3- B (Software version "A3" or later) supports operation cycle 0.2
[ms]. However, when using operation cycle 0.2 [ms], some functions are
restricted. Refer to the "Servo amplifier Instruction Manual" for details.
(k) If there is an axis which is not set at least 1 axis by system setting in
applicable servo amplifier at MR-J4W- B use, all axes connected to
applicable servo amplifier and subsequent servo amplifiers cannot be
connected. Set "Not used" to the applicable axis with a dip switch for the
axis which is not used by MR-J4W- B. QDS
(l) When a Multiple CPU system is configured, make sure to configure the
modules so that the total current consumption of individual modules on the
main base does not exceed the 5VDC output capacity of power supply
module.
(Refer to Section 2.5.2 (3) "Selection of the power supply module".)
(m) It is impossible to mount the main base unit by DIN rail when using the
Motion CPU module.
Doing so could result in vibration that may cause erroneous operation.
(n) The module name displayed by "System monitor" - "Product information list"
of GX Works2/GX Developer is different depending on the function version
of Motion modules (Q172DLX, Q172DEX, Q173DPX).
(Note): Even if the function version "C" is displayed, it does not correspond
to the online module change.
Model display
Module name
Function version "B"
Function version "C"
Q172DLX
Q172LX
Q172DLX
Q172DEX
MOTION-UNIT
Q172DEX
Q173DPX
MOTION-UNIT
Q173DPX
(o) Use the Graphic Operation Terminal (GOT) that supports Motion CPU
(Q173D(S)CPU/Q172D(S)CPU).
(Refer to the "GOT1000 Series Connection Manual (Mitsubishi Products)".)
2 - 11
2 SYSTEM CONFIGURATION
2.2 Checking Serial Number and Operating System Software Version
Checking for the serial number of Motion CPU module and Motion module, and the
operating system software version are shown below.
2.2.1 Checking serial number
(1) Motion CPU module (Q173DSCPU/Q172DSCPU)
(a) Rating plate
The rating plate is situated on the side face of the Motion CPU module.
(b) Front of Motion CPU module
The serial number is printed in the projection parts forward of the lower side
of Motion CPU module.
Q173DSCPU
CD
AB E
789
CD
AB E
F01
45
23 6
45
23 6
F01
789
1
SW
2
MITSUBISHI
STOP RUN
PASSED
MOTION CONTROLLER
MODEL
PERIPHERAL I/F
EMI
Q173DSCPU
SERIAL
C
UL
80M1
US LISTED
IND. CONT.EQ.
5VDC
N2X234999
1.75A
Serial number
KCC-REI-MEKTC510A792G61
DATE:2011-11
EXT.I/F
CN1
Rating plate
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
CN2
See Q173DSCPU Instruction manual.
PULL
FRONT
RIO
Serial number
N2X234999
(c) System monitor (product information list)
The serial number can be checked on the system monitor screen in
GX Works2/GX Developer. (Refer to Section 2.2.2.)
2 - 12
2 SYSTEM CONFIGURATION
(2) Motion CPU module (Q173DCPU(-S1)/Q172DCPU(-S1))
(a) Rating plate
The rating plate is situated on the side face of the Motion CPU module.
(b) Front of Motion CPU module
The serial number is printed in the projection parts forward of the lower side
of Motion CPU module.
Q173DCPU-S1
CD
AB E
789
CDE
AB
F01
45
23 6
45
23 6
F01
789
1
SW
2
STOP RUN
CAUTION
PERIPHERAL I/F
EMI
MITSUBISHI
MOTION CONTROLLER PASSED
MODEL
Q173DCPU-S1
0026924699D0
SERIAL
C
UL
M16349999
80M1
US LISTED
5VDC 1.30A
Rating plate
Serial number
IND. CONT. EQ.
MADE IN JAPAN
MITSUBISHI ELECTRIC CORPORATION
CN1
Se e Q1 73 DCPU-S1 I nst ructi on man ual.
DATE:2011-06
CN2
KCC-REI-MEK-TC510A692051
Serial number
FRONT
BAT
RIO
M16349999
(c) System monitor (product information list)
The serial number can be checked on the system monitor screen in
GX Works2/GX Developer. (Refer to Section 2.2.2.)
REMARK
The serial number display was corresponded from the Motion CPU modules
manufactured in early October 2007.
2 - 13
2 SYSTEM CONFIGURATION
(3) Motion module (Q172DLX/Q172DEX/Q173DPX/Q173DSXY)
(a) Rating plate
The rating plate is situated on the side face of the Motion module.
(b) Front of Motion module
The serial No. is printed in the projection parts forward of the lower side of
Motion module.
Q172DLX
MITSUBISHI
PASSED
MOTION I/F UNIT
MODEL Q172DLX
24VDC 0.16A
5VDC 0.06A
SERIAL
C16054999
DATE 2011-06
80M1 IND. CONT. EQ.
UL US LISTED
C
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
BC370C224H01
Se e Q1 72DLX I nstruction man ual .
CTRL
KCC-REI-MEKTC510A646G51
Q172DLX
Serial number
C16054999
REMARK
The serial number display was corresponded from the Motion modules
manufactured in early April 2008.
2 - 14
Rating plate
Serial number
2 SYSTEM CONFIGURATION
2.2.2 Checking operating system software version
Ver.!
The operating system software version can be checked on the system monitor screen
in GX Works2/GX Developer.
Select [Product Information List] button on the system monitor screen displayed on
[Diagnostics] – [System monitor] of GX Works2/GX Developer.
Serial number of
Motion CPU module
Operating system software version
<Screen: GX Works2>
Ver.! : Refer to Section 1.3 for the software version that supports this function.
2 - 15
2 SYSTEM CONFIGURATION
REMARK
(1) "Serial number of Motion CPU module" and "Operating system software
version" on the system monitor (Product Information List) screen of
GX Works2/GX Developer was corresponded from the Motion CPU modules
manufactured in early October 2007.
(2) The operating system software version can also be checked on the system
monitor screen in CD-ROM of operating system software or MT Developer2.
Refer to Section 1.3.4 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller
Programming Manual (COMMON)" for details.
2 - 16
2 SYSTEM CONFIGURATION
2.3 System Configuration Equipment
(1) Motion controller related module
Part name
Model name
(Note-1)
Description
Current
consumption Remark
5VDC[A]
Q173DSCPU
Up to 32 axes control, Operation cycle 0.22[ms] or more,
Built-in Ethernet, Built-in interface in Motion CPU (Incremental synchronous
(Note-2)
1.75
encoder interface 1ch, Input signal/Mark detection input signal 4 points)
(Attachment battery (Q6BAT))
Q172DSCPU
Up to 16 axes control, Operation cycle 0.22[ms] or more,
Built-in Ethernet, Built-in interface in Motion CPU (Incremental synchronous
(Note-2)
1.44
encoder interface 1ch, Input signal/Mark detection input signal 4 points)
(Attachment battery (Q6BAT))
Q173DCPU
Up to 32 axes control, Operation cycle 0.44[ms] or more
(Attachment battery holder unit and battery (Q6BAT))
1.25
Q173DCPU-S1
Up to 32 axes control, Operation cycle 0.44[ms] or more,
Built-in Ethernet
(Attachment battery holder unit and battery (Q6BAT))
1.30
Q172DCPU
Up to 8 axes control, Operation cycle 0.44[ms] or more
(Attachment battery holder unit and battery (Q6BAT))
1.25
Q172DCPU-S1
Up to 8 axes control, Operation cycle 0.44[ms] or more,
Built-in Ethernet
(Attachment battery holder unit and battery (Q6BAT))
1.30
Servo external
signals interface Q172DLX
module
Servo external signal input 8 axes
(FLS, RLS, STOP, DOG/CHANGE ×8)
0.06
Synchronous
encoder
Q172DEX
interface module
Serial absolute synchronous encoder Q171ENC-W8/Q170ENC
interface ×2, Tracking input 2 points, with A6BAT
0.19
Manual pulse
generator
Q173DPX
interface module
Manual pulse generator MR-HDP01/Incremental synchronous encoder
interface ×3, Tracking input 3 points
0.38
Safety signal
module
Q173DSXY
Input 20 points (2 paths), Output 12 points (2 paths)
0.20
Q03UDCPU
Program capacity 30k steps, LD instruction processing speed 0.02μs
0.33
Q04UDHCPU
Program capacity 40k steps, LD instruction processing speed 0.0095μs
0.39
Q06UDHCPU
Program capacity 60k steps, LD instruction processing speed 0.0095μs
0.39
Q10UDHCPU
Program capacity 100k steps, LD instruction processing speed 0.0095μs
0.39
Q13UDHCPU
Program capacity 130k steps, LD instruction processing speed 0.0095μs
0.39
Q20UDHCPU
Program capacity 200k steps, LD instruction processing speed 0.0095μs
0.39
Q26UDHCPU
Program capacity 260k steps, LD instruction processing speed 0.0095μs
0.39
Q03UDECPU
Program capacity 30k steps, LD instruction processing speed 0.02μs,
Built-in Ethernet port
0.46
Q04UDEHCPU
Program capacity 40k steps, LD instruction processing speed 0.0095μs,
Built-in Ethernet port
0.49
Q06UDEHCPU
Program capacity 60k steps, LD instruction processing speed 0.0095μs,
Built-in Ethernet port
0.49
Q10UDEHCPU
Program capacity 100k steps, LD instruction processing speed 0.0095μs,
Built-in Ethernet port
0.49
Q13UDEHCPU
Program capacity 130k steps, LD instruction processing speed 0.0095μs,
Built-in Ethernet port
0.49
Motion CPU
module
PLC CPU
(Note-3)
module
2 - 17
2 SYSTEM CONFIGURATION
Motion controller related module (continued)
Part name
PLC CPU
(Note-3)
module
C Controller
(Note-3)
module
Power supply
(Note-4)
module
Main base unit
(Note-3)
Extension base
(Note-3)
unit
Extension cable
Model name
(Note-1)
Current
consumption Remark
5VDC[A]
Description
Q20UDEHCPU
Program capacity 200k steps, LD instruction processing speed 0.0095μs,
Built-in Ethernet port
0.49
Q26UDEHCPU
Program capacity 260k steps, LD instruction processing speed 0.0095μs,
Built-in Ethernet port
0.49
Q50UDEHCPU
Program capacity 500k steps, LD instruction processing speed 0.0095μs,
Built-in Ethernet port
0.50
Q100UDEHCPU
Program capacity 1000k steps, LD instruction processing speed 0.0095μs,
Built-in Ethernet port
0.50
Q03UDVCPU
Program capacity 30k steps, LD instruction processing speed 0.0019μs,
High-speed type
0.58
Q04UDVCPU
Program capacity 40k steps, LD instruction processing speed 0.0019μs,
High-speed type
0.58
Q06UDVCPU
Program capacity 60k steps, LD instruction processing speed 0.0019μs,
High-speed type
0.58
Q13UDVCPU
Program capacity 130k steps, LD instruction processing speed 0.0019μs,
High-speed type
0.58
Q26UDVCPU
Program capacity 260k steps, LD instruction processing speed 0.0019μs,
High-speed type
0.58
Q12DCCPU-V
CPU: SH4A, Endian format: Little endian, OS: VxWorks 6.4
0.97
Q24DHCCPU-V
CPU: SH4A, Endian format: Little endian, OS: VxWorks 6.8.1
2.80
Q24DHCCPU-LS
CPU: SH4A, Endian format: Little endian,
OS: No pre-installed operating system (Operating system installed by user)
2.80
Q61P-A1
100 to 120VAC input, 5VDC 6A output
Q61P-A2
200 to 240VAC input, 5VDC 6A output
Q61P
100 to 240VAC input, 5VDC 6A output
®
®
Q62P
100 to 240VAC input, 5VDC 3A/24VDC 0.6A output
Q63P
24VDC input, 5VDC 6A output
Q64P
100 to 120VAC/200 to 240VAC input, 5VDC 8.5A output
——
Q64PN
100 to 240VAC input, 5VDC 8.5A output
Q35DB
Multiple CPU high speed bus (4 slots), Number of I/O modules : 5 slots
0.23
Q38DB
Multiple CPU high speed bus (4 slots), Number of I/O modules : 8 slots
0.23
Q312DB
Multiple CPU high speed bus (4 slots), Number of I/O modules : 12 slots
0.24
Q63B
Number of I/O modules installed 3 slots
0.11
Q65B
Number of I/O modules installed 5 slots
0.11
Q68B
Number of I/O modules installed 8 slots
0.12
Q612B
Number of I/O modules installed 12 slots
0.13
QC05B
Length 0.45m(1.48ft.)
QC06B
Length 0.6m(1.97ft.)
QC12B
Length 1.2m(3.94ft.)
QC30B
Length 3m(9.84ft.)
QC50B
Length 5m(16.40ft.)
——
QC100B
Length 10m(32.81ft.)
Q171ENC-W8
Resolution: 4194304PLS/rev
Permitted axial loads Radial load: Up to 19.6N,
Thrust load: Up to 9.8N
Permitted speed: 3600r/min
0.25
Q170ENC
Resolution: 262144PLS/rev
Permitted axial loads Radial load: Up to 19.6N
Thrust load: Up to 9.8N
Permitted speed: 3600r/min
0.20
Serial absolute
synchronous
encoder
2 - 18
2 SYSTEM CONFIGURATION
Motion controller related module (continued)
Part name
Serial absolute
synchronous
encoder cable
Model name
(Note-1)
Q170ENCCBL M
Description
Serial absolute synchronous encoder Q171ENC-W8/Q170ENC
Q172DEX
2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.), 30m(98.43ft.),
50m(164.04ft.)
MR-J4- B-RJ
Serial absolute synchronous encoder Q171ENC-W8
Q170ENCCBL M-A 2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.), 30m(98.43ft.),
50m(164.04ft.)
Current
consumption Remark
5VDC[A]
——
——
Q170ENCCNS
Q172DEX side connector
Connector
:10120-3000PE
Connector case : 10320-52F0-008
Q171ENC-W8/Q170ENC side connector
Plug
: D/MS3106B22-14S
Cable clamp
: D/MS3057-12A
——
MR-J3CN2
MR-J4- B-RJ side connector
Plug
: 36210-0100PL
Shell
: 36310-3200-008
Q171ENC-W8 side connector
Plug
: D/MS3106B22-14S
Cable clamp
: D/MS3057-12A
——
Q170DSIOCON
Incremental synchronous encoder/Mark detection signal interface
connector
With ferrite core
——
Manual pulse
generator
MR-HDP01
Pulse resolution: 25PLS/rev(100PLS/rev after magnification by 4)
Permitted axial loads Radial load: Up to 19.6N
Thrust load: Up to 9.8N
Permitted speed: 200r/min(Normal rotation), Voltage-output
0.06
Battery holder
(Note-5)
unit
Q170DBATC
Battery holder for Q6BAT (Attachment battery cable)
——
Q6BAT
For data backup of SRAM built-in Motion CPU
(Programs, Parameters, Motion devices(#), Devices of latch range,
Absolute position data)
A6BAT
For data backup of Q171ENC-W8/Q170ENC
Connector set
for serial
absolute
synchronous
encoder cable
Internal I/F
connector set
Battery
——
Cable for forced
(Note-6) Q170DEMICBL M
stop input
Length 0.5m(1.64ft), 1m(3.28ft), 3m(9.84ft), 5m(16.40ft), 10m(32.81ft),
15m(49.21ft), 20m(65.62ft), 25m(82.02ft), 30m(98.43ft)
——
Connector for
forced stop input Q170DEMICON
cable
Connector for forced stop input cable production
——
For positive common sink type input module, sink type output module
(standard type)
——
For positive common sink type input module, sink type output module
(2-wire type)
——
For positive common sink type input module (3-wire type)
——
Connector/termi A6TBXY36
nal block
conversion
A6TBXY54
(Note-7)
module
A6TBX70
Cable for
connector/
terminal block
conversion
module
AC05TB
Length 0.5m (1.64ft.)
——
AC10TB
Length 1m (3.28ft.)
——
AC20TB
Length 2m (6.56ft.)
——
AC30TB
Length 3m (9.84ft.)
——
AC50TB
Length 5m (16.40ft.)
——
AC80TB
Length 8m (26.25ft.)
——
AC100TB
Length 10m (32.81ft.)
——
2 - 19
2 SYSTEM CONFIGURATION
Motion controller related module (continued)
Part name
SSCNET
cable
Model name
(Note-1)
MR-J3BUS M
MR-J4(W)- B/
• Q173DSCPU/Q172DSCPU
MR-J4(W)- B
MR-J4(W)- B/MR-J4(W)- B
LJ72MS15
• Q173D(S)CPU/Q172D(S)CPU
MR-J3(W)- B/
MR-J3(W)- B
MR-J3(W)- B
• Standard cord for inside panel
0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3,28ft.), 3m(9.84ft.)
——
MR-J3BUS M-A
MR-J4(W)- B/
• Q173DSCPU/Q172DSCPU
MR-J4(W)- B
MR-J4(W)- B/MR-J4(W)- B
• Q173D(S)CPU/Q172D(S)CPU
MR-J3(W)- B/
MR-J3(W)- B
MR-J3(W)- B
• Standard cable for outside panel
5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.)
——
MR-J3BUS M-B
(Note-8)
RIO cable
SSCNET /H
head module
(Note-3)
Current
consumption Remark
5VDC[A]
Description
MR-J4(W)- B/
• Q173DSCPU/Q172DSCPU
MR-J4(W)- B
MR-J4(W)- B/MR-J4(W)- B
Q173D(S)CPU/Q172D(S)CPU
MR-J3(W)- B/
MR-J3(W)- B
MR-J3(W)- B
• Long distance cable
30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.)
LJ72MS15
LJ72MS15
——
Q173DSXYCBL01M Length 0.1m (0.33ft.)
——
Q173DSXYCBL05M Length 0.5m (1.64ft.)
——
LJ72MS15
Maximum link points: Input 64 bytes, Output 64 bytes
Transmission cycle 222μs, 444μs, 888μs
(Note-1):
0.55
=Cable length (015: 0.15m(0.49ft.), 03: 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.), 25: 25m(82.02ft.),
30: 30m(98.43ft.), 40: 40m(131.23ft.), 50:50m(164.04ft.)
(Note-2): The manual pulse generator or incremental synchronous encoder that consumes less than 0.2[A] of
current can be connected to the internal I/F connector.
(Note-3): 5VDC internal current consumption of shared equipments with PLC might be changed.
Be sure to refer to the MELSEC-Q/L series PLC Manuals.
(Note-4): Be sure to use the power supply module within the range of power supply capacity.
(Note-5): Battery Q6BAT is not attached to Battery holder unit Q170DBATC. Please purchase it separately.
(Note-6): Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released
without using it.
Cable for forced stop input is not attached to the Motion CPU module. Please purchase the cable for
length according to system separately.
(Note-7): These modules can be used in Q172DLX. It cannot be controlled using Q173DPX.
(Note-8): Please contact your nearest Mitsubishi sales representative for the cable of less than 30m(98.43ft.).
2 - 20
2 SYSTEM CONFIGURATION
(2) PLC module which can be controlled by Motion CPU
Part name
Model name
AC
DC (Positive common)
Input module
DC/AC
DC sensor
DC (Negative common)
QX10
0.05 (TYP, All points ON)
QX10-TS
0.05 (TYP, All points ON)
QX28
0.05 (TYP, All points ON)
QX40
0.05 (TYP, All points ON)
QX40-TS
0.05 (TYP, All points ON)
QX40-S1
0.06 (TYP, All points ON)
QX40H
0.08 (TYP, All points ON)
QX41
0.075 (TYP, All points ON)
QX41-S1
0.075 (TYP, All points ON)
QX41-S2
0.075 (TYP, All points ON)
QX42
0.09 (TYP, All points ON)
QX42-S1
0.09 (TYP, All points ON)
QX50
0.05 (TYP, All points ON)
QX70
0.055 (TYP, All points ON)
QX70H
0.08 (TYP, All points ON)
QX71
0.07 (TYP, All points ON)
QX72
0.085 (TYP, All points ON)
QX80
0.05 (TYP, All points ON)
QX80-TS
0.05 (TYP, All points ON)
QX80H
0.08 (TYP, All points ON)
QX81
0.075 (TYP, All points ON)
QX81-S2
0.075 (TYP, All points ON)
QX82
0.09 (TYP, All points ON)
QX82-S1
0.09 (TYP, All points ON)
QX90H
0.08 (TYP, All points ON)
QY10
0.43 (TYP, All points ON)
QY10-TS
0.43 (TYP, All points ON)
QY18A
0.24 (TYP, All points ON)
Triac
QY22
0.25 (TYP, All points ON)
Output module
Transistor
Independent
Source Type
TTL•CMOS (Sink)
Interrupt module
(Note-1)
Relay
Sink Type
Input/Output
composite
module
Current consumption 5VDC[A]
DC Input/
Transistor output
QY40P
0.065 (TYP, All points ON)
QY40P-TS
0.065 (TYP, All points ON)
QY41P
0.105 (TYP, All points ON)
QY42P
0.15 (TYP, All points ON)
QY50
0.08 (TYP, All points ON)
QY68A
0.11 (TYP, All points ON)
QY80
0.08 (TYP, All points ON)
QY80-TS
0.08 (TYP, All points ON)
QY81P
0.095 (TYP, All points ON)
QY82P
0.16 (TYP, All points ON)
QY70
0.095 (TYP, All points ON)
QY71
0.15 (TYP, All points ON)
QH42P
0.13 (TYP, All points ON)
QX48Y57
0.08 (TYP, All points ON)
QX41Y41P
0.13 (TYP, All points ON)
QI60
0.06 (TYP, All points ON)
2 - 21
Remark
Refer to the MELSEC-Q series PLC
Manuals.
2 SYSTEM CONFIGURATION
PLC module which can be controlled by Motion CPU (continued)
Part name
Voltage input
Analogue input
module
Current input
Voltage/current input
Analogue output
module
Positioning
module
Q68ADV
0.64
Q62AD-DGH
0.33
Q66AD-DG
0.42
Q68ADI
0.64
Q64AD
0.63
Q64AD-GH
0.89
0.46
Voltage output
Q68DAVN
0.38
Current output
Q68DAIN
0.38
Voltage/current output
Q62DAN
0.33
Q62DA-FG
0.37
Q64DAN
0.34
Q66DA-G
0.62
Q64AD2DA
0.17
Differential input
QD62D
0.38
5/12/24VDC input/
Differential input
QD65PD2
0.23
QD75P1
0.40
Open collector output
QD75P2
0.46
QD75P4
0.58
QD75D1
0.52
QD75D2
0.56
Differential output
SSCNET
Simple Motion
module
(Note-1)
Q68AD-G
Analogue input/output module
High-speed
counter module
Current consumption 5VDC[A]
Model name
SSCNET
compatible
/H compatible
Control unit of displacement sensor
QD75D4
0.82
QD75MH1
0.15
QD75MH2
0.15
QD75MH4
0.16
QD77MS2
0.60
QD77MS4
0.60
QD77MS16
0.75
UQ1-01
0.50
UQ1-02
0.50
Remark
Refer to the MELSEC-Q series PLC
Manuals.
Refer to the MELSEC-Q QD75MH
Positioning Module User's Manual
(Details).
Refer to the MELSEC-Q QD77MS
Simple Motion Module User's Manual
(Positioning Control).
Refer to the manual of OPTEX FA
CO., LTD.
(Note-1): 5VDC internal current consumption of shared equipments with PLC might be changed.
Be sure to refer to the manuals for each module.
(3) Servo amplifier
Part name
MR-J4 series
servo amplifier
Model name
Description
MR-J4- B-RJ
MR-J4W- B
For 2-axis type, 3-axis type
MR-J3- B
MR-J3W- B
MR-J3 series
servo amplifier
Remarks
MR-J4- B
For 2-axis type
MR-J3- B-RJ006
For fully closed control
MR-J3- B-RJ004
For linear servo motor
MR-J3- B-RJ080W
For direct drive motor
MR-J3- B Safety
For drive safety servo
2 - 22
Refer to the servo amplifier
instruction manuals.
2 SYSTEM CONFIGURATION
(4) Operating system software
Application
Q173DSCPU
(Note-1)
Software package
Q172DSCPU
(Note-1)
Q173DCPU(-S1)
Q172DCPU(-S1)
Conveyor assembly use SV13
SW8DNC-SV13QJ
SW8DNC-SV13QL
SW8DNC-SV13QB
SW8DNC-SV13QD
Automatic machinery use SV22
SW8DNC-SV22QJ
SW8DNC-SV22QL
SW8DNC-SV22QA
SW8DNC-SV22QC
—
—
SW7DNC-SV43QA
SW7DNC-SV43QC
Machine tool peripheral use SV43
(Note-1): The operating system software (SV22 (Virtual mode switching method)) is installed
at the time of product purchases.
(5) Programming software packages
(a) Motion controller engineering environment
Part name
Model name
MELSOFT MT Works2
(Note-1)
)
(MT Developer2
SW1DNC-MTW2-E
(Note-1): This software is included in Motion controller engineering environment "MELSOFT MT Works2".
(6) Related software packages
(a) PLC software package
Model name
Software package
GX Works2
SW1DNC-GXW2-E
GX Developer
SW8D5C-GPPW-E
(b) Servo set up software package
Model name
Software package
MR Configurator2
SW1DNC-MRC2-E
MR Configurator
MRZJW3-SETUP221E
(Note-1)
(Note-1): Q173DSCPU/Q172DSCPU is not supported.
POINTS
When the operation of Windows is unclear in the operation of this software, refer
R
to the manual of Windows or guide-book from the other supplier.
R
2 - 23
2 SYSTEM CONFIGURATION
2.4 General Specifications
General specifications of the Motion controller are shown below.
Item
Specification
Operating ambient temperature
0 to 55°C (32 to 131°F)
Storage ambient temperature
-25 to 75°C (-13 to 167°F)
Operating ambient humidity
5 to 95% RH, non-condensing
Storage ambient humidity
5 to 95% RH, non-condensing
Compliant with
JIS B 3502 and
IEC 61131-2
Vibration resistance
Under
intermittent
vibration
Under
continuous
vibration
Frequency
Constant
acceleration
Half amplitude
Sweep count
5 to 9Hz
——
3.5mm
(0.14inch)
9 to 150Hz
9.8m/s
——
10 times each in
X, Y, Z directions
(For 80 min.)
5 to 9Hz
——
1.75mm
(0.07inch)
—
9 to 150Hz
4.9m/s
Operating ambience
2
——
No corrosive gases
(Note-1)
Mounting location
Overvoltage category
Pollution level
2
Compliant with JIS B 3502 and IEC 61131-2 (147m/s , 3 times in each of 3 directions X, Y, Z)
Shock resistance
Operating altitude
2
2000m(6561.68ft.) or less
Inside control panel
(Note-2)
II or less
(Note-3)
2 or less
(Note-1): Do not use or store the Motion controller under pressure higher than the atmospheric pressure of altitude 0m. Doing so can cause
an operation failure. When using the Motion controller under pressure, please contact with our sales representative.
(Note-2): This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical
power distribution network and the machinery within premises.
Category applies to equipment for which electrical power is supplied from fixed facilities.
The surge voltage withstand level for up to the rated voltage of 300V is 2500V.
(Note-3): This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is
used.
Pollution level 2 is when only non-conductive pollution occurs. A temporary conductivity caused by condensing must be expected
occasionally.
CAUTION
The Motion controller must be stored and used under the conditions listed in the table of
specifications above.
When not using the module for a long time, disconnect the power line from the Motion controller
or servo amplifier.
Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store.
When storing for a long time, please contact with our sales representative.
Also, execute a trial operation.
2 - 24
2 SYSTEM CONFIGURATION
2.5 Specifications of Equipment and Settings
2.5.1 Name of parts for CPU module
This section explains the names and setting of the module.
(1) Name of parts
(a) Q173DSCPU/Q172DSCPU
Front face of Q172DSCPU
With battery cover open
Q173DSCPU
Front face of Q173DSCPU
Q172DSCPU
Q173DSCPU
1)
CD
AB E
SW
2
3)
STOP RUN
16)
6)
7)
16)
CN2
PULL
17)
PULL
FRONT
RIO
FRONT
RIO
20)
8)
10)
14)
EXT.I/F
5)
EXT.I/F
14)
CN1
PERIPHERAL I/F
EMI
CN2
PERIPHERAL I/F
CD
AB E
CD
AB E
789
PERIPHERAL I/F
CD
AB E
789
EXT.I/F
CN1
CD
AB E
789
CD
AB E
789
CN1
4)
EMI
1
789
STOP RUN
5)
6)
2)
3)
789
4)
EMI
SW
2
F01
45
23 6
STOP RUN
1
1)
F01
45
23 6
2)
F01
45
23 6
SW
2
F01
45
23 6
F01
45
23 6
1
45
23 6
F01
8)
Side face
Bottom
11)
15)
12)
9)
18)
2 - 25
19)
2 SYSTEM CONFIGURATION
(b) Q173DCPU(-S1)/Q172DCPU(-S1)
Front face of Q172DCPU(-S1)
Front face of Q173DCPU(-S1)
Q172DCPU-S1
Q173DCPU-S1
1)
PERIPHERAL I/F
14)
CD
AB E
CD
AB E
6)
CN1
5)
7)
789
FRONT
BAT
RIO
3)
CAUTION
EMI
CN1
PERIPHERAL I/F
SW
2
STOP RUN
CN2
CD
AB E
CDE
AB
789
5)
789
4)
CAUTION
1
789
2)
F01
45
23 6
3)
F01
45
23 6
SW
2
1)
STOP RUN
EMI
6)
F01
45
23 6
4)
1
45
23 6
2)
F01
14)
FRONT
BAT
RIO
8)
8)
Bottom
Side face
10)
11)
(Note)
13)
15)
12)
9)
(Note): Unusable
(Under manufacturer test)
2 - 26
2 SYSTEM CONFIGURATION
No.
Name
Application
1) 7-segment LED
2)
Indicates the operating status and error information.
Rotary function select 1 switch
(SW1)
• Set the operation mode.
(Normal operation mode, Installation mode, Mode operated by ROM, etc)
• Each switch setting is 0 to F.
3)
Rotary function select 2 switch
(Note): Switch setting of factory default
• Q173DSCPU/Q172DSCPU
(SW2)
: SW1 "0", SW2 "0" position
• Q173DCPU(-S1)/Q172DCPU(-S1) : SW1 "A", SW2 "0" position
Move to RUN/STOP.
4) RUN/STOP switch
RUN : Motion SFC program (SV13/SV22)/Motion program (SV43) is started.
STOP : Motion SFC program (SV13/SV22)/Motion program (SV43) is stopped.
Forced stop input connector
(Note-1)
(EMI)
EMI
Input to stop all axes of servo amplifier in a lump.
EMI ON (opened)
: Forced stop
EMI OFF (24VDC input) : Forced stop release
5)
EMI.COM
EMI
6)
7)
SSCNET CN1 connector
Connector to connect the servo amplifier of line 1 (up to 16 axes).
(Note-2)
SSCNET CN2 connector
Connector to connect the servo amplifier of line 2 (up to 16 axes).
(Note-2), (Note-3)
8) Serial number display
Displays the serial number described on the rating plate.
9) Module mounting lever
Used to install the module to the base unit.
10) Module fixing hook
(Note-4)
11) Module fixing screw
12) Module fixing projection
13) Battery connector (BAT)
Hook used to fix the module to the base unit. (Auxiliary use for installation)
Screw used to fix to the base unit. (M3×13)
Hook used to fix to the base unit.
(Note-5)
Connector to connect the battery holder unit Q170DBATC.
For communication I/F with peripheral devices.
• Lower LED
Remains flashing : It communicates with the peripheral devices.
ON
: It does not communicate with the peripheral devices.
• Upper LED
Data transmission speed
14)
PERIPHERAL I/F connector
ON : 100Mbps
(Note-6)
OFF : 10Mbps
Item
Data transmission speed
Transmission
(Note-6)
100Mbps/10Mbps
Communication mode
Full-duplex/Half-duplex
Transmission method
Base band
Cable length [m(ft.)]
15) RIO connector
Specification
Up to 30 (98.43)
Connector to connect the safety signal module (Q173DSXY).
Connector to connect the manual pulse generator/incremental synchronous
16) Internal I/F connector
encoder, or to input the input signal/mark detection input signal.
(Voltage-output/open-collector type, Differential-output type)
17) Battery connector
Connector to connect the battery (Q6BAT).
2 - 27
2 SYSTEM CONFIGURATION
No.
Name
Application
18) Battery holder
Holder to support the battery (Q6BAT).
19) Battery cover
Cover for battery (Q6BAT).
20) Battery
Battery for backup of program, parameters, motion devices (#), devices of latch
(Note-5)
data and absolute position data.
(Note-1): Be sure to use the cable for forced stop input (sold separately). The forced stop cannot be released without using it. If the cable for
forced stop input is fabricated on the customer side, make it within 30m(98.43ft.).
(Note-2): Put the SSCNET cable in the duct or fix the cable at the closest part to the Motion CPU module with bundle material in order to
prevent SSCNET cable from putting its own weight on SSCNET connector.
(Note-3): Q173DSCPU/Q173DCPU(-S1) only
(Note-4): This screw is auxiliary use for module installation to the main base unit. Be sure to fix modules to the main base unit using
supplied fixing screws.
(Note-5): Be sure to use the battery. The programs, parameters, motion devices(#), devices of latch data and absolute position data of
SRAM built-in Motion CPU module are not backed up if the battery is not set correctly.
(Note-6): Q173DSCPU/Q172DSCPU/Q173DCPU-S1/Q172DCPU-S1 only
(2) 7-segment LED display
The LED displays/flashes in the combination with errors.
Item
7-segment LED
Remark
Initializing
It takes about 10 seconds to initialize (RUN/STOP
display).
Execute the power cycle of the Motion controller if
the operation stopped at initializing. It may be
Motion controller's hardware fault when it is not
improved.
Explain the error symptom (LED display) and get
advice from our sales representative for the
modules with failure.
Initializing
(Safety observation
function use)
Initialization and self-diagnosis of safety
observation function is executed at power supply
ON. It takes about 15 seconds to execute
initialization and self-diagnosis of safety
observation function.
Normal
"
Normal operation
Installation mode
Steady "INS" display,
" " remains flashing
Mode to install the operating system software via
personal computer.
Mode operated by
RAM
"
" remains flashing
Mode to operate based on the user programs and
parameters stored in the SRAM built-in Motion
CPU module.
Mode operated by
ROM
Steady " . " display,
" " remains flashing
Mode to operate after the user programs and
parameters stored in the FLASH ROM built-in
Motion CPU are read to the SRAM built-in Motion
CPU.
STOP
Steady "STP" display
Stopped the Motion SFC program (SV13/SV22)/
Motion program (SV43) with the PLC READY flag
(M2000) OFF.
RUN
Steady "RUN" display
Executed the Motion SFC program (SV13/SV22)/
Motion program (SV43) with the PLC READY flag
(M2000) ON.
Start
Operation
mode
" remains flashing
2 - 28
2 SYSTEM CONFIGURATION
Item
Battery
error
7-segment LED
Remark
Early stage warning
(2.7V or less)
Steady "BT1" display
Displayed at battery voltage 2.7V or less.
Refer to Section "6.5 Battery".
Final stage warning
(2.5V or less)
Steady "BT2" display
Displayed at battery voltage 2.5V or less.
Refer to Section "6.5 Battery".
"A00" remains flashing
It becomes the status of installation mode when
the operating system software is not installed.
Operating system software
not installed
" AL" flashes 3 times
System setting error
Steady " L01" display
" AL" flashes 3 times
Servo error
Steady " S01" display
WDT error
Steady "..." display
System setting error of the Motion CPU
Refer to the "Q173D(S)CPU/Q172D(S)CPU
Motion controller Programming Manual
(COMMON)" for details.
Servo error of the Motion CPU
Refer to the Programming Manual of the
operating system software used for details.
Hardware fault or software fault
Refer to the Programming Manual of the
operating system software used for details.
" AL" flashes 3 times
Steady " A1" display
(Self-diagnosis error)
Self-diagnostic error
(Error related for Multiple CPU)
4-digits error code is
displayed in two
sequential flashes of 2digits each.
(ex. error code [3012])
Setting error of the Multiple CPU system
Refer to the "Q173D(S)CPU/Q172D(S)CPU
Motion controller Programming Manual
(COMMON)" for details.
POINTS
(1) An error is displayed at the 7-segment LED, confirm the error code etc. using
MT Developer2.
(2) Refer to the Motion CPU error batch monitor of MT Developer2 or error list of
Programming Manual for error details.
2 - 29
2 SYSTEM CONFIGURATION
(3) Rotary switch assignment
(a) Rotary function select 1 switch (SW1)
Rotary switch
4 56
CD
AB E
(Note)
Mode
0
Normal mode
A
Installation mode
Description
Normal operation mode
23
F0 1
Setting
Installed the operating system software using
MT Developer2
789
(Note): Do not set other than the above setting.
(b) Rotary function select 2 switch (SW2)
Rotary switch
Setting
(Note)
Mode
Description
Normal operation mode
0
Mode operated by RAM
(Operation by the setting data and parameters
stored in the SRAM built-in Motion CPU module.)
4 56
CD
AB E
23
F0 1
Mode to operate based on the setting data and
6
Mode operated by ROM
parameters wrote to the FLASH ROM built-in
Motion CPU module.
78 9
8
C
Ethernet IP address
display mode
SRAM clear
Mode to display the Ethernet IP address.
SRAM "0" clear
(Note): Do not set other than the above setting.
CAUTION
Be sure to turn OFF the Multiple system power supply before the rotary switch setting change.
2 - 30
2 SYSTEM CONFIGURATION
(4) Operation mode
(a) Rotary switch setting and operation mode
Rotary switch setting
(Note-1)
Operation mode
SW1
SW2
A
Any setting (Except C)
0
0
Mode operated by RAM
0
6
Mode operated by ROM
0
8
Ethernet IP address display mode
Any setting
C
SRAM clear
Installation mode
(Note-2)
(Note-1): Do not set other than the above setting.
(Note-2): The programs, parameters, motion devices(#), devices of latch data and absolute
position data of SRAM built-in Motion CPU module are cleared.
(b) Operation mode overview
Operation mode
7-segment LED
Operation overview
• Steady "INS" display at the 7-segment LED.
• Operating system software can be installed.
Installation
• It is STOP status regardless of the RUN/STOP switch position at the front side of
mode
Motion CPU module.
• The stop error "MULTI CPU DOWN (error code: 7000)" will occur at the other CPU.
• " . " remains flashing in the first digit of 7-segment LED.
• It operates based on the user programs and parameters stored in the SRAM built-in
Mode operated
Motion CPU module.
by RAM
• The user programs and parameters for the ROM operation can be written to the
FLASH ROM built-in Motion CPU.
• " . " remains flashing in the first digit and steady " . " display in the second digit of
7-segment LED.
• Operation starts after the user programs and parameters stored in the FLASH ROM
built-in Motion CPU module are read to the SRAM built-in Motion CPU module at
power supply on or reset of the Multiple CPU system.
If the ROM writing is not executed, even if the user programs and parameters are
Mode operated
changed using the MT Developer2 during mode operated by ROM, operation starts
by ROM
with the contents of the FLASH ROM built-in Motion CPU module at next power
supply on or reset.
Also, If the ROM writing is not executed, even if the auto tuning data are reflected
on the servo parameter of Motion CPU by operation in the auto-tuning setting,
operation starts with the contents of the FLASH ROM built-in Motion CPU module
at next power supply on or reset.
Ethernet IP
address display
mode
• Refer to next page "(c) Ethernet IP address display mode overview".
Refer to next
page (c)
• It is STOP status regardless of the RUN/STOP switch position on the front side of
Motion CPU module.
• The stop error "MULTI CPU DOWN (error code: 7000)" will occur at the other CPU.
• " . " remains flashing in the first digit of 7-segment LED.
SRAM clear
• The programs, parameters, motion devices(#), devices of latch data and absolute
position data of SRAM built-in Motion CPU module are cleared by turning ON the
Multiple CPU system's power supply after the rotary switch 2 is set to "C".
2 - 31
2 SYSTEM CONFIGURATION
POINTS
(1) Be sure to turn OFF the Multiple CPU system's power supply before the rotary
switch setting change.
(2) It is recommended to shift to the mode operated by ROM after the programs
and parameters are fixed. The erasing of the programs and parameters can
be avoided even if the battery decrease. (The ROM writing cannot be
executed for the current position of the servo motor in the absolute position
system, home position and latch device. Back up them beforehand using
MT Developer2.)
Refer to Section 4.4 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller
Programming Manual (COMMON)" for details of the ROM operation.
(c) Ethernet IP address display mode overview
7-segment LED
Operation overview
(Note)
IP address
(ex. 192.168.3.39)
Subnet mask pattern
(Note)
(ex. 255.255.255.0)
Default router IP
(Note)
address
(ex. 192.168.3.1)
Link status
Disconnect
Connect
(10Mbps)
Full duplex
Connect
(100Mbps)
Half duplex
(Note): When the Ethernet parameters are not written in the Motion CPU, the addresses are
displayed as follows.
• IP address
: 192.168.3.39
• Subnet mask pattern
: 255.255.255.0
• Default router IP address : 192.168.3.1
2 - 32
2 SYSTEM CONFIGURATION
(5) Basic specifications of Q173D(S)CPU/Q172D(S)CPU
(a) Module specifications
Item
Q173DSCPU
Internal current consumption
(5VDC) [A]
1.75
Mass [kg]
Q172DSCPU
(Note-1)
1.44
Q173DCPU
Q173DCPU-S1
Q172DCPU
Q172DCPU-S1
1.25
1.30
1.25
1.30
(Note-1)
0.38
Exterior dimensions [mm(inch)]
0.33
120.5 (4.74)(H)
27.4 (1.08)(W)
120.3 (4.74)(D)
98 (3.85)(H)
27.4 (1.08)(W)
119.3 (4.70)(D)
(Note-1): The current consumption (0.2[A]) of manual pulse generator/incremental synchronous encoder connected to the internal I/F
connector is not included.
(6) SV13/SV22 Motion control specifications/performance
specifications
(a) Motion control specifications
Item
Number of control axes
Q173DSCPU
Q172DSCPU
Q173DCPU(-S1)
Q172DCPU(-S1)
Up to 32 axes
Up to 16 axes
Up to 32 axes
Up to 8 axes
SV13
0.22ms/ 1 to 4 axes
0.44ms/ 5 to 10 axes
0.88ms/ 11 to 24 axes
1.77ms/25 to 32 axes
0.22ms/ 1 to 4 axes
0.44ms/ 5 to 10 axes
0.88ms/ 11 to 16 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 18 axes
1.77ms/19 to 32 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 8 axes
SV22
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 16 axes
1.77ms/17 to 32 axes
0.44ms/ 1 to 6 axes
0.88ms/ 7 to 16 axes
0.44ms/ 1 to 4 axes
0.88ms/ 5 to 12 axes
1.77ms/13 to 28 axes
3.55ms/29 to 32 axes
0.44ms/ 1 to 4 axes
0.88ms/ 5 to 8 axes
Operation cycle
(default)
Interpolation functions
Control modes
Acceleration/
deceleration control
Compensation
Programming language
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),
Helical interpolation (3 axes)
PTP(Point to Point) control, Speed control,
Speed-position control, Fixed-pitch feed,
Constant speed control, Position follow-up control,
Speed control with fixed position stop,
Speed switching control,
High-speed oscillation control,
Speed-torque control,
Synchronous control (SV22 (Virtual mode
switching method/Advanced synchronous control
method))
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration,
Advanced S-curve acceleration/deceleration
Backlash compensation, Electronic gear, Phase compensation (SV22)
Peripheral I/F
Home position return function
Motion SFC, Dedicated instruction,
Mechanical support language (SV22)
Motion SFC, Dedicated instruction,
(Note-1)
Mechanical support language (SV22)
Servo program capacity
Number of positioning points
PTP(Point to Point) control, Speed control,
Speed-position control, Fixed-pitch feed,
Constant speed control, Position follow-up control,
Speed control with fixed position stop,
Speed switching control,
High-speed oscillation control,
Synchronous control (SV22)
16k steps
3200 points (Positioning data can be designated indirectly)
USB/RS-232/Ethernet (Via PLC CPU)
PERIPHERAL I/F (Motion CPU)
USB/RS-232/Ethernet (Via PLC CPU)
(Note-2)
PERIPHERAL I/F (Motion CPU)
Proximity dog type (2 types), Count type (3 types),
Data set type (2 types), Dog cradle type,
Stopper type (2 types), Limit switch combined
type, Scale home position signal detection type,
Dogless home position signal reference type
Proximity dog type (2 types), Count type (3 types),
Data set type (2 types), Dog cradle type,
Stopper type (2 types), Limit switch combined
type, Scale home position signal detection type
Home position return re-try function provided, home position shift function provided
JOG operation function
Provided
2 - 33
2 SYSTEM CONFIGURATION
Motion control specifications (continued)
Item
Q173DSCPU
Manual pulse generator
operation function
Synchronous encoder operation
(Note-4)
function
M-code function
Q172DSCPU
Limit switch output
function
Possible to connect 3 modules (Q173DPX use)
Possible to connect 12 module (SV22 use)
(Q172DEX + Q173DPX + Built-in interface in
(Note-5)
Motion CPU + Via device
(Note-5), (Note-6)
+ Via servo amplifier
)
Possible to connect 8
Possible to connect 12
modules (SV22 use)
modules (SV22 use)
(Q172DEX + Q173DPX) (Q172DEX + Q173DPX)
SV22
Number of output points 32 points
Watch data: Motion control data/Word device
Virtual mode switching method:
Number of output points 32 points
Advanced synchronous control method:
Number of output points 64 points  2 settings
Output timing compensation
Watch data: Motion control data/Word device
ROM operation function
Multiple CPU synchronous
(Note-5)
control
External input signal
High-speed reading function
(Note-7)
Number of output points 32 points
Watch data: Motion control data/Word device
Provided
Provided
None
Q172DLX, External input signals (FLS/RLS/DOG)
of servo amplifier,
Built-in interface in Motion CPU (DI), Bit device
Q172DLX or External input signals
(FLS/RLS/DOG) of servo amplifier
Provided
(Via built-in interface in Motion CPU,
Via input module,
Via tracking of Q172DEX/Q173DPX)
Provided
(Via input module, Via tracking of
Q172DEX/Q173DPX)
Motion controller forced stop (EMI connector, System setting),
Forced stop terminal of servo amplifier
Forced stop
Number of I/O points
Total 256 points
(Built-in interface in Motion CPU (Input 4 points) +
I/O module + Intelligent function module)
Mark detection
mode setting
Continuous detection mode,
Specified number of detection mode,
Ring buffer mode
Mark detection
signal
Built-in interface in Motion CPU (4 points),
Bit device, DOG/CHANGE signal of Q172DLX
Mark detection
setting
32 settings
Clock function
Total 256 points
(I/O module)
None
Provided
Provided
(Protection by software security key or password)
Security function
All clear function
Provided
(Protection by password)
Provided
Remote operation
Optional data
monitor
function
Q172DCPU(-S1)
M-code output function provided, M-code completion wait function provided
SV13
Mark detection
function
Q173DCPU(-S1)
Possible to connect 3 modules (Q173DPX use)
Possible to connect 1 module
(Note-3)
(Built-in interface in Motion CPU use)
SSCNET /H
SSCNET
Digital oscilloscope function
Absolute position system
Remote RUN/STOP, Remote latch clear
Up to 6 data/axis
(Communication data: Up to 6 points/axis)
None
Up to 3 data/axis
(Communication data: Up to 3 points/axis)
Motion buffering method
(Real-time waveform can be displayed)
Sampling data: Word 16CH, Bit 16CH
Motion buffering method
(Real-time waveform can be displayed)
Sampling data: Word 4CH, Bit 8CH
Made compatible by setting battery to servo amplifier.
(Possible to select the absolute data method or incremental method for each axis)
2 - 34
2 SYSTEM CONFIGURATION
Motion control specifications (continued)
Item
SSCNET
communication
(Note-8)
Number of
lines
Driver communication function
(Note-10)
Number of
Motion related
modules
Q173DSCPU
Communication
method
Q172DLX
Q172DSCPU
SSCNET /H, SSCNET
2 lines
(Note-9)
1 line
4 modules usable
Q172DCPU(-S1)
SSCNET
(Note-9)
2 lines
Provided
Q172DEX
1 line
None
2 modules usable
4 modules usable
1 module usable
6 modules usable
4 modules usable
Q173DPX
Number of SSCNET /H head
module connection stations
Q173DCPU(-S1)
Up to 8 stations usable
(Up to 4 stations/line)
4 modules usable
3 modules usable
(Note-11)
Up to 4 stations usable
(Note-11)
Unusable
(Note-1): SV22 virtual mode only
(Note-2): Q173DCPU-S1/Q172DCPU-S1 only
(Note-3): When the manual pulse generator is used via the built-in interface in Motion CPU, the Q173DPX cannot be used.
(Note-4): Any incremental synchronous encoder connected to the built-in interface in Motion CPU will automatically be assigned an
Axis No. one integer greater than the number of encoders connected to any Q172DEX modules and Q173DPX modules.
(Note-5): SV22 advanced synchronous control only
(Note-6): Servo amplifier (MR-J4- B-RJ) only.
(Note-7): This cannot be used in SV22 advanced synchronous control.
(Note-8): The servo amplifiers for SSCNET cannot be used.
(Note-9): SSCNET and SSCNET /H cannot be combined in the same line.
For Q173DSCPU, SSCNET or SSCNET /H can be set every line.
(Note-10): Servo amplifier (MR-J3- B/MR-J4- B) only.
(Note-11): 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.
2 - 35
2 SYSTEM CONFIGURATION
(b) Motion SFC performance specifications
Item
Q173DSCPU/Q172DSCPU
Q173DCPU(-S1)/Q172DCPU(-S1)
652k bytes
543k bytes
668k bytes
484k bytes
Code total
(Motion SFC chart + Operation control +
Motion SFC program
Transition)
capacity
Text total
(Operation control + Transition)
Number of Motion SFC programs
256 (No.0 to 255)
Motion SFC chart size/program
Motion SFC program
Up to 64k bytes (Included Motion SFC chart comments)
Number of Motion SFC steps/program
Up to 4094 steps
Number of selective branches/branch
255
Number of parallel branches/branch
255
Parallel branch nesting
Number of operation control programs
Up to 4 levels
4096 with F(Once execution type) and FS(Scan execution type)
combined. (F/FS0 to F/FS4095)
Number of transition programs
Operation control
program
(F/FS)
/
Transition program
(G)
4096(G0 to G4095)
Code size/program
Up to approx. 64k bytes (32766 steps)
Number of blocks(line)/program
Up to 8192 blocks (in the case of 4 steps(min)/blocks)
Number of characters/block
Up to 128 (comment included)
Number of operand/block
Up to 64 (operand: constants, word device, bit devices)
( ) nesting/block
Descriptive
expression
Operation control
program
Up to 32 levels
Calculation expression,
bit conditional expression,
branch/repetition processing
Calculation expression/bit conditional expression/
comparison conditional expression
Transition program
Number of multi execute programs
Up to 256
Number of multi active steps
Up to 256 steps/all programs
Normal task
Execute specification
Calculation expression,
bit conditional expression
Execute in main cycle of Motion CPU
Execute in fixed cycle
Execute in fixed cycle
(0.22ms, 0.44ms, 0.88ms, 1.77ms, (0.44ms, 0.88ms, 1.77ms, 3.55ms,
7.11ms, 14.2ms)
3.55ms, 7.11ms, 14.2ms)
Event task
Fixed cycle
Executed (Execution
can be
task
External interrupt Execute when input ON is set among interrupt module QI60 (16 points).
masked.)
PLC interrupt
Execute with interrupt instruction (D(P).GINT) from PLC CPU.
NMI task
Execute when input ON is set among interrupt module QI60 (16 points).
Number of I/O points (X/Y)
Number of real I/O points (PX/PY)
8192 points
256 points
(Built-in interface in Motion CPU
(Input 4 points) + I/O module +
Intelligent function module)
2 - 36
256 points
(I/O module)
2 SYSTEM CONFIGURATION
(7) SV43 Motion control specifications/performance specifications
(a) Motion control specifications
Item
Number of control axes
Operation cycle
(default)
Interpolation functions
Control modes
Acceleration/deceleration control
Q173DCPU(-S1)
Q172DCPU(-S1)
Up to 32 axes
Up to 8 axes
0.44ms/ 1 to 4 axes
0.88ms/ 5 to 12 axes
1.77ms/13 to 28 axes
3.55ms/29 to 32 axes
0.44ms/ 1 to 4 axes
0.88ms/ 5 to 8 axes
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes)
PTP (Point to Point) control, Constant speed positioning, High-speed oscillation control
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Compensation
Backlash compensation, Electronic gear
Programming language
Dedicated instruction (EIA language)
Motion program capacity
504k bytes
Number of programs
Number of simultaneous start
programs
Number of positioning points
1024
Axis designation program : 32
Control program : 16
Approx. 10600 points (Positioning data can be designated indirectly)
USB/RS-232/Ethernet (Via PLC CPU)
(Note-1)
PERIPHERAL I/F (Motion CPU)
Peripheral I/F
Home position return function
Axis designation program : 8
Control program : 16
Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type, Stopper
type (2 types), Limit switch combined type, Scale home position signal detection type
Home position return re-try function provided, home position shift function provided
JOG operation function
Provided
Manual pulse generator
operation function
Possible to connect 3 modules (Q173DPX use)
M-code function
M-code output function provided, M-code completion wait function provided
Number of output points 32 points
Watch data: Motion control data/Word device
Limit switch output function
Skip function
Provided
Override ratio setting function
Override ratio setting : -100 to 100[%]
ROM operation function
External input signal
High-speed reading function
Forced stop
Provided
Q172DLX or External input signals (FLS/RLS/DOG) of servo amplifier
Provided (Via input module, Via tracking of Q173DPX)
Motion controller forced stop (EMI connector, System setting),
Forced stop terminal of servo amplifier
Number of I/O points
Total 256 points (I/O module)
Clock function
Provided
Security function
Provided (Protection by password)
All clear function
Provided
Remote operation
Remote RUN/STOP, Remote latch clear
Digital oscilloscope function
Absolute position system
Communication
SSCNET
method
communication
Number of
(Note-2)
lines
Number of
Q172DLX
Motion related
Q173DPX
modules
Provided
Made compatible by setting battery to servo amplifier.
(Possible to select the absolute data method or incremental method for each axis)
SSCNET
2 lines
1 line
4 modules usable
1 module usable
1 modules usable
(Note-1): Q173DCPU-S1/Q172DCPU-S1 only
(Note-2): The servo amplifiers for SSCNET cannot be used.
2 - 37
2 SYSTEM CONFIGURATION
(b) Motion program performance specifications
Item
Program capacity
Operation controls
Q173DCPU(-S1)/Q172DCPU(-S1)
Total of program files
504k bytes
Number of programs
Up to 1024 (No. 1 to 1024)
Arithmetic operation
Unary operation, Addition and subtraction operation, Multiplication and
division operation, Remainder operation
Comparison operation
Equal to, Not equal to
Logical shift operation, Logical negation, Logical AND,
Logical OR, Exclusive OR
Logical operation
G-codes
Positioning command
M-codes
Output command to data register
Special M-codes
Program control command
Variable
Device variable
Functions
G00, G01, G02, G03, G04, G09, G12, G13, G23, G24, G25, G26, G28,
G30, G32, G43, G44, G49, G53, G54, G55, G56, G57, G58, G59, G61,
G64, G90, G91, G92, G98, G99, G100, G101
M****
M00, M01, M02, M30, M98, M99, M100
X, Y, M, B, F, D, W, #, U
Trigonometric function
Numerical function
SIN, COS, TAN, ASIN, ACOS, ATAN
ABS, SQR, BIN, LN, EXP, BCD, RND, FIX, FUP, INT, FLT, DFLT, SFLT
Start/end
CALL, CLEAR
Home position return
CHGA
Speed/torque setting
CHGV, CHGT, TL
Motion control
WAITON, WAITOFF, EXEON, EXEOFF
Instructions
CALL, GOSUB, GOSUBE, IF…GOTO,
IF…THEN…ELSE IF...ELSE...END,
WHILE…DO…BREAK...CONTINUE...END
Jump/repetition processing
BMOV, BDMOV, FMOV, BSET, BRST, SET, RST, MULTW, MULTR,
TO, FROM, ON, OFF, IF…THEN…SET/RST/OUT, PB
Data operation
Number of controls
\G
Program calls (GOSUB/GOSUBE)
Up to 8
Program calls (M98)
Up to 8
(8) Selection of Q172DEX, Q173DPX
Item
Synchronous encoder
Serial absolute
Incremental
Manual pulse generator
Q173DSCPU
Q172DSCPU
12 modules
Q173DCPU(-S1)
Q172DCPU(-S1)
Module selection
3 modules
8 modules
Q172DEX
2 - 38
Q173DPX
2 SYSTEM CONFIGURATION
(9) Internal I/F connector
QDS
(a) The pin layout of the internal I/F connector
Use the internal I/F connector on the front of the Motion CPU to connect to
manual pulse signals and incremental synchronous encoder signals.
The following is the pin layout of the internal I/F connector as viewed from
the front.
Internal I/F connector
Pin No. Signal Name Pin No. Signal Name
(Note-3)
1
26
(Note-4)
25
50
(Note-4)
(Note-2)
(Note-1)
(Note-2)
(Note-4)
(Note-2)
(Note-1)
(Note-2)
(Note-4)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
COM
COM
DI4
DI3
DI2
DI1
No connect
No connect
No connect
No connect
No connect
No connect
SG
No connect
No connect
No connect
No connect
HAH
HA
HAL
No connect
HBH
HB
HBL
No connect
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
5V
5V
SG
SG
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
No connect
(Note-4)
(Note-4)
Applicable connector model name
HDR type connector (HONDA TSUSHIN KOGYO CO., LTD.)
HDR-E50MSG1+ connector
HDR-E50LPH connector case
(Note-1): Voltage-output/open-collector type
Connect the A-phase signal to HA, and the B-phase signal to HB.
(Note-2): Differential-output type
Connect the A-phase signal to HAH, and the A-phase inverse signal to HAL.
Connect the B-phase signal to HBH, and the B-phase inverse signal to HBL.
(Note-3): "COM" is the common terminal of DI1, DI2, DI3 and DI4.
(Note-4): Do not connect to any of the terminal is explained as "No connect".
2 - 39
2 SYSTEM CONFIGURATION
(b) Input signal/Mark detection
1) Specifications of input signal/mark detection input signal
Item
Specifications
Number of input points
4 points
Input method
Positive common/Negative common shared
Common terminal arrangement
4 points/common (Common contact: COM)
Isolation method
Photocoupler
Rated input voltage
24VDC
Rated input current (IIN)
Approx. 5mA
21.6 to 26.4VDC
Operating voltage range
(24VDC
10%, ripple ratio 5% or less)
ON voltage/current
17.5VDC or more/3.5mA or more
OFF voltage/current
5VDC or less/0.9mA or less
Input resistance
Approx. 5.6k
OFF to ON
Response time
1ms
ON to OFF
2) Interface between input signal/mark detection input signal
Input or
Input/
Input
Pin No.
Signal name
output
DI
(Note-1)
2
3
4
6
5
4
3
Mark detection
signal input
Wiring
1
example
2
Description
Signal input,
Mark detection
1
COM
Internal circuit
24VDC (Note-2)
signal input
(Note-1): =1 to 4
(Note-2): As for the 24VDC sign, both "+" and "-" are possible.
2 - 40
2 SYSTEM CONFIGURATION
(c) Manual pulse generator/Incremental synchronous encoder input
1) Specifications of manual pulse generator/incremental synchronous
encoder
Item
Specifications
Signal input form
Phase A/Phase B
Maximum input pulse
frequency
1Mpps (After magnification by 4, up to 4Mpps)
Pulse width
1µs or more
Leading edge/trailing edge
0.25µs or less
time
Phase difference
0.25µs or more
High-voltage
2.0 to 5.25VDC
Differential-output Low-voltage
type
Differential voltage
(26LS31 or
equivalent )
0 to 0.8VDC
0.2V
Cable length
Up to 30m (98.43ft.)
1 s or more
0.5 s or more 0.5 s or more
Phase A
0.25 s or more
Example of waveform
Phase B
0.25 s or less 0.25 s or less
(Note): Duty ratio 50%
Maximum input pulse
frequency
200kpps
(After magnification by 4, up to 800kpps)
Pulse width
5µs or more
Leading edge/trailing edge
1.2µs or less
time
Phase difference
1.2µs or more
High-voltage
3.0 to 5.25 VDC
Voltage-output/
Low-voltage
0 to1.0VDC
Open-collector
Cable length
Up to 10m (32.81ft.)
type
5 s or more
2.5 s or more 2.5 s or more
Phase A
1.2 s or more
Example of waveform
Phase B
1.2 s or less 1.2 s or less
(Note): Duty ratio 50%
POINT
Use a manual pulse generator or an incremental synchronous encoder that
consumes less than 0.2[A] of current.
2 - 41
2 SYSTEM CONFIGURATION
2) Interface between manual pulse generator (differential-output type)/
incremental synchronous encoder
Input or
Output
Signal name
A+
Manual
HAH
pulse
generator,
Aphase A
HAL
Pin No.
18
P5(Note-1)
Power
supply
SG
Internal circuit
A
22
Manual
pulse
generator/
Incremental
synchronous
encoder
Rated input voltage
5.5VDC or less
For connection manual
pulse generator/
incremental
synchronous encoder
Phases A, B
LOW level
0.8VDC or less
B
Pulse width
0.5 s
or more
0.5 s
or more
(Duty ratio: 50%)
26LS31 or
equivalent
24
13
40
41
Description
1 s or more
B
38
39
Specification
HIGH level
2.0 to 5.25VDC
A
20
Input
B+
Manual
HBH
pulse
generator,
Bphase B
HBL
Wiring example
Leading edge, Trailing
edge time 0.25 s or less
Phase difference
Phase A
5V
Power supply
5VDC
Phase B
0.25 s or more
(1) Positioning address
increases if Phase A
leads Phase B.
(2) Positioning address
decreases if Phase B
leads Phase A.
SG
(Note-1): The 5V(P5)DC power supply of system must not be used if a separate power supply is applied
to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage.
Anything else may cause a failure.
3) Interface between manual pulse generator (voltage-output/opencollector type)/incremental synchronous encoder
Input or
Output
Signal name
Manual pulse
generator,
phase A
HA
Pin No.
19
Specification
Description
Rated input voltage
5.5VDC or less
For connection manual
pulse generator/
incremental
synchronous encoder
Phases A, B
HIGH level
3 to 5.25VDC/
2mA or less
Manual
pulse
generator/
Incremental
synchronous
encoder
B
LOW level
1VDC or less/
5mA or more
23
Pulse width
5 s or more
2.5 s
or more
2.5 s
or more
(Duty ratio: 50%)
Leading edge, Trailing
edge time 1.2 s or less
Phase difference
P5(Note-1)
38
39
SG
13
40
41
Power
supply
Internal circuit
A
Input
Manual pulse
generator,
phase B
HB
Wiring example
Phase A
5V
SG
Power supply
5VDC
Phase B
1.2 s or more
(1) Positioning address
increases if Phase A
leads Phase B.
(2) Positioning address
decreases if Phase B
leads Phase A.
(Note-1): The 5V(P5)DC power supply of system must not be used if a separate power supply is applied
to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage.
Anything else may cause a failure.
2 - 42
2 SYSTEM CONFIGURATION
4) Connection examples of manual pulse generator/incremental
synchronous encoder
Motion CPU
Signal name
Differential-output type
Manual pulse generator/
Incremental synchronous
encoder side
Voltage-output/Open-collector type
Manual pulse generator/
Incremental synchronous
Motion CPU
encoder side
Signal name
HAH
A
HA
HAL
A
HB
B
HBH
B
SG
0V
5V
HBL
B
SG
SG
0V
SG
5V
5V
A
5V
SG
SG
5V
5V
Shell
Shell
Shield
(Note-1)
Shield
(Note-1)
: Twist pair cable
: Twist pair cable
(Note-1): The 5V(P5)DC power supply of system must not be used if a separate power supply is applied
to the manual pulse generator/incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.
CAUTION
If a separate power supply is applied to the manual pulse generator/incremental synchronous
encoder, be sure it is 5V voltage. Anything else may cause a failure.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
5V terminal is the power supply for the manual pulse generator/incremental synchronous
encoder. Do not apply a voltage and do not use it for other purposes.
(d) Connection of manual pulse generator/incremental synchronous encoder
Manual pulse generators/incremental synchronous encoders of the voltageoutput/open-collector type and differential-output type can be connected.
Both connection methods are different. (Refer to this section (9)(a).)
Motion CPU module
Q173DSCPU (Built-in interface in Motion CPU)
Q172DSCPU (Built-in interface in Motion CPU)
2 - 43
Connectable manual pulse generator/
incremental synchronous encoder
Up to 1 module
2 SYSTEM CONFIGURATION
(e) Axis No. of manual pulse generator/synchronous encoder
The axis No. of synchronous encoder built-in interface in Motion CPU is set
depending on the axis No. assigned to Q172DEX and Q173DPX.
1) Any built-in interface in Motion CPU will automatically be assigned an
axis No. one integer greater than the number of encoders connected to
any Q172DEX and Q173DPX.
2) Motion module installed to the smallest slot number of the Main base
unit is the 1st.
3) Axis No. P1 to P12 of the synchronous encoder can be used.
4) Axis No. P1 to P3 of the manual pulse generator can be used.
When the manual pulse generator is used with the built-in interface in
Motion CPU, Q173DPX cannot be used.
The setting example for the axis No. of manual pulse generator/synchronous
encoder is shown below.
(Example) Q173DSCPU use (Q172DEX: 2 modules, Q173DPX: 2 modules)
1st
Q61P Q03UD Q173DS QX40
CPU CPU
2nd
3rd
Q38DB
QX40 Q172D Q173D Q172D
EX
PX
EX
Built-in interface in
Motion CPU
P11
P6, P7
P3 to P5
P1, P2
4th
Q65B
Q61P Q173D
PX
P8 to P10
POINTS
For advanced synchronous control method, set the axis No. of synchronous
encoder in the synchronous encoder axis parameter.
Refer to the "Q173DSCPU/Q172DSCPU Motion controller Programming Manual
(Advanced Synchronous Control)" for details.
2 - 44
2 SYSTEM CONFIGURATION
2.5.2 Power supply module
(1) Power supply module specifications
Power supply modules specifications (Q61P-A1, Q61P-A2, Q61P, Q62P)
Item
Q61P-A1
Q61P-A2
Q61P
Base loading position
Q series power supply module loading slot
Applicable base unit
Q35DB, Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B
200 to 240VAC
(+10%/-15%)
(170 to 264VAC)
100 to 120VAC
(+10%/-15%)
(85 to 132VAC)
Input power supply
Input frequency
Max. input apparent power
5% or less
105VA
130VA
5VDC
6A
3A
24VDC
——
0.6A
——
24VDC±10%
5VDC
6.6A or more
3.3A or more
24VDC
——
0.66A or more
External output voltage
Overvoltage
protection (Note-2)
105VA
20A 8ms or less (Note-4)
Inrush current
Overcurrent
protection (Note-1)
100 to 240VAC (+10%/-15%)
(85 to 264VAC)
50/60Hz ±5%
Input voltage distortion factor
Rated output current
Q62P
5VDC
5.5 to 6.5V
Efficiency
70% or more
Allowable momentary power failure
time (Note-3)
Dielectric withstand voltage
65% or more
20ms or less
Across inputs/LG and outputs/FG
2,830VAC rms / 3 cycles (Altitude : 2000m (6561.68ft.) )
Insulation resistance
Across inputs and outputs (LG and FG separated), across inputs and LG/FG, across outputs and
LG/FG 10M or more by insulation resistance tester (500VDC)
Noise immunity
• By noise simulator of 1,500Vp-p noise voltage, 1µs noise width and 25 to 60Hz noise frequency
• Noise voltage IEC61000-4-4, 2kV
Operation indicator
LED indication (Normal : ON (Green), Error : OFF)
Fuse
Contact
output
section
Built-in (Unchangeable by user)
Application
ERR contact
Rated switching
voltage/current
24VDC, 0.5A
Minimum switching load
Response time
Life time
5VDC, 1mA
OFF to ON: 10ms or less. ON to OFF: 12ms or less.
Mechanical : 20 million times or more
Electrical : 100 thousand times at rated switching voltage/current or more
Surge suppressor
None
Fuse
None
Terminal screw size
M3.5 screw
Applicable wire size
0.75 to 2mm2
Applicable crimping terminal
RAV1.25 to 3.5, RAV2 to 3.5
Applicable tightening torque
0.66 to 0.89 N•m
98(H) × 55.2(W) × 90(D)
(3.86(H) × 2.17(W) × 3.54(D) )
Exterior dimensions[mm(inch)]
Mass [kg]
0.31
2 - 45
0.40
0.39
2 SYSTEM CONFIGURATION
Power supply modules specifications (Q63P, Q64P, Q64PN)
Item
Q63P
Q64P
Q64PN
Base loading position
Q series power supply module loading slot
Applicable base unit
Q35DB, Q38DB, Q312DB, Q63B, Q65B, Q68B, Q612B
24VDC (+30%/-35%)
(15.6 to 31.2VDC)
Input power supply
100 to 120VAC/200 to
240VAC (+10%/-15%)
(85 to 132VAC/170 to
264VAC)
100 to 240VAC (+10%/-15%)
(85 to 264VAC)
Input frequency
——
50/60Hz ±5%
Input voltage distortion factor
——
5% or less
Max. input apparent power
45W
160VA
100A 1ms or less
(at 24VDC input)
20A 8ms or less (Note-4)
5VDC
6A
8.5A
24VDC
——
——
Overcurrent
protection (Note-1)
5VDC
6.6A or more
9.9A or more
24VDC
——
Overvoltage
protection (Note-2)
5VDC
5.5 to 6.5V
Inrush current
Rated output current
24VDC
——
Efficiency
70% or more
Permissible instantaneous power off
time (Note-3)
Dielectric withstand voltage
10ms or less (at 24VDC input)
20ms or less
500VAC across primary and
5VDC
Across inputs/LG and outputs/FG
2,830VAC rms/3 cycles
(Altitude : 2000m (6561.68ft.) )
Insulation resistance
10M or more by insulation
resistance tester
Across inputs and outputs (LG and FG separated), across
inputs and LG/FG, across outputs and LG/FG 10M or more by
insulation resistance tester (500VDC)
Noise immunity
• By noise simulator of
500Vp-p noise voltage, 1µs
noise width and 25 to 60Hz
noise frequency
• By noise simulator of 1,500Vp-p noise voltage, 1µs noise
width and 25 to 60Hz noise frequency
• Noise voltage IEC61000-4-4, 2kV
Operation indicator
LED indication
(Normal: ON (Green),
Error: OFF)
Fuse
Contact
output
section
LED indication
(Normal: ON (Green),
(Note-5)
Error: OFF)
Built-in (Unchangeable by user)
Application
ERR contact
Rated switching
voltage/current
24VDC, 0.5A
Minimum switching load
5VDC, 1mA
Response time
Life time
OFF to ON: 10ms or less. ON to OFF: 12ms or less
Mechanical: 20 million times or more
Electrical: 100 thousand times at rated switching voltage/current or more
Surge suppressor
None
Fuse
None
Terminal screw size
M3.5 screw
Applicable wire size
0.75 to 2mm2
Applicable crimping terminal
RAV1.25 to 3.5, RAV2 to 3.5
Applicable tightening torque
Exterior dimensions[mm(inch)]
Mass [kg]
LED indication
(Normal: ON (Green),
Error: OFF)
0.66 to 0.89 N•m
98(H) × 55.2(W) × 90(D)
(3.86(H) × 2.17(W) × 3.54(D))
0.33
98(H) × 55.2(W) × 115(D)
(3.86(H) × 2.17(W) × 4.53(D))
0.40
2 - 46
0.47
2 SYSTEM CONFIGURATION
POINTS
(Note-1): Overcurrent protection
The overcurrent protection device shuts off the 5V, 24VDC circuit and
stops the system if the current flowing in the circuit exceeds the specified
value.
The LED of the power supply module is turned off or lights up in dim
green when voltage is lowered. If this device is activated, switch the input
power supply off and eliminate the cause such as insufficient current
capacity or short. Then, a few minutes later, switch it on to restart the
system.
The initial start for the system takes place when the current value
becomes normal.
(Note-2): Overvoltage protection
The overvoltage protection device shuts off the 5VDC circuit and stops
the system if a voltage of 5.5VDC or more is applied to the circuit.
When this device is activated, the power supply module LED is switched
OFF.
If this happens, switch the input power OFF, then a few minutes later ON.
This causes the initial start for the system to take place. The power supply
module must be changed if the system is not booted and the LED
remains OFF.
(Note-3): Allowable momentary power failure period
(1) For AC input power supply
(a) An instantaneous power failure lasting less than 20ms will cause
AC down to be detected, but operation will continue.
(b) An instantaneous power failure lasting in excess of 20ms may
cause the operation to continue or initial start to take place
depending on the power supply load.
Further, when the AC supply of the AC input module is the same
as that of the power supply module, it prevents the sensor
connected to the AC input module, which is ON at power-off,
from turning OFF by switching off the power supply.
However, if only the AC input module is connected to the AC
line, which is connected to the power supply, detection of the AC
down for the power supply module may be delayed by the
capacitor in the AC input module. Thus, connect a load of
approx. 30mA per AC input module to the AC line.
(2) For DC input power supply
(a) An instantaneous power failure lasting less than 10ms(Note) will
cause 24VDC down to be detected, but operation will continue.
(b) An instantaneous power failure lasting in excess of 10ms(Note)
may cause the operation to continue or initial start to take place
depending on the power supply load.
(Note): This is for a 24VDC input. This is 10ms or less for less
than 24VDC.
2 - 47
2 SYSTEM CONFIGURATION
POINTS
(Note-4): Inrush current
When power is switched on again immediately (within 5 seconds) after
power-off, an inrush current of more than the specified value (2ms or less)
may flow. Reapply power 5 seconds after power-off.
When selecting a fuse and breaker in the external circuit, take account of
the blow out, detection characteristics and above matters.
(Note-5): During the operation, do not allow the input voltage to change from
200VAC level (170 to 264VAC) to 100VAC level (85 to 132VAC).
If changed, the POWER LED turns OFF and the system operation stops.
2 - 48
2 SYSTEM CONFIGURATION
(2) Names of Parts and Setting
This section describes the names of the parts of each power module.
• Q61P-A1 (100 to 120VAC input, 5VDC 6A output)
• Q61P-A2 (200 to 240VAC input, 5VDC 6A output)
• Q61P
(100 to 240VAC input, 5VDC 6A output)
• Q62P
(100 to 240VAC input, 5VDC 3A/24VDC 0.6A output)
• Q63P
(24VDC input, 5VDC 6A output)
• Q64P
(100 to 120VAC/200 to 240VAC input, 5VDC 8.5A output)
• Q64PN
(100 to 240VAC input, 5VDC 8.5A output)
9)
1)
Q62P
POWER
INPUT
100-240VAC
8)
50/60Hz 105VA
OUTPUT 5VDC 3A/24VDC 0.6A
6)
+24V
24G
(Q62P only)
ERR.
L
+ 24VDC
0.5A
(FG)
3)
4)
(LG)
INPUT
100-240VAC
2)
N
5)
L
Q62P
10)
2 - 49
7)
2 SYSTEM CONFIGURATION
No.
Name
Application
ON (green): Normal (5VDC output, momentary power failure within 20ms)
AC input
OFF
(5VDC error, overload, internal circuit failure, blown fuse)
power supply
1)
: • AC power supply is ON, however, the power supply module is out of order.
• AC power supply is not ON
• Power failure (including an momentary power failure of more than 20ms)
POWER
LED
ON (green): Normal (5VDC output, momentary power failure within 10ms)
DC input
OFF
: • DC power supply is ON, however, the power supply module is out of order.
(5VDC error, overload, internal circuit failure, blown fuse)
power supply
• DC power supply is not ON
• Power failure (including an momentary power failure of more than 10ms)
• Turned ON when the whole system operates normally.
• This terminal turns OFF (opens) when the AC power is not input, a stop error (including a
AC input
reset) occurs in the CPU module, or the fuse is blown.
power supply • In a Multiple CPU system configuration, turned OFF (opens) when a stop error occurs in
any of the CPU modules.
2)
Normally OFF when loaded in an extension base unit.
ERR
terminals
• Turned ON when the whole system operates normally.
• This terminal turns OFF (opens) when the DC power is not input, a stop error (including a
DC input
reset) occurs in the CPU module, or the fuse is blown.
power supply • In a Multiple CPU system configuration, turned OFF (opens) when a stop error occurs in
any of the CPU modules.
Normally OFF when loaded in an extension base unit.
3)
FG terminal
4)
LG terminal
Ground terminal connected to the shield pattern of the printed circuit board.
Grounding for the power supply filter. The potential of Q61P-A1, Q61P-A2, Q61P, Q62P,
Q64P and Q64PN terminal is 1/2 of the input voltage.
• Power input terminals connected to a power supply of 100VAC or 200VAC.
(Q61P-A1, Q61P-A2, Q64P)
5)
Power input terminals
• Power input terminals connected to a power supply of 100VAC to 200VAC.
(Q61P, Q62P, Q64PN)
• Power input terminals connected to a power supply of 24VDC.
(Q63P)
6)
+24V, 24G terminals
(Q62P only)
Used to supply 24VDC power to inside the output module. (using external wiring)
7)
Terminal screw
M3.5 7 screw
8)
Terminal cover
Protective cover of the terminal block
9)
Module fixing screw hole
10) Module mounting lever
Used to fix the module to the base unit.
M3 12 screw (user-prepared) (Tightening torque: 0.36 to 0.48 N•m)
Used to load the module into the base unit.
2 - 50
2 SYSTEM CONFIGURATION
POINTS
(1) The Q61P-A1 is dedicated for inputting a voltage of 100VAC.
Do not input a voltage of 200VAC into it or trouble may occur on the Q61P-A1.
Power
module type
Supply power voltage
100VAC
200VAC
Q61P-A1
Operates normally.
Power supply module causes
trouble.
Q61P-A2
Power supply module does
not cause trouble.
CPU module cannot be
operated.
Operates normally.
(2) The Q63P is dedicated for inputting a voltage of 24VDC.
Do not input a voltage of except 24VDC into it or trouble may occur on the Q63P.
(3) Q64P automatically switches the input range 100/200VAC.
Therefore, it is not compatible with the intermediate voltage (133 to 169VAC).
The CPU module may not operate normally if the above intermediate voltage is
applied.
(4) Ensure that the earth terminals LG and FG are grounded.
(Ground resistance : 100 or loss)
Since the LG terminal has a half of the input voltage, touching this terminal may
result in an electric shock.
(5) When the Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P, Q64P or Q64PN is loaded on
the extension base unit, a system error cannot be detected by the ERR terminal.
(The ERR terminal is always OFF.)
2 - 51
2 SYSTEM CONFIGURATION
(3) Selection of the power supply module
The power supply module is selected according to the total of current
consumption of the modules, and peripheral devices supplied by its power
module.
5VDC internal current consumption of shared equipments with PLC might be
changed. Be sure to refer to the MELSEC-Q series PLC Manuals.
(a) Calculation example of power supply selection
<System configuration (Q173DSCPU use)>
Q61P
Q03UD
CPU
Q173DS
CPU
QX40
QX40
Q172DLX Q172DEX Q173DPX
Incremental synchronous encoder
QY10
QY10
Q38DB
MR-HDP01
MR-HDP01
Q171ENC-W8
• 5VDC current consumption of each module
Q03UDCPU
: 0.33 [A]
Q173DSCPU
: 1.75 [A]
Incremental synchronous encoder : 0.20 [A]
QX40
: 0.05 [A]
Q172DLX
: 0.06 [A]
Q172DEX
: 0.19 [A]
Q171ENC-W8
Q173DPX
MR-HDP01
QY10
Q38DB
: 0.25 [A]
: 0.38 [A]
: 0.06 [A]
: 0.43 [A]
: 0.23 [A]
• Power consumption of overall modules
I5V = 0.33 + 1.75 + 0.20 + 0.05 2 + 0.06 + 0.19 + 0.25 + 0.38 + 0.06
2 + 0.43 2 + 0.23 = 4.47[A]
Select of the power supply module (Q61P (100/240VAC) 6A) according to
this internal current consumption 4.47[A].
POINT
Configure the system in such a way that the total current consumption at 5VDC of
all the modules is the allowable value or less.
2 - 52
2 SYSTEM CONFIGURATION
2.5.3. Base unit and extension cable
This section describes the specifications of the extension cables for the base units
(Main base unit or extension base unit), and the specification standards of the
extension base unit.
5VDC internal current consumption of base unit might be changed. Be sure to refer to
the MELSEC-Q series PLC Manuals.
(1) Base unit specifications
(a) Main base unit specifications
Type
Item
Q35DB
Q38DB
Q312DB
5
8
Extendable
Q series modules
12
0.23
0.23
0.24
Number of I/O modules
Possibility of extension
Applicable module
5VDC internal current
consumption [A]
Fixing hole size
Exterior dimensions
[mm(inch)]
Mass [kg]
Attachment
245(W) 98(H)
M4 screw hole or 4.5 hole (for M4 screw)
44.1(D)
328(W) 98(H) 44.1(D)
439(W) 98(H)
44.1(D)
(9.65(W) 3.86(H) 1.74(D)) (12.91(W) 3.86(H) 1.74(D)) (17.28(W) 3.86(H)
0.32
0.41
0.54
Fixing screw M4 14 5 pieces (DIN rail fixing adapter is optional)
1.74(D))
(Note): It is impossible to mount the main base unit by DIN rail when using the Motion CPU module.
Doing so could result in vibration that may cause erroneous operation.
(b) Extension base unit specifications
Type
Item
Number of I/O modules
Possibility of extension
Applicable module
5VDC internal current
consumption [A]
Fixing hole size
Exterior dimensions
[mm(inch)]
Mass [kg]
Attachment
Q63B
Q65B
3
5
Q68B
Q612B
8
12
0.12
0.13
Extendable
Q series modules
0.11
189(W) 98(H)
44.1(D)
(7.44(W) 3.86(H)
1.74(D))
0.23
0.11
M4 screw hole or
245(W) 98(H)
44.1(D)
4.5 hole (for M4 screw)
328(W) 98(H)
44.1(D)
(9.65(W) 3.86(H)
(12.91(W) 3.86(H)
1.74(D))
1.74(D))
0.28
0.38
(Note)
Fixing screw M4 14 4 pieces
439(W) 98(H)
44.1(D)
(17.28(W) 3.86(H)
1.74(D))
0.48
(Note): The 5 base mounting screws are included with the Q68B and Q612B that have 5 base mounting holes.
2 - 53
2 SYSTEM CONFIGURATION
(2) Extension cable specifications
The list below describes the specifications of the extension cables which can
be used.
Type
Item
Cable length[m(ft.)]
QC05B
QC06B
QC12B
QC30B
QC50B
QC100B
0.45(1.48)
0.6(1.97)
1.2(3.94)
3.0(9.84)
5.0(16.40)
10.0(32.81)
Connection between the main base unit and extension base unit,
Application
or connection between the extension base units.
Mass [kg]
0.15
0.16
0.22
0.40
0.60
1.11
POINT
When the extension cables are used in combination, limit the overall length of the
combined cable to 13.2m (43.31ft.).
(3) Names of parts of the base unit
Names of parts of the base unit are described below.
(a) Main base unit (Q35DB, Q38DB, Q312DB)
5)
4)
OUT
1)
2)
POWER
CPU
I/O0
I/O1
I/O2
I/O3
I/O4
I/O5
I/O6
I/O7
I/O8
I/O9
I/O10
II/O11
/ O11
Q312DB
3)
No.
1)
Name
Application
Extension cable
Connector for connecting an extension cable (for signal communications with the
connector
extension base unit)
Protective cover of extension cable connector. Before an extension cable is connected,
2)
Base cover
the area of the base cover surrounded by the groove under the word "OUT" on the base
cover must be removed with a tool such as nippers.
Connector for installing the Q series power supply module, CPU module, Motion module,
I/O modules, and intelligent function module.
3)
Module connector
To the connectors located in the spare space where these modules are not installed,
attach the supplied connector cover or the blank cover module (QG60) to prevent entry of
dirt.
4)
Module fixing screw hole Screw hole for fixing the module to the base unit. Screw size: M3
5)
Base mounting hole
12
Hole for mounting this base unit onto the panel of the control panel (for M4 screw)
(Note): It is impossible to mount the main base unit by DIN rail when using the Motion CPU module. Doing so could result in
vibration that may cause erroneous operation.
2 - 54
2 SYSTEM CONFIGURATION
(4) I/O allocations
It is possible to allocate unique I/O No.s for each Motion CPU independently of
the PLC’s I/O No.s. (I/O No.s are unique between the Q series PLC CPU within a
given system, but the I/O No.s of the Motion CPU are unique for each Motion
CPU.)
ON/OFF data input to the Motion CPU is handled via input devices PX
, while
.
ON/OFF data output from the Motion CPU is handled via output devices PY
It is not mandatory to match the I/O device PX/PY No.s used in the Motion
program with the PLC I/O No.s; but it is recommended to make them match as
much as possible.
The following figure shows an example of I/O allocation.
I/O Allocations
Power supply
module
0
1
QnUD
CPU
QnUD
CPU
CPU No.1
CPU No.2
2
3
4
5
6
7
8
9
Q173D
CPU
QX41
QY41P
QY41P
Q172DLX
QX41
QY41P
QY41P
X0 to X1F
Y20 to Y3F
Y40 to Y5F
Module of
control
CPU No.1
Module of
control
CPU No.1
Module of
control
CPU No.2
CPU No.3
Intelligent PX0 to PX1F PY20 to PY3F YC0 to YDF
32 points
(60 to 7F) (X80 to X9F) (YA0 to YBF)
Module of
control
CPU No.3
Module of
control
CPU No.3
Module of
control
CPU No.3
Module of
control
CPU No.1
(Note-1) : When the number of modules to be installed is 32 points.
(Note-2) : When the PX/PY No. does not match the PLC I/O No.
Refer to the Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual
(COMMON) about the I/O allocation setting method, and refer to the "QnUCPU User's
Manual (Function Explanation, Program Fundamentals)" about the I/O allocation
setting method of the PLC CPU.
POINT
I/O device of the Motion CPU can be set in the range PX/PY000 to PX/PYFFF.
The real I/O points must be 256 points or less. (As for the I/O No., it is possible not
to continue.)
2 - 55
2 SYSTEM CONFIGURATION
2.5.4 Q172DLX Servo external signals interface module
Q172DLX receives external signals (servo external signals) required for positioning
control.
(1) Q172DLX name of parts
1)
Q172DLX
5)
2)
CTRL
6)
3)
Q172DLX
7)
4)
No.
1)
Name
Module fixing hook
Application
Hook used to fix the module to the base unit.
(Single-motion installation)
Display the servo external input status from the external
equipment.
2)
Input indicator LED
LED
Details
0 to 1F
Display for servo external signal input status of
each axis.
The proximity dog/speed-position switching signal (DOG/
CHANGE) does not turn ON without setting Q172DLX in the
system setting.
3)
CTRL connector
The servo external signal input connector of each axis.
4)
Module mounting lever
Used to install the module to the base unit.
5)
Module fixing screw hole
6)
Module fixing projection
Projection used to fix to the base unit.
7)
Serial number display
Display the serial number described on the rating plate.
Hole for the screw used to fix to the base unit.
(M312 screw : Purchase from the other supplier)
POINT
Input indicator LED of the proximity dog/speed-position switching signal (DOG/
CHANGE) turns ON at the following conditions.
• Q172DLX is set on the system setting of MT Developer2.
• The proximity dog/speed-position switching signal (DOG/CHANGE) is input.
2 - 56
2 SYSTEM CONFIGURATION
(2) Performance specifications
(a) Module specifications
Item
Specifications
Number of I/O occupying points
32 points(I/O allocation: Intelligent, 32 points)
Internal current consumption(5VDC) [A]
0.06
98(H)
Exterior dimensions [mm(inch)]
27.4(W) 90(D)
(3.86(H) 1.08(W) 3.54(D) )
Mass [kg]
0.15
(b) Input
Item
Specifications
Servo external signals : 32 points
(Upper stroke limit, Lower stroke limit, Stop input,
Number of input points
Proximity dog/Speed-position switching signal)
(4 points
Input method
8 axes)
Sink/Source type
Common terminal arrangement
32 points/common (common terminal: B1, B2)
Isolation method
Photocoupler
Rated input voltage
12/24VDC
Rated input current
12VDC 2mA/24VDC 4mA
10.2 to 26.4VDC
Operating voltage range
(12/24VDC +10/ -15%, ripple ratio 5% or less)
ON voltage/current
10VDC or more/2.0mA or more
OFF voltage/current
1.8VDC or less/0.18mA or less
Input resistance
Response time of the
Upper/Lower stroke limit and
STOP signal
Response time of the
proximity dog, Speedposition switching signal
Approx. 5.6k
OFF to ON
1ms
ON to OFF
OFF to ON
0.4ms/0.6ms/1ms
(CPU parameter setting, Default 0.4ms)
ON to OFF
Operation indicator
ON indication (LED)
External connector type
40 pin connector
2
0.3mm
Applicable wire size
Applicable connector for the external
A6CON1 (Attachment),
connection
A6CON2, A6CON3, A6CON4 (Optional)
Applicable connector/
A6TBXY36, A6TBXY54, A6TBX70 (Optional)
Terminal block converter module
2 - 57
2 SYSTEM CONFIGURATION
(3) Connection of servo external signals interface module
(a) Servo external signals
There are the following servo external signals.
(Upper stroke limit is limit value of address increase direction/lower stroke
limit is limit value of an address decrease direction.)
The Q172DLX is assigned a set of input No.s per axis. Make the system
setting of MT Developer2 to determine the I/O No.s corresponding to the
axis No.s.
Servo external signal
Upper stroke limit input (FLS)
Lower stroke limit input (RLS)
Application
on one Q172DLX
For detection of upper and lower stroke limits.
Stop signal input (STOP)
For stopping under speed or positioning control.
Proximity dog/
For detection of proximity dog at proximity dog or count
Speed-position switching input type home position return or for switching from speed to
(DOG/CHANGE)
Number of points
position switching control.
2 - 58
32 points
(4 points/8 axes)
2 SYSTEM CONFIGURATION
(b) The pin layout of the CTRL connector
Use the CTRL connector on the front of the Q172DLX module to connect to
servo external signals.
The following is the pin layout of the Q172DLX CTRL connector as viewed
from the front.
CTRL connector
Signal No.
A20
B20
1
2
3
4
A1
B1
Pin No.
Signal Name
Pin No.
B20
FLS1
A20
FLS5
B19
RLS1
A19
RLS5
B18
STOP1
A18
STOP5
B17
DOG1/CHANGE1
A17
DOG5/CHANGE5
B16
FLS2
A16
FLS6
B15
RLS2
A15
RLS6
B14
STOP2
A14
STOP6
B13
DOG2/CHANGE2
A13
DOG6/CHANGE6
B12
FLS3
A12
FLS7
B11
RLS3
A11
RLS7
B10
STOP3
A10
STOP7
B9
DOG3/CHANGE3
A9
DOG7/CHANGE7
B8
FLS4
A8
FLS8
B7
RLS4
A7
RLS8
B6
STOP4
A6
STOP8
B5
DOG4/CHANGE4
A5
DOG8/CHANGE8
B4
No connect
A4
No connect
B3
No connect
A3
No connect
B2
COM
A2
No connect
B1
COM
A1
No connect
Signal Name
Signal No.
5
6
7
8
Applicable connector model name
A6CON1 type soldering type connector
FCN-361J040-AU connector (FUJITSU COMPONENT LIMITED)
FCN-360C040-B connector cover
A6CON2 type Crimp-contact type connector
A6CON3 type Pressure-displacement type connector
A6CON4 type soldering type connector
DOG/CHANGE, STOP, RLS, FLS functions of each axis(1 to 8)
DOG/CHANGE
Proximity dog/Speed-position
switching signal
Stop signal
Lower stroke limit
Upper stroke limit
STOP
RLS
FLS
(Attachment)
(Optional)
For information about
signal details, refer to
the programming manual.
(Note) : Connector/terminal block conversion modules and cables can be
used at the wiring of CTRL connector.
A6TBXY36/A6TBXY54/A6TBX70 : Connector/terminal block
converter module
AC TB ( :Length [m])
: Connector/terminal block
converter module cable
POINT
Signal No. 1 to 8 can be assigned to the specified axis. Make the assignment in the
system settings of MT Developer2.
2 - 59
2 SYSTEM CONFIGURATION
(4) Interface between CTRL connector and servo external signal
Input or
Output
Signal name
FLS1
FLS2
FLS3
FLS4
FLS5
FLS6
FLS7
FLS8
RLS1
RLS2
RLS3
RLS4
RLS5
RLS6
RLS8
RLS8
STOP1
STOP2
Input
STOP3
STOP4
STOP5
STOP6
STOP7
STOP8
DOG/CHANGE1
DOG/CHANGE2
DOG/CHANGE3
DOG/CHANGE4
DOG/CHANGE5
DOG/CHANGE6
DOG/CHANGE7
DOG/CHANGE8
Power supply
(Note)
Pin No.
LED
B20
B16
B12
B8
A20
A16
A12
A8
B19
B15
B11
B7
A19
A15
A11
A7
B18
B14
B10
B6
A18
A14
A10
A6
B17
B13
B9
B5
A17
A13
A9
A5
0
4
8
C
10
14
18
1C
1
5
9
D
11
15
19
1D
2
6
A
E
12
16
1A
1E
3
7
B
F
13
17
1B
1F
Wiring example
Upper stroke
limit input
Internal circuit
Specification
Supply voltage
12 to 24 VDC
(10.2 to 26.4 VDC,
stabilized power
supply)
Description
FLS
RLS
Lower stroke
limit input
High level
10.0 VDC or more/
2.0mA or more
STOP
Stop signal input
Low level
1.8 VDC or less/
0.18mA or less
Proximity dog/
Speed-position
switching signal
B1 B2
12VDC to 24VDC
DOG/CHANGE
Common terminals
for servo external
input signal.
(Note): As for the connection to power line (B1, B2), both "+" and "–" are possible.
CAUTION
Always use a shield cable for connection of the CTRL connector and external equipment, and
avoid running it close to or bundling it with the power and main circuit cables to minimize the
influence of electromagnetic interface. (Separate them more than 200mm (0.66ft.) away.)
Connect the shield wire of the connection cable to the FG terminal of the external equipment.
Make parameter setting correctly. Incorrect setting may disable the protective functions such
as stroke limit protection.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
2 - 60
2 SYSTEM CONFIGURATION
2.5.5 Q172DEX Synchronous encoder interface module
Q172DEX receive external signals required for serial absolute synchronous encoder.
The installation position of Q172DEX is only main base.
(1) Q172DEX name of parts
1)
Q172DEX
5)
SY.ENC TREN
1
1
2
2
SY.ENC1
LITHIUM BATTERY
MITSUBISHI
8)
3)
SY.ENC2
6)
Q172DEX
10)
4)
No.
1)
2)
9)
7)
Name
Module fixing hook
Application
Hook used to fix the module to the base unit.
(Single-motion installation)
Display the input status from the external equipment.
LED
Details
Display for signal input status of each serial
SY.ENC
2)
Input indicator LED
1, 2
TREN
1, 2
absolute synchronous encoder.
(LED turns ON at the normal connection (first
switching to virtual mode).)
Display for signal status of tracking enable.
The tracking enable signal does not turn ON without
setting Q172DEX in the system setting.
3)
SY. ENC connector
Input connector of the serial absolute synchronous encoder.
4)
Module mounting lever
Used to install the module to the base unit.
5)
Module fixing screw hole
6)
Module fixing projection
Projection used to fix to the base unit.
7)
Battery connector
For connection of battery lead wire.
8)
Battery holder
Used to the set the Battery (A6BAT/MR-BAT) to the holder.
9)
Battery
(A6BAT/MR-BAT)
10) Serial number display
Hole for the screw used to fix to the base unit
(M312 screw : Purchase from the other supplier)
For Serial absolute synchronous encoder battery backup.
Display the serial number described on the rating plate.
2 - 61
2 SYSTEM CONFIGURATION
POINT
(1) Input indicator LED of the serial absolute synchronous encoder signal turns
ON at the normal connection (first switching to virtual mode).
(2) Input indicator LED of the tracking enable signal turns ON at the following
conditions.
• Q172DEX is set in the system setting of MT Developer2.
• The tracking enable signal is input.
(2) Performance specifications
(a) Module specifications
Item
Specifications
Number of I/O occupying points
32 points(I/O allocation: Intelligent, 32 points)
Internal current consumption(5VDC)[A]
0.19
98(H) 27.4(W) 90(D)
Exterior dimensions [mm(inch)]
(3.86(H) 1.08(W) 3.54(D) )
Mass [kg]
0.15
(b) Tracking enable signal input
Item
Specifications
Number of input points
Tracking enable signal : 2 points
Input method
Sink/Source type
Common terminal arrangement
1 point/common (Common terminal: TREN.COM)
Isolation method
Photocoupler
Rated input voltage
12/24VDC
Rated input current
12VDC 2mA/24VDC 4mA
10.2 to 26.4VDC
Operating voltage range
(12/24VDC +10/ -15%, ripple ratio 5% or less)
ON voltage/current
10VDC or more/2.0mA or more
OFF voltage/current
1.8VDC or less/0.18mA or less
Input resistance
Response time
Approx. 5.6k
OFF to ON
ON
0.4ms/0.6ms/1ms
(CPU parameter setting, Default 0.4ms)
to OFF
Operation indicator
ON indication (LED)
2 - 62
2 SYSTEM CONFIGURATION
(c) Serial absolute synchronous encoder input
Item
Specifications
Applicable types
Q171ENC-W8
Q170ENC
Applicable signal types
Differential-output type: (SN75C1168 or equivalent)
Transmission method
Serial communications
Synchronous method
Counter-clock-wise (viewed from end of shaft)
Communication speed
2.5Mbps
Position detection method
Absolute (ABS) method
Resolution
4194304PLS/rev (22bit)
Number of modules
262144PLS/rev (18bit)
2/module
External connector type
20 pin connector
Applicable connector for
Q170ENCCNS (Optional)
the external connection
Applicable wire
MB14B0023 12Pair
Q170ENCCBL M
Connecting cable
( =cable length 2m(6.56ft.), 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.),
30m(98.43ft.), 50m(164.04ft.) )
Cable length
(Note-1)
Up to 50m (164.04ft.)
Back up the absolute position.
Depends on A6BAT/MR-BAT.
Battery service life time
12000[h], (Example of encoders 2)
(value in actual)
24000[h], (Example of encoders 1)
(Note-1): You can use these cables when the tracking enable signal is not used.
When the tracking enable signal is used, fabricate the cable on the customer side.
2 - 63
2 SYSTEM CONFIGURATION
(3) Select to number of the synchronous encoder modules
Synchronous encoders are available in voltage-output type (incremental),
differential-output type (incremental) and serial absolute output type.
Q172DEX can be connected to only serial absolute output type.
When using the incremental synchronous encoder of voltage-output type or
differential-output type, must be used Q173DPX or built-in interface in Motion
CPU of Q173DSCPU/Q172DSCPU. (The synchronous encoders are used in the
SV22 virtual mode or SV22 advanced synchronous control.)
In addition, the usable numbers of synchronous encoders differ depending on the
modules.
The following number of serial absolute synchronous encoders and incremental
synchronous encoders combined can be used.
Motion CPU module
Q173DSCPU
Q172DSCPU
Q173DCPU(-S1)
Q172DCPU(-S1)
Applicable types
Q171ENC-W8
Q170ENC
Connectable synchronous encoder
Up to 12 modules (Q172DEX: Up to 6 modules )
Up to 8 modules (Q172DEX: Up to 4 modules )
• Tracking enable signal
Tracking enable signal of Q172DEX is used in high-speed reading function or
high-speed input request signal.
The external input signal of the synchronous encoder is indicated below.
External input signal of the
synchronous encoder
Tracking enable signal input
2 - 64
Item
High-speed reading function
High-speed input request signal
Number of points on
one Q172DEX
2 points
2 SYSTEM CONFIGURATION
(4) Connection of synchronous encoder interface module.
(a) Connection with serial absolute synchronous encoder
Use the SY.ENC connector on the front of the Q172DEX module to
connect to serial absolute synchronous encoder.
When tracking enable signal is not used, use the Q170ENCCBL M
encoder cable between the serial absolute synchronous encoder and
SY.ENC connector.
The following is the pin layout of the Q172DEX SY.ENC connector as
viewed from the front.
SY.ENC connector
1
10
11
20
Signal name Applicable connector
Pin No.
Signal name
Pin No.
1
LG
11
LG
2
LG
12
LG
3
LG
13
No connect
4
TREN
14
TREN.COM
5
No connect
15
No connect
6
MD
16
MDR
7
MR
17
MRR
8
No connect
18
P5
9
BAT
19
P5
10
P5
20
P5
model names
10120-3000PE connector
10320-52F0-008 connector case
(3M make)
(b) Interface with external equipment
The interface between the SY.ENC connector and external equipment is
described below.
1) Wiring precautions
Ensure the connector lock after connecting the connector.
Synchronous encoder interface module
(Q172DEX)
SY.ENC connector
Serial absolute synchronous encoder cable
(Q170ENCCBL M)
Serial absolute synchronous encoder
2 - 65
2 SYSTEM CONFIGURATION
(5) Interface between SY.ENC connector and external equipment
Input or
Output
Signal
name
Pin No.
MD
6
Wiring example
Internal circuit
Specification
Description
Transmission method:
serial communications
Position detection
method: absolute
MDR
16
MR
7
MRR
17
P5
10 18 19 20
Serial
absolute
synchronous
encoder
5VDC
Input
LG
1 2 3 11 12
Battery
BAT
TREN
(Note)
TREN.
COM
9
4
14
(Note)
SD
12VDC to 24VDC
plate
(Note): As for the connection to power line (TREN, TREN.COM), both "+" and "–" are possible.
CAUTION
Always use a shield cable for connection of the SY.ENC connector and external equipment, and
avoid running it close to or bundling it with the power and main circuit cables to minimize the
influence of electromagnetic interface. (Separate them more than 200mm (0.66 ft.) away.)
Connect the shield wire of the connection cable to the FG terminal of the external equipment.
When increasing the cable length, use the cable 50m(164.04ft.) or less. Note that the cable
should be run in the shortest possible distance to avoid induced noise.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
2 - 66
2 SYSTEM CONFIGURATION
(6) Details of encoder cable connections
(a) When not using tracking enable signal (Note-1)
SY.ENC side connector
10120-3000PE (connector)
10320-52F0-008(connector case)
Synchronous encoder side connector
D/MS3106B22-14S (plug)
D/MS3057-12A (cable clamp)
S
R
P5
LG
19
11
P5
LG
20
12
P5
LG
18
2
BAT
LG
MR
MRR
MD
MDR
9
1
7
17
6
16
E
SD plate
N
K
L
H
J
:Twisted pair cable
Q170ENCCBL2M to Q170ENCCBL50M(50m (164.04ft.) or less)
(b) When using tracking enable signal
SY.ENC side connector
10120-3000PE (connector)
10320-52F0-008(connector case)
(Note-1), (Note-2)
Synchronous encoder side connector
D/MS3106B22-14S (plug)
D/MS3057-12A (cable clamp)
P5
LG
19
11
S
R
P5
LG
20
12
P5
LG
18
2
BAT
LG
MR
MRR
MD
MDR
9
1
7
17
6
16
E
SD plate
TREN
4
TREN.COM14
N
K
L
H
J
24VDC
:Twisted pair cable
Cable length 50m(164.04ft.) or less
(Note-1): Be sure to use a wire model name AWG24.
(Note-2): When using tracking enable signal, fabricate the encoder cable by customer side.
2 - 67
2 SYSTEM CONFIGURATION
(7) Connection of the battery
This section describes the battery specifications, handling precautions and
installation of the Q172DEX.
(a) Specifications
The specifications of the battery for memory back-up are shown in the table
below.
Battery Specifications
Model name
A6BAT/MR-BAT
Item
Manganese dioxide lithium primary battery
Classification
3.6
Normal voltage [V]
1600
Nominal current [mAh]
5 years
Storage life
0.48
Lithium content [g]
For backup absolute positioning data of the serial absolute
Applications
synchronous encoder
16(0.63) × 30(1.18)
Exterior dimensions [mm(inch)]
(Note) : The following points are changed for lithium metal batteries transportation by sea or air due to
Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition.
1) A package containing 24 cells or 12 batteries or less that are not contained in equipment are no
longer exempt from the following: attachment of a handling label, submission of the Shipper's
Declaration for Dangerous Goods, and a 1.2m (3.94ft.) drop test.
2) A battery handling label (size: 120 x 110mm (4.72 x 4.33inch)) is required. Emergency telephone
number must be filled out in the additional handling information of the Shipper's Declaration for
Dangerous Goods.
3) New label design containing battery illustration must be used (in air transportation only).
CAUTION!
IF DAMAGED
Lithium Metal batteries
DO NOT LOAD OR TRANSPORT
PACKAGE IF DAMAGED
For more information,call
+81-3-3218-3639
International
Fig.2.1 Example of Label with Battery Illustration
• Transportation precaution for customers
Documentations like the handling label in the specified design and the Shipper's Declaration for
Dangerous Goods are required for air and sea transportation. Please attach documentations like the
handling label in the specified design and the Shipper's Declaration for Dangerous Goods to the
package.
If you need the self-certification form for the battery safety test, contact Mitsubishi.
For more information, contact Mitsubishi.
2 - 68
2 SYSTEM CONFIGURATION
(b) Battery replacement
For Battery replacement procedure, refer to section 6.5.2.
Battery is supplied to the
serial absolute synchronous
encoder by the encoder
cable.
Battery connector
LITHIUM B ATTERY
MITSUBISHI
A6BAT/MR-BAT
(c) Battery life
(Note-1)
Module type
Battery type
Power-on
time ratio
(Note-2)
Q171ENC-W8/
Q170ENC 1
Q172DEX
Internal
battery
(A6BAT/
MR-BAT)
Q171ENC-W8/
Q170ENC 2
Battery life (Total power failure time) [h]
Actual service
Guaranteed
Guaranteed
(Note-5)
value
(Note-3)
(Note-4)
value
value
(Reference value)
(MIN)
(TYP)
(TYP)
(75°C (167°F))
(40°C (104°F))
(25°C (77°F))
0%
3000
8000
24000
30%
4000
11000
34000
50%
6000
16000
43800
70%
10000
26000
43800
100%
43800
43800
43800
0%
1500
4000
12000
30%
2000
5500
17000
50%
3000
8000
21900
70%
5000
13000
21900
100%
43800
43800
43800
Backup time
after alarm
40
(After Error
code 1152
occurrence)
(Note-1) : The actual service value indicates the average value, and the guaranteed time indicates the minimum time.
(Note-2) : The power-on time ratio indicates the ratio of Multiple CPU system power-on time to one day (24 hours).
(When the total power-on time is 17 hours and the total power-off time is 7 hours, the power-on time ratio is 70%.)
(Note-3) : The guaranteed value (MIN) ; equivalent to the total power failure time that is calculated based on the characteristics value of
the memory (SRAM) supplied by the manufacturer and under the storage ambient temperature range of -25°C to 75°C (-13 to
167°F) (operating ambient temperature of 0°C to 55°C (32 to 131°F)).
(Note-4) : The guaranteed value (TYP) ; equivalent to the total power failure time that is calculated based on the normal air-conditioned
environment (40°C (104°F)).
(Note-5) : The actual service value (Reference value) ; equivalent to the total power failure time that is calculated based on the measured
value and under the storage ambient temperature of 25°C (77°F). This value is intended for reference only, as it varies with
characteristics of the memory.
POINTS
The self-discharge influences the life of battery without the connection to Q172DEX.
The external battery should be exchanged approximately every 4 or 5 years.
Exchange the battery with a new one in 4 to 5 years even if a total power failure
time is guaranteed value or less.
2 - 69
2 SYSTEM CONFIGURATION
CAUTION
Do not short a battery.
Do not charge a battery.
Do not disassemble a battery.
Do not burn a battery.
Do not overheat a battery.
Do not solder the battery terminals.
Before touching the battery, always touch grounded metal, etc. to discharge static electricity from
human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components. Touching them
could cause an operation failure or damage the module.
2 - 70
2 SYSTEM CONFIGURATION
2.5.6 Q173DPX Manual pulse generator interface module
Q173DPX receives signals required for Manual pulse and Incremental synchronous
encoder (Voltage-output/Open-collector type/Differential-output type) input.
(1) Q173DPX name of parts
1)
Q173DPX
5)
PLS.A
1
2
3
PLS.B
1
2
3
TREN
1
2
3
PULSER
3)
1 2 3 4 5 6
ON
6)
2)
7)
Q173DPX
8)
4)
No.
1)
Name
Module fixing hook
Application
Hook used to fix the module to the base unit.
(Single-motion installation)
Display the input status from the external equipment.
LED
PLS.A 1 to 3
2)
Input indicator LED
PLS.B 1 to 3
TREN 1 to 3
Details
Display for input signal status of manual
pulse generator/incremental synchronous
encoder phases A, B
Display for signal status of tracking enable.
The manual pulse generator/incremental synchronous
encoder phases A, B and tracking enable signal does not
turn ON without setting Q173DPX in the system setting.
3)
PULSER connector
4)
Module mounting lever
5)
Module fixing screw hole
Input connector of the Manual pulse generator/Incremental
synchronous encoder.
Used to install the module to the base unit.
Hole for the screw used to fix to the base unit
(M312 screw : Purchase from the other supplier)
2 - 71
2 SYSTEM CONFIGURATION
No.
Name
Application
Detection setting of TREN1 signal
Dip switch 1
Dip switch 2
Dip switches
SW2
OFF
OFF
ON
ON
ON
OFF
OFF
ON
TREN is detected at leading
edge of TREN signal.
TREN is detected at trailing edge
of TREN signal.
Detection setting of TREN2 signal
ON
1 2 3 4 5 6
6)
(Note-1)
SW1
Dip switch 3
Dip switch 4
(Factory default in OFF
position)
SW3
SW4
OFF
OFF
ON
ON
ON
OFF
OFF
ON
TREN is detected at leading
edge of TREN signal.
TREN is detected at trailing edge
of TREN signal.
Detection setting of TREN3 signal
Dip switch 5
Dip switch 6
SW5
SW6
OFF
OFF
ON
ON
ON
OFF
OFF
ON
TREN is detected at leading
edge of TREN signal.
TREN is detected at trailing edge
of TREN signal.
7)
Module fixing projection
Projection used to fix to the base unit.
8)
Serial number display
Display the serial number described on the rating plate.
(Note-1): The function is different depending on the operating system software installed.
CAUTION
Before touching the DIP switches, always touch grounded metal, etc. to discharge static
electricity from human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components. Touching them
could cause an operation failure or damage the module.
POINTS
Input indicator LED of the manual pulse generator/incremental synchronous
encoder phases A, B and tracking enable signal turns ON at the following
conditions.
(1) PLS.A 1 to 3, PLS.B 1 to 3
• Q173DPX is set in the system setting of MT Developer2.
• All axes servo ON command (M2042) turned on.
• Manual pulse generator enable flag (M2051, M2052, M2053) turned on.
• Manual pulse generator signal is input.
(2) TREN 1 to 3
• Q173DPX is set in the system setting of MT Developer2.
• The tracking enable signal is input.
2 - 72
2 SYSTEM CONFIGURATION
(2) Performance specifications
(a) Module specifications
Item
Specifications
Number of I/O occupying points
32 points (I/O allocation: Intelligent, 32 points)
Internal current consumption(5VDC)[A]
0.38
98(H) 27.4(W) 90(D)
Exterior dimensions [mm(inch)]
(3.86(H) 1.08(W) 3.54(D))
Mass [kg]
0.15
(b) Tracking enable signal input
Item
Specifications
Number of input points
Tracking enable signal: 3 points
Input method
Sink/Source type
Common terminal arrangement
1 point/common (Common contact: TREN.COM)
Isolation method
Photocoupler
Rated input voltage
12/24VDC
Rated input current
12VDC 2mA/24VDC 4mA
10.2 to 26.4VDC
Operating voltage range
(12/24VDC +10/ -15%, ripple ratio 5% or less)
ON voltage/current
10VDC or more/2.0mA or more
OFF voltage/current
1.8VDC or less/0.18mA or less
Input resistance
Approx. 5.6k
Response time
OFF to ON
0.4ms/0.6ms/1ms
ON to OFF
(CPU parameter setting, Default 0.4ms)
Operation indicator
ON indication (LED)
(Note): Functions are different depending on the operating system software installed.
(c) Manual pulse generator/Incremental synchronous encoder input
Item
Specifications
Number of modules
3/module
Voltage-output/
High-voltage
3.0 to 5.25VDC
Open-collector type
Low-voltage
0 to 1.0VDC
Differential-output type
High-voltage
2.0 to 5.25VDC
(26LS31 or equivalent)
Low-voltage
0 to 0.8VDC
Input frequency
Up to 200kpps (After magnification by 4)
• Voltage-output type/Open-collector type (5VDC),
Applicable types
Recommended product: MR-HDP01
• Differential-output type (26LS31 or equivalent)
External connector type
40 pin connector
2
0.3mm
Applicable wire size
Applicable connector for the external
A6CON1 (Attachment)
connection
A6CON2, A6CON3, A6CON4 (Optional)
Voltage-output/
Cable length
30m (98.43ft.)
Open-collector type
(Open-collector type: 10m (32.81ft.) )
Differential-output type
2 - 73
2 SYSTEM CONFIGURATION
(3) Connection of manual pulse generator
Manual pulse generators of the voltage-output/open-collector type and
differential-output type can be connected. Both connection methods are different.
(Refer to this section (5).)
When the manual pulse generator is connected to the Q173DPX, it cannot be
connected to the built-in interface in Motion CPU.
Motion CPU module
Connectable manual pulse generator
Q173DSCPU
Q172DSCPU
Up to 3 modules
Q173DCPU(-S1)
(Q173DPX: Up to 1 module)
Q172DCPU(-S1)
(4) Connection of incremental synchronous encoder
Incremental synchronous encoders of the voltage-output/Open-collector type and
differential-output type can be connected. Both connection methods are different.
(Refer to this section (5).)
Serial absolute synchronous encoder not connected to Q173DPX. Then connect
to Q172DEX.
In addition, the usable numbers of synchronous encoders differ depending on the
modules.
The following number of serial absolute synchronous encoders and incremental
synchronous encoders combined can be used.
Motion CPU module
Connectable synchronous encoder
Q173DSCPU
Up to 12 modules
Q172DSCPU
(Q173DPX: Up to 4 modules)
Q173DCPU(-S1)
Up to 8 modules
Q172DCPU(-S1)
(Q173DPX: Up to 3 modules)
• Tracking enable signal
Tracking enable signal of Q173DPX is used to start the input from incremental
synchronous encoders in the external input mode for the clutch.
The external input signal of the incremental synchronous encoder is indicated
below.
This signal is used as the input start signal, high-speed reading function or
high-speed input request signal from incremental synchronous encoder.
External input signal of the
Application
incremental synchronous encoder
Tracking enable signal input
Number of points on
one Q173DPX
Input start function from incremental
Each 1 point
synchronous encoder
(Total 3 points)
2 - 74
2 SYSTEM CONFIGURATION
(5) Connection of manual pulse generator interface module
(a) The pin layout of the PULSER connector
Use the PULSER connector on the front of the Q173DPX module to
connect to manual pulse signals and incremental synchronous encoder
signals.
The following is the pin layout of the Q173DPX PULSER connector as
viewed from the front.
PULSER connector
2)
B20
A20
3)
2)
3)
2)
3)
B1
A1
4)
Pin No.
Signal Name
Pin No.
Signal Name
B20
HB1
A20
HA1
B19
SG
A19
SG
B18
5V
A18
HPSEL1
B17
HA1N
A17
HA1P
B16
HB1N
A16
HB1P
B15
HB2
A15
HA2
B14
SG
A14
SG
B13
5V
A13
HPSEL2
B12
HA2N
A12
HA2P
B11
HB2N
A11
HB2P
B10
HB3
A10
HA3
B9
SG
A9
SG
B8
5V
A8
HPSEL3
B7
HA3N
A7
HA3P
B6
HB3N
A6
HB3P
B5
No connect
A5
No connect
B4
TREN1-
A4
TREN1+
B3
TREN2-
A3
TREN2+
B2
TREN3-
A2
TREN3+
B1
FG
A1
FG
2)
1)
3)
2)
1)
3)
2)
1)
3)
4)
Applicable connector model name
A6CON1 type soldering type connector
FCN-361J040-AU connector (FUJITSU COMPONENT LIMITED)
FCN-360C040-B connector cover
A6CON2 type Crimp-contact type connector
A6CON3 type Pressure-displacement type connector
A6CON4 type soldering type connector
1): Input type from manual pulse generator/incremental synchronous
encoder switched by HPSEL .
Not connected : Voltage-output/open-collector type
HPSEL -SG connection : Differential-output type
(Switching is possible for each input 1 to 3)
2): Voltage-output/open-collector type
Connect the A-phase signal to HA1/HA2/HA3, and the B-phase signal
to HB1/HB2/HB3.
3): Differential-output type
Connect the A-phase signal to HA1P/HA2P/HA3P, and the A-phase
inverse signal to HA1N/HA2N/HA3N.
Connect the B-phase signal to HB1P/HB2P/HB3P, and the B-phase
inverse signal to HB1N/HB2N/HB3N.
4): Connect the shield cable between manual pulse generator/incremental
synchronous encoder and Q173DPX at the FG signal.
5): Connector/terminal block conversion modules cannot be used.
2 - 75
(Attachment)
(Optional)
2 SYSTEM CONFIGURATION
(b) Interface between PULSER connector and manual pulse
generator (Differential-output type)/Incremental synchronous
encoder
Input or
Output
Signal name
1
A
A17
Manual
HA P
pulse
generator, A
B17
phase A
HA P
Input
A
A16
HA P
Manual
pulse
generator,
phase B
A
B16
HA P
PIN No.
2
3
Wiring example
A12
A7
A
B12
B7
Manual
pulse
generator/
Incremental
synchronous
encoder
B
Internal circuit
A6
B
B11
Description
Rated input voltage For connection manual
pulse generator
5.5VDC or less
Phases A, B
Pulse width
HIGH level
20 s or more
2.0 to 5.25VDC/
2mA or less
A
A11
Specification
B6
5 s
or more
5 s
or more
LOW level
0.8VDC or less
(Duty ratio: 50% 25%)
26LS31 or
equivalent
Leading edge, Trailing
edge time 1 s or less
Phase difference
Phase A
Select type
signal
HPSEL
Phase B
A18 A13
A8
P5
B18 B13
B8
SG
A19 A14
B19 B14
A9
B9
(Note)
Power
supply
(Note-2)
5V
Power supply
5VDC
2.5 s or more
(1) Positioning address
increases if Phase A
leads Phase B.
(2) Positioning address
decreases if Phase B
leads Phase A.
SG
(Note-1): The 5V(P5)DC power supply from the Q173DPX must not be used if a separate power supply is
applied to the Manual pulse generator/Incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.
(Note-2): Connect HPSEL to the SG terminal if the manual pulse generator (differential-output type)
/incremental synchronous encoder is used.
2 - 76
2 SYSTEM CONFIGURATION
(c) Interface between PULSER connector and manual pulse
generator (Voltage-output/Open-collector type)/
Incremental synchronous encoder.
Input or
Signal name
Output
Manual
pulse
generator,
phase A
HA
Input
Manual
pulse
generator,
phase B
HB
1
Pin No.
2
3
Wiring example
Internal circuit
Specification
Rated input voltage
5.5VDC or less
A
A20 A15 A10
B20 B15 B10
HIGH level
3 to 5.25VDC/
2mA or less
Manual
pulse
generator/
Incremental
synchronous
encoder
B
LOW level
1VDC or less/
5mA or more
Description
For connection manual
pulse generator
Phases A, B
Pulse width
20 s or more
5 s
or more
5 s
or more
(Duty ratio: 50% 25%)
Leading edge, Trailing
edge time 1 s or less
Phase difference
Phase A
Select type
signal
HPSEL
Phase B
A18 A13
A8
P5
B18 B13
B8
SG
A19 A14
B19 B14
A9
B9
(Note)
No connect
5V
Power
supply
2.5 s or more
(1) Positioning address
increases if Phase A
leads Phase B.
(2) Positioning address
decreases if Phase B
leads Phase A.
Power supply
5VDC
SG
(Note-1) : The 5V(P5)DC power supply from the Q173DPX must not be used if a separate power supply is
applied to the Manual pulse generator/Incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage. Anything else may cause a failure.
(d) Interface between PULSER connector and tracking enable
signal
Input or
Output
Input
Signal name
1
Pin No.
2
3
TREN
A4
A3
A2
TREN
B4
B3
B2
Wiring example
Internal circuit
Specification
Description
Tracking enable
signal input.
Tracking
enable
12V to 24VDC
(Note): As for the connection to tracking enable (TREN +, TREN –), both "+" and "–" are possible.
2 - 77
2 SYSTEM CONFIGURATION
(6) Connection examples of manual pulse generator
Manual pulse generator
(Voltage-output/Open-collector type)
Q173DPX
Manual pulse generator
(Differential-oputput type)
Q173DPX
Manual pulse
generator side
Signal name
Manual pulse
generator side
HA
A
HA P
A
HB
B
HA N
A
Signal name
SG
0V
HB P
B
SG
5V
HB N
B
SG
(Note-1)
SG
0V
P5
5V
P5
Shield
FG
: 1 to 3
Shield
FG
SV
: Twist pair cable
HPSEL
: 1 to 3
(Note-1)
(Note-2)
: Twist pair cable
(Note-1): The 5V(P5)DC power supply from the Q173DPX must not be used if a separate power
supply is applied to the Manual pulse generator/Incremental synchronous encoder.
If a separate power supply is used, be sure it is 5V voltage.
Anything else may cause a failure.
(Note-2): Connect HPSEL to the SG terminal if the manual pulse generator (differential-output
type)/incremental synchronous encoder is used.
CAUTION
If a separate power supply is applied to the manual pulse generator/incremental synchronous
encoder, be sure it is 5V voltage. Anything else may cause a failure.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
P5 terminal is the power supply for the manual pulse generator. Do not apply a voltage and do
not use it for other purposes.
2 - 78
2 SYSTEM CONFIGURATION
2.5.7 Q173DSXY Safety signal module
Q173DSXY is used to input/output the safety signal.
(1) Q173DSXY name of parts
1)
Q173DSXY
6)
2)
Motion
IO
Q173DSXY
PLC
IO
3)
RIO2 RIO1 SW
FRONT
4)
7)
11)
23
78 9
CD
AB E
4 56
5)
F 01
9)
No.
1)
8)
10)
Name
Module fixing hook
Application
Hook used to fix the module to the base unit.
(Single-motion installation)
Display the input status from the external equipment.
LED
2)
Input indicator LED
0 to 1F
Details
Display for I/O signal status of PLC CPU
side.
3)
PLC IO connector
Input connector of the PLC CPU.
4)
Motion IO connector
Input connector of the Motion CPU.
5)
Module mounting lever
Used to install the module to the base unit.
6)
Module fixing screw hole
7)
Module fixing projection
8)
RIO1 connector
Hole for the screw used to fix to the base unit
(M312 screw: Purchase from the other supplier)
Projection used to fix to the base unit.
RIO communication to Motion CPU
(For connection to Motion CPU or Q173DSXY installed on the
left)
2 - 79
2 SYSTEM CONFIGURATION
No.
9)
Name
RIO2 connector
Rotary switch for station
number setting
(For connection to Q173DSXY installed on the right)
Set station number of safety signal module.
Setting
78 9
23
4 56
RIO communication for Motion CPU
CD
AB E
10)
Application
F0 1
11) Serial number display
(Note)
Station number
0
Station number 1 (Module 1)
1
Station number 2 (Module 2)
2
Station number 3 (Module 3)
(Note): Do not set other than the above setting.
Display the serial number described on the rating plate.
(2) Performance specifications
(a) Module specifications
Item
Specifications
Number of I/O occupying points
32 points (I/O allocation: I/O mix, 32 points)
Internal current consumption(5VDC)[A]
0.2 (TYP. All points ON)
98(H) 27.4(W) 90(D)
Exterior dimensions [mm(inch)]
(3.86(H) 1.08(W) 3.54(D))
Mass [kg]
0.15
2 - 80
2 SYSTEM CONFIGURATION
(b) Input/output
Item
Specifications
32 points
Number of input points
2 lines
(PLC CPU control 32 points + Motion CPU control 32 points,
Safety input 20 points 2 lines,
2 lines)
Feedback input for output 12 points
Input isolation method
Photocoupler
Rated input voltage
24VDC (+10/-10%), Negative common type
Maximum input current
Approx. 4mA
Input resistance
Approx. 8.2k
Input ON voltage/current
20VDC or more/3.0mA or more
Input OFF voltage/current
5VDC or less/1.7mA or less
Input response time
PLC CPU control I/O
Motion CPU control I/O : 15ms (CR filter)
32 points/common
Input common method
Number of output points
(PLC I/O and Motion I/O are separated.)
12 points
Photocoupler
Rated output voltage
24VDC (10%), Source type
(0.1A
Maximum load current
4 points)
2 lines
Common current: 1.6A or less for each connector
1ms or less
12 points/common
Output common method
(PLC I/O and Motion I/O are separated.)
ON indication (LED) (indicates PLC CPU's 32 points)
Communication with PLC CPU
Communication with Motion CPU
8 points, 0.2A
0.7A 10ms or less (0.2A output pin: 1.4A 10ms or less)
Response time
Operation indicator (input/output)
2 lines
(PLC CPU control 12 points + Motion CPU control 12 points)
Output isolation method
Maximum inrush current
: 10ms (initial value of digital filter)
Parallel bus communication (Via main base unit)
Serial communication (RS-485), Q173DSXYCBL M cable use
Applicable connector for the external
A6CON1 (Attachment),
connection
A6CON2, A6CON3, A6CON4 (Optional)
Applicable connector/
A6TBXY36 (Optional)
Terminal block converter module
Number of modules
Up to 3 modules
2 - 81
2 SYSTEM CONFIGURATION
(c) The pin layout of the Motion IO connector/PLC IO connector
Use the Motion IO connector and PLC IO connector on the front of the
Q173DSXY module to connect to I/O signals.
The following is the pin layout of the Q173DSXY Motion IO connector and
PLC IO connector as viewed from the front.
Motion
IO
1B20 1A20
Motion IO connector
PLC
IO
2B20 2A20
Signal Name
Pin No.
Signal Name
Pin No.
Signal Name
Pin No.
Signal Name
1B20
MC-X00
1A20
MC-X10
2B20
PLC-X00
2A20
PLC-X10
1B19
MC-X01
1A19
MC-X11
2B19
PLC-X01
2A19
PLC-X11
1B18
MC-X02
1A18
MC-X12
2B18
PLC-X02
2A18
PLC-X12
1B17
MC-X03
1A17
MC-X13
2B17
PLC-X03
2A17
PLC-X13
1B16
MC-X04
1A16
MC-X14
2B16
PLC-X04
2A16
PLC-X14
1B15
MC-X05
1A15
MC-X15
2B15
PLC-X05
2A15
PLC-X15
1B14
MC-X06
1A14
MC-X16
2B14
PLC-X06
2A14
PLC-X16
1B13
MC-X07
1A13
MC-X17
2B13
PLC-X07
2A13
PLC-X17
1B12
MC-X08
1A12
MC-X18
2B12
PLC-X08
2A12
PLC-X18
1B11
MC-X09
1A11
MC-X19
2B11
PLC-X09
2A11
PLC-X19
PLC-Y0A/X0A
(Note-1)
1B10
(Note-1),
2B10
2A10
MC-Y1A/X1A
(Note-1),
(Note-18)
MC-Y1B/X1B
(Note-1)
PLC-Y0B/X0B
(Note-1)
PLC-Y1B/X1B
MC-Y0C/X0C
1A8
MC-Y1C/X1C
2B8
PLC-Y0C/X0C
2A8
PLC-Y1C/X1C
MC-Y0D/X0D
1A7
MC-Y1D/X1D
2B7
PLC-Y0D/X0D
2A7
PLC-Y1D/X1D
1B6
MC-Y0E/X0E
1A6
MC-Y1E/X1E
2B6
PLC-Y0E/X0E
2A6
PLC-Y1E/X1E
1B5
MC-Y0F/X0F
1A5
MC-Y1F/X1F
2B5
PLC-Y0F/X0F
2A5
PLC-Y1F/X1F
1B4
Not connect
1A4
Not connect
2B4
Not connect
2A4
Not connect
1B3
Not connect
1A3
Not connect
2B3
Not connect
2A3
Not connect
1B2
24VDC(COM1)
1A2
0V(COM2)
2B2
24VDC(COM1)
2A2
0V(COM2)
1B1
24VDC(COM1)
1A1
0V(COM2)
2B1
24VDC(COM1)
2A1
0V(COM2)
(Note-1)
(Note-1)
MC-Y0B/X0B
1B8
1B7
1B9
2B1 2A1
1A10
MC-Y0A/X0A
(Note-2)
1B1 1A1
PLC IO connector
Pin No.
1A9
(Note-2)
2B9
2A9
PLC-Y1A/X1A
(Note-1): 0.2[A] output is possible. (The others are 0.1[A] output.)
(Note-2): Controlled by system as shut-off signal. (Safety function normally is ON, abnormally is OFF.)
Applicable connector model name
A6CON1 type soldering type connector
FCN-361J040-AU connector (FUJITSU COMPONENT LIMITED)
FCN-360C040-B connector cover
(Attachment)
A6CON2 type Crimp-contact type connector
A6CON3 type Pressure-displacement type connector
A6CON4 type soldering type connector
(Optional)
(Note): Connector/terminal block conversion modules and cables can be used at the wiring of connector.
A6TBXY36
: Connector/terminal block converter module
AC TB ( :Length [m]) : Connector/terminal block converter module cable
2 - 82
2 SYSTEM CONFIGURATION
(3) Interface between Motion IO connector/PLC IO connector and
servo external signal
Input or
Output
Input
Output
Signal name
Pin No.(Note-1)
LED
(Note-2)
Motion IO
PLC IO
MC-X00
PLC-X00
B20
0
MC-X01
PLC-X01
B19
1
MC-X02
PLC-X02
B18
2
MC-X03
PLC-X03
B17
3
MC-X04
PLC-X04
B16
4
MC-X05
PLC-X05
B15
5
MC-X06
PLC-X06
B14
6
MC-X07
PLC-X07
B13
7
MC-X08
PLC-X08
B12
8
MC-X09
PLC-X09
B11
9
MC-X10
PLC-X10
A20
0
MC-X11
PLC-X11
A19
1
MC-X12
PLC-X12
A18
2
MC-X13
PLC-X13
A17
3
MC-X14
PLC-X14
A16
4
MC-X15
PLC-X15
A15
5
MC-X16
PLC-X16
A14
6
MC-X17
PLC-X17
A13
7
MC-X18
PLC-X18
A12
8
MC-X19
PLC-X19
A11
9
MC-Y0A/X0A
PLC-Y0A/X0A
B10
A
MC-Y0B/X0B
PLC-Y0B/X0B
B9
B
MC-Y0C/X0C
PLC-Y0C/X0C
B8
C
MC-Y0D/X0D
PLC-Y0D/X0D
B7
D
MC-Y0E/X0E
PLC-Y0E/X0E
B6
E
MC-Y0F/X0F
PLC-Y0F/X0F
B5
F
MC-Y1A/X1A
PLC-Y1A/X1A
A10
A
MC-Y1B/X1B
PLC-Y1B/X1B
A9
B
MC-Y1C/X1C
PLC-Y1C/X1C
A8
C
MC-Y1D/X1D
PLC-Y1D/X1D
A7
D
MC-Y1E/X1E
PLC-Y1E/X1E
A6
E
MC-Y1F/X1F
PLC-Y1F/X1F
A5
Internal circuit
Specification
Supply voltage
24VDC
High level
20.0VDC or more/
3.0mA or more
Low level
5.0VDC or less/
1.7mA or less
Maximum load
current
0.1A 8 points
(2 lines)
0.2A 4points
(2 lines)
Common current
1.6A or less
L
F
24VDC(COM1) 24VDC(COM1)
B2
Power 24VDC(COM1) 24VDC(COM1)
supply 0VDC(COM2) 0VDC(COM2)
B1
0VDC(COM2)
A1
0VDC(COM2)
Wiring example
24VDC
A2
(Note-1): = 1: Motion IO, 2: PLC IO
(Note-2): PLC CPU side only
2 - 83
2 SYSTEM CONFIGURATION
POINTS
(1) Wire the I/O power supply input (24VDC, 0V common) supplied to Q173DSXY
to two pins of each conversion modules.
(2) Separate all external wirings into 2 lines to configure the safety circuit. Do not
wire between the two terminal block conversion modules for I/O power supply
supplied to Q173DSXY (24VDC, 0V common). Be sure to separately wire the
modules. If one break affects both wiring of Motion CPU side and PLC CPU
side, the safety system may not execute properly.
Q61P
QnUD
CPU
Q173DS Q173D
CPU
SXY
Good wiring
Bad wiring
Motion CPU side
PLC CPU side
Terminal
block
Relay
Power supply terminals
Motion CPU side
PLC CPU side
Terminal
block
Power input
terminals
+24V
Relay
Power supply terminals
Power input
terminals
+24V
GND
GND
Wire breakage (Note)
Wire breakage (Note)
(Note): Wire breakage doesn't affect the other equipment.
(Note): Wire breakage affect the other equipment.
CAUTION
Measure the input voltage to Q173DSXY with the input connector part. Be sure to select DC
power supply within the range of 21.6VDC to 26.4VDC included ripple voltage and spike voltage
and wire.
When wiring in the Q173DSXY, be sure that it is done correctly by checking the product's rated
voltage and the terminal layout. Connecting a power supply that is different from the rating or
incorrectly wiring the product could result in fire or damage.
Wire the cable correctly. Wrong wiring may damage the internal circuit.
Always use a shield cable for connection of the connector and external equipment, and avoid
running it close to or bundling it with the power and main circuit cables to minimize the
influence of electromagnetic interface. (Separate them more than 100mm(0.33ft.) away.)
Connect the shield wire of the connection cable to the FG terminal of the external equipment.
Make parameter setting correctly. Incorrect setting may disable the protective functions such
as safety functions.
Always wire the cables when power is off. Not doing so may damage the circuit of modules.
Do not touch the case of Q173DSXY while the power is ON and for a short time after the
power is turned OFF. In this timing, these parts become very hot and may lead to burns.
2 - 84
2 SYSTEM CONFIGURATION
(4) Wiring example for the safety signal module
(a) Wiring example for door signal to safety signal module and AC contactor.
Wiring example to shut off contactor by the following methods are shown in
the diagram below.
• Shut-off signal from the Motion CPU side of safety signal module
• Shut-off signal from the PLC CPU side of safety signal module
• Contactor shut-off output MC1 and MC2 of servo amplifier
Input the output signal of auxiliary normally closed contact into the safety
signal module to detect the weld of contactor.
Door sensor used as a safety signal should have two outputs and is wired to
both Motion CPU side and PLC CPU side. Sensor and switch used as
safety signal should be the ones for weak signal use (e.g. twin contact) to
prevent contact failure.
External power supply
Servo amplifier
(MR-J3- B)
Control
power supply
Main circuit
power supply
L11
L1 L2 L3
L21
Safety signal module
(Q173DSXY)
24VDC
1B01
Motion IO
1B09
Motion CPU side
Drive power
shut-off signal
Relay
1A20
Contactor
#1
1A19
MC1 normally
closed signal
1A18
MC2 normally
closed signal
MC1
Door1 signal
1A17
1A01
2B01
Relay
Contactor
#2
2B09
Door2 signal
PLC IO
PLC CPU side
Drive power
shut-off signal
MC2
2A20
2A19
MC1 normally
closed signal
2A18
MC2 normally
closed signal
Reactor
2A17
Door1 close/open
confirmation sensor
2A01
Door1 signal
Door2 signal
L1 L2 L3
(Main circuit power supply)
Door2 close/open
confirmation sensor
2 - 85
: Wiring for input/output control
of the safety signal
: Wiring for assist the safety signal
2 SYSTEM CONFIGURATION
(b) Wiring example for door signal to safety signal module and STO terminal.
Wiring example to wire the following methods are shown in the diagram
below.
• Shut-off signal from the Motion CPU side of safety signal module
• Shut-off signal from the PLC CPU side of safety signal module
• STO terminal of servo amplifier
Door sensor used as a safety signal should have two outputs and is wired to
both Motion CPU side and PLC CPU side. Sensor and switch used as
safety signal should be the ones for weak signal use (e.g. twin contact) to
prevent contact failure.
1) MR-J4- B use
External power supply
Servo amplifier
(MR-J4- B)
Safety signal module
(Q173DSXY)
24VDC
CN8
1B01
4
1B09
Motion IO
Motion CPU side
Drive power
shut-off signal
STO1
3
Shut-off signal
STO COM
8
Shut-off
confirmation
signal(1)
1A19
TOF COM
Shut-off
confirmation
signal
1A18
Shut-off
confirmation
signal(2)
6
TOFB1
Door1 signal
1A17
7
1A01
TOFB2
2B01
5
Shut-off signal
2B09
Door2 signal
PLC IO
PLC CPU side
Drive power
shut-off signal
STO2
Control
Main circuit
power supply power supply
L11
2A19
L21 L1 L2 L3
2A18
Shut-off
confirmation
signal
Reactor
2A17
Door1 close/open
confirmation sensor
L1 L2 L3
(Main circuit power supply)
Door2 close/open
confirmation sensor
2 - 86
2A01
Door1 signal
Door2 signal
2 SYSTEM CONFIGURATION
2) MR-J3- BS use
External power supply
Servo amplifier with STO
(MR-J3- BS)
Safety signal module
(Q173DSXY)
24VDC
CN8
1B01
4
1B09
Motion IO
Motion CPU side
Drive power
shut-off signal
STO1+
3
Shut-off signal
STO11A19
8
Shut-off confirmation
signal
Shut-off
confirmation
signal
1A18
TOF1
7
Door1 signal
1A17
TOF2
1A01
5
Shut-off signal
STO2+
2B01
6
2B09
Door2 signal
PLC IO
PLC CPU side
Drive power
shut-off signal
STO2Control
Main circuit
power supply power supply
L11
2A19
L21 L1 L2 L3
2A18
Shut-off
confirmation
signal
Reactor
2A17
Door1 close/open
confirmation sensor
L1 L2 L3
(Main circuit power supply)
Door2 close/open
confirmation sensor
2 - 87
2A01
Door1 signal
Door2 signal
2 SYSTEM CONFIGURATION
(c) Wiring example for external pulse input to safety signal module.
The wiring diagram for external pulse input signal and safety signal module
shows below.
Safety module performs the safety diagnostics of external pulse generator,
therefore you need to wire them so that external pulse generator is supplied
power by the safety signal module, and the generated pulse becomes input
signal of safety signal module.
External power supply
Safety signal module
(Q173DSXY)
24VDC
Motion CPU side
1B01
1B09
(Y0B)
Power supply to the
external pulse
(Output at SLS/SOS
executing)
1A18
(X12)
External pulse
input signal (Phase A)
1A17
(X13)
1A01
External pulse
input signal (Phase A)
External pulse
input signal (Phase B)
PLC CPU side
2B01
2B09
(Y0B)
External pulse
input signal (Phase B)
(Note): Only SOS function use
Power supply to the
external pulse
(Output at SOS
executing)
2A18
(X12)
2A17
(X13)
2A01
2 - 88
External pulse
input signal (Phase A)
External pulse
input signal (Phase B)
2 SYSTEM CONFIGURATION
2.5.8 Manual pulse generator/Serial absolute synchronous encoder
(1) Manual pulse generator specifications
Item
Specifications
Model name
MR-HDP01
Ambient temperature
(Note-1)
-10 to 60°C (14 to 140°F)
Pulse resolution
25PLS/rev(100 PLS/rev after magnification by 4)
Output method
Voltage-output/Output current: Up to 20mA
Power supply voltage
4.5 to 13.2VDC
Current consumption [mA]
Output level
60
"H" level: Power supply voltage
-1V or more (with no load)
"L" level: 0.5V or less (with maximum leading-in)
Life time
Permitted axial loads
(Note-2)
1,000,000 revolutions or more (at 200r/min)
Radial load: Up to 19.6N, Thrust load: Up to 9.8N
Mass [kg]
0.4
Number of max. revolution
Instantaneous Up to 600r/min. normal 200r/min
Pulse signal status
2 signals: A phase, B: phase, 90° phase difference
Start friction torque
0.06N•m (20°C (68°F))
(Note-1): Use MR-HDP01 by connecting with Q173DPX or built-in interface in Motion CPU.
(Note-2): If a separate power supply is used, be sure it is 5VDC ± 0.25V voltage.
2 - 89
2 SYSTEM CONFIGURATION
(2) Serial absolute synchronous encoder specifications
Item
Specifications
Q171ENC-W8
Model name
Ambient temperature
(Note-1), (Note-2)
Q170ENC
(Note-1), (Note-2)
-5 to 55°C (23 to 131°F)
Resolution
4194304PLS/rev
Transmission method
262144PLS/rev
Serial communications (Connected to Q172DEX)
Direction of increasing addresses
CCW (viewed from end of shaft)
Dustproof/Waterproof
Protective construction
Dustproof/Waterproof
(IP67: Except for the
(IP65: Except for the
shaft-through portion.)
shaft-through portion.)
Permitted speed at power ON
3600r/min
Permitted speed at power OFF
500r/min
(Note-3)
Permitted axial loads
Radial load : Up to 19.6N, Thrust load : Up to 9.8N
0.02mm(0.00079 inch) or less,
Runout at input shaft tip
(15mm(0.59 inch) from tip)
Start friction torque
0.04N•m (20°C (68°F))
Recommended coupling
0.02N•m (20°C (68°F))
Bellows coupling
2
40000rad/s
Permitted angular acceleration
Vibration resistance
5G (50 to 200Hz)
Shock resistance
50G (11ms or less)
Internal current consumption [A]
0.2
Mass [kg]
0.6
Q170ENCCBL M
Connecting cable [m(ft.)]
( =Cable length : 2(6.56), 5 (16.40), 10 (32.81),
20 (65.62), 30 (98.43), 50 (164.04))
Communications method
Differential driver/receiver
Transmission distance
Up to 50m(164.04ft.)
(Note-1): Use by connecting with Q172DEX.
(Note-2): When "o-ring" is required, please purchase separately by customers.
(Note-3): If it exceeds a permitted speed at power OFF, a position displacement is generated.
2 - 90
2 SYSTEM CONFIGURATION
2.5.9 SSCNET
cables
Between the Motion CPU module and servo amplifiers, or servo amplifier and servo
amplifier connected by SSCNET cable. When using the Q172D(S)CPU, SSCNET
cable for connection to servo amplifier can be used for only 1 line. (Connect to CN1.)
When using the Q173D(S)CPU, SSCNET cables for connection to servo amplifier
can be used for up to 2 lines. (Connect to CN1 and CN2.)
Up to 16 servo amplifiers can be connected to SSCNET (/H) per 1 line.
(However, when using the Q172DCPU(-S1), up to 8 servo amplifiers can be
connected.)
(1) SSCNET
cable specifications
Model name
MR-J3BUS M
(Standard cord for
inside panel)
MR-J3BUS M-A
(Standard cable for
outside panel)
MR-J3BUS M-B
(Long distance cable)
Cable length [m(ft.)]
MR-J3BUS015M
0.15 (0.49)
MR-J3BUS03M
0.3 (0.98)
MR-J3BUS05M
0.5 (1.64)
MR-J3BUS1M
1 (3.28)
MR-J3BUS3M
3 (9.84)
MR-J3BUS5M-A
5 (16.40)
MR-J3BUS10M-A
10 (32.81)
MR-J3BUS20M-A
20 (65.62)
MR-J3BUS30M-B
30 (98.43)
MR-J3BUS40M-B
40 (131.23)
MR-J3BUS50M-B
50 (164.04)
2 - 91
Description
• Motion CPU
Servo amplifier
• Servo amplifier
Servo amplifier
2 SYSTEM CONFIGURATION
(2) Connection between the Q173D(S)CPU and servo amplifiers
Connect the SSCNET cables to the following connectors.
Refer to Section 4.2.1 for the connection and disconnection of SSCNET
cable.
Motion CPU module
SSCNET cable length
MR-J3BUS M use
1) 3m(9.84ft.)
MR-J3BUS M-A use
1) 20m(65.62ft.)
MR-J3BUS M-B use
1) 50m(164.04ft.)
CN1
CN2
SSCNET (/H) LINE 1
Attach a cap to
connectors of line
not being used.
Cap
1)
CN1A
CN1A
1)
Cap
CN1B
CN1B
Servo amplifier
Servo amplifier
SSCNET (/H) LINE 2
1)
CN1A
CN1A
1)
CN1B
Servo amplifier
Cap
CN1B
Servo amplifier
(Note): It cannot communicate if the connection of
CN1A and CN1B is mistaken.
2 - 92
2 SYSTEM CONFIGURATION
(3) Connection between the Q172D(S)CPU and servo amplifiers
Connect the SSCNET cables to the following connectors.
Refer to Section 4.2.1 for the connection and disconnection of SSCNET
cable.
Motion CPU module
SSCNET cable length
MR-J3BUS M use
1) 3m(9.84ft.)
MR-J3BUS M-A use
1) 20m(65.62ft.)
MR-J3BUS M-B use
1) 50m(164.04ft.)
CN1
1)
CN1A
CN1A
1)
CN1B
Servo amplifier
Cap
CN1B
Servo amplifier
(Note): It cannot communicate if the connection of
CN1A and CN1B is mistaken.
2 - 93
2 SYSTEM CONFIGURATION
(4) Setting of the axis No. and axis select rotary switch of servo
amplifier
Axis No. is used to set the axis numbers of servo amplifiers connected to
SSCNET connector(CN ) in the program.
The following range can be set in the Motion CPU module.
Axis No. is set for each SSCNET (/H) line in the system setting of
MT Developer2. Axis No. is allocated and set for the setting axis number (d01 to
d16) of servo amplifier.
Axis No. setting range
Q173DSCPU
1 to 32
Q173DCPU(-S1)
Q172DSCPU
1 to 16
Q172DCPU(-S1)
1 to 8
Since the axis number (d01 to d16) of servo amplifier on the system setting
screen corresponds to axis select rotary switch (0 to F) of servo amplifier, set the
axis select switch referring to the table of next page.
• Setting display of axis No.
• Axis select rotary switch
(Servo amplifier)
B C DE
2
A
3 4 5 6
7 8 9
F 0 1
Set the axis No. relative to axis number (dno.).
(Note): Correspondence between dno. and axis select rotary switch of servo amplifiers is shown in
the next page.
2 - 94
2 SYSTEM CONFIGURATION
Correspondence between dno.s and axis select rotary switches of servo amplifier
dno.
(Note)
SSCNET (/H)
Axis select rotary switch
dno.
(Note)
SSCNET (/H)
Axis select rotary switch
line
of servo amplifier
line
of servo amplifier
d01
1
"0"
d01
2
"0"
d02
1
"1"
d02
2
"1"
d03
1
"2"
d03
2
"2"
d04
1
"3"
d04
2
"3"
d05
1
"4"
d05
2
"4"
d06
1
"5"
d06
2
"5"
d07
1
"6"
d07
2
"6"
d08
1
"7"
d08
2
"7"
d09
1
"8"
d09
2
"8"
d10
1
"9"
d10
2
"9"
d11
1
"A"
d11
2
"A"
d12
1
"B"
d12
2
"B"
d13
1
"C"
d13
2
"C"
d14
1
"D"
d14
2
"D"
d15
1
"E"
d15
2
"E"
d16
1
"F"
d16
2
"F"
(Note): The dno. is number of servo amplifier axis displayed with the system setting of MT Developer2.
Axis No. is set relative to dno. in the system settings.
Correspondence between SSCNET (/H) line and connector No. of Motion CPU
module is shown below.
Correspondence between SSCNET (/H) line No. and connector No. of Motion
CPU module
SSCNET (/H) line No.
Connector No. of Motion CPU
1
CN1
2
CN2
(Note): Number of SSCNET (/H) lines: Q173D(S)CPU: 2 lines/Q172D(S)CPU: 1 line
REMARK
The setting of axis select rotary switch is different depending on the servo amplifier.
Refer to the "Servo amplifier Instruction Manual" for details.
2 - 95
2 SYSTEM CONFIGURATION
2.5.10 Battery
This section describes the battery specifications and handling precautions used in the
Motion CPU.
(1) Battery specifications
Model name
Q6BAT
Item
Classification
Manganese dioxide lithium primary battery
Initial voltage [V]
3.0
Nominal current [mAh]
1800
Storage life
Actually 5 years (Room temperature)
Lithium content [g]
0.49
Applications
For memory data backup of SRAM built-in Motion CPU
Exterior dimensions [mm(inch)]
16(0.63) x 32(1.26)
(Note) : The following points are changed for lithium metal batteries transportation by sea or air due to
Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition.
1) A package containing 24 cells or 12 batteries or less that are not contained in equipment are no
longer exempt from the following: attachment of a handling label, submission of the Shipper's
Declaration for Dangerous Goods, and a 1.2m (3.94ft.) drop test.
2) A battery handling label (size: 120 x 110mm (4.72 x 4.33inch)) is required. Emergency telephone
number must be filled out in the additional handling information of the Shipper's Declaration for
Dangerous Goods.
3) New label design containing battery illustration must be used (in air transportation only).
CAUTION!
IF DAMAGED
Lithium Metal batteries
DO NOT LOAD OR TRANSPORT
PACKAGE IF DAMAGED
For more information,call
+81-3-3218-3639
International
Fig.2.2 Example of Label with Battery Illustration
• Transportation precaution for customers
Documentations like the handling label in the specified design and the Shipper's Declaration for
Dangerous Goods are required for air and sea transportation. Please attach documentations like the
handling label in the specified design and the Shipper's Declaration for Dangerous Goods to the
package.
If you need the self-certification form for the battery safety test, contact Mitsubishi.
For more information, contact Mitsubishi.
2 - 96
2 SYSTEM CONFIGURATION
(2) Data back-up of Motion CPU module by the battery
Be sure to use the battery.
• For Q173DSCPU/Q172DSCPU
Set the battery (Q6BAT) to battery holder.
• For Q173DCPU(-S1)/Q172DCPU(-S1)
Set the battery (Q6BAT) to battery holder unit (Q170DBATC).
The programs, parameters, motion devices(#), latch range devices and absolute
position data of SRAM built-in Motion CPU module are not backed up without
using the battery.
In the following status, the backup time after power OFF is 3 minutes.
• The battery connector/Q6BAT lead connector is disconnected.
• The battery cable/lead wire of Q6BAT is broken.
Battery life (Total power failure time) [h]
Module type
Battery type
Power-on
time ratio
(Note-2)
Q173D(S)CPU/
Q172D(S)CPU
Battery (Q6BAT)
Guaranteed
(Note-3)
value
Guaranteed
(Note-4)
value
(MIN)
(75°C (167°F))
(TYP)
(40°C (104°F))
0%
20000
30%
27000
50%
31000
70%
36000
100%
43800
43800
(Note-1)
Actual service
(Note-5)
value
(Reference value)
(TYP)
(25°C (77°F))
43800
Backup time
after alarm
90
(After
SM51/SM52
ON)
(Note-1): The actual service value indicates the average value, and the guaranteed value indicates the minimum value.
(Note-2): The power-on time ratio indicates the ratio of Multiple CPU system power-on time to one day (24 hours).
(When the total power-on time is 17 hours and the total power-off time is 7 hours, the power-on time ratio is 70%.)
(Note-3): The guaranteed value (MIN) ; equivalent to the total power failure time that is calculated based on the characteristics value of the
memory (SRAM) supplied by the manufacturer and under the storage ambient temperature range of -25°C to 75°C (-13 to
167°F) (operating ambient temperature of 0°C to 55°C (32 to 131°F)).
(Note-4): The guaranteed value (TYP) ; equivalent to the total power failure time that is calculated based on the normal air-conditioned
environment (40°C (104°F)).
(Note-5): The actual service value (Reference value) ; equivalent to the total power failure time that is calculated based on the measured
value and under the storage ambient temperature of 25°C (77°F). This value is intended for reference only, as it varies with
characteristics of the memory.
POINTS
The self-discharge influences the life of battery without the connection to Motion
CPU module. The external battery should be exchanged approximately every 4 or
5 years.
Exchange the battery with a new one in 4 to 5 years even if a total power failure
time is guaranteed value or less.
2 - 97
2 SYSTEM CONFIGURATION
CAUTION
Do not short a battery.
Do not charge a battery.
Do not disassemble a battery.
Do not burn a battery.
Do not overheat a battery.
Do not solder the battery terminal.
The programs, parameters, motion devices(#), latch range devices and absolute position data
of SRAM built-in Motion CPU module are not backed up without using the battery.
(3) Connection procedure with Motion CPU module
(a) Q173DSCPU/Q172DSCPU
1) Open the battery cover.
2) Set Q6BAT to battery holder.
3) Connect the lead connector of Q6BAT to the battery connector.
4) Close the battery cover.
Motion CPU module
Battery holder
Battery cover
Q6BAT
2 - 98
2 SYSTEM CONFIGURATION
(b) Q173DCPU(-S1)/Q172DCPU(-S1)
1) Set Q6BAT to Battery holder unit(Q170DBATC).
2) Connect the lead connector of Q6BAT to the connector (BATTERY) of
Q170DBATC.
3) Connect between the connector (BAT) of Motion CPU module and
connector (CPU) of Q170DBATC.
Motion CPU module
BAT
Battery cable
(Q170DBATCBL )
Battery holder unit
(Q170DBATC)
LITHIU M B A TTE RY
M ITS U B IS HI
0.5[m]
(1.64[ft.])
Q6BAT
2 - 99
2 SYSTEM CONFIGURATION
2.5.11 Forced stop input terminal
(1) Table of the forced stop input terminal specifications
Item
Specifications
Number of input points
Forced stop signal : 1 point
Input method
Sink/Source type
Rated input current
2.4mA
Isolation method
Photocoupler
20.4 to 26.4VDC
Operating voltage range
(+10/ -15%, ripple ratio 5% or less)
ON voltage/current
17.5VDC or more/2.0mA or more
OFF voltage/current
1.8VDC or less/0.18mA or less
Input resistance
Response time
Approx. 10k
OFF to ON
ON
to OFF
1ms or less
External connector type
2 pin connector
Recommended wire size
0.3mm (AWG22)
2
2 - 100
3 DESIGN
3. DESIGN
3.1 System Designing Procedure
System designing procedure is shown below.
Motion control system design
Select the Motion CPU module according to number of control
axes.
3
Select the motion functions to be installed according to the
machinery and equipment to be controlled (selection of the
programming software packages according to the operating
system software).
Select the number of Q172DLX's and design according to each
axis control system and whether servo external signals are
required or not.
When there is mechanical home position and home position
return is made: Proximity dog required
For speed control: Speed-position switching control signal
required
When overrun prevention is necessary: Stroke limit required
When each axis stop is necessary: STOP signal required
Select Q173DPX, Q172DEX and design according to whether
manual pulse generators and synchronous encoders are
required or not.
Refer to section 2.5.4
Refer to section 2.5.5
Refer to section 2.5.6
Select interrupt module QI60 according to whether interrupt
input are required or not.
Select I/O modules/intelligent function modules according to the
specifications of the external equipment to be controlled.
Select the main base unit, extension base units, extension
power supply module and extension cables, and make I/O
assignment according to necessary number of Q172DLXs,
Q172DEXs, Q173DPXs, I/O modules, intelligent function
modules.
Select the servo amplifier and servo motor according to the
motor capacity and number of revolution from the machine
mechanism to be controlled each axis.
Set the servo amplifier connection by SSCNET (/H) and axis
numbers (dno.) and axis No..
Select SSCNET /H head module and I/O modules/intelligent
function modules according to the specifications of the external
equipment to be controlled.
Select the head module connection by SSCNET /H, station
number and axis No.
3-1
Refer to MELSEC-Q
series manual.
Refer to section 2.5.4
Refer to section 2.5.5
Refer to section 2.5.6
Refer to MELSEC-Q
series manual.
Refer to the servo
amplifier manual.
Refer to section 2.5.9
Refer to MELSEC-L
series SSCNET /H
head module manual.
3 DESIGN
Refer to section 3.2
External circuit design
Power supply circuit design
Design the power supply circuit which supplies power to such
system components as the Motion controller, I/O equipment and
servo amplifiers, etc., taking into consideration the protective
coordination and noise suppression techniques.
Refer to section 3.2.1
Safety circuit design
Design the operation-ready circuit which stops the system at
occurrence of any alarm such as a Motion controller or servo
amplifier alarm or the emergency stop, the circuit which avoids
a malfunction while power is unstable at power-on, and the
electromagnetic brake circuit for servomotors.
Refer to section 3.2.2
Layout design within control panel
Layout design based on the design environment such as
temperatures and vibrations in consideration of heat generated
from modules and handling of module installation.
Refer to section 3.3
CAUTION
Provide appropriate circuits external to the Motion controller to prevent cases where danger may
result from abnormal operation of the overall system in the event of an external power supply fault
or Motion controller failure.
Mount the Motion controller, servo amplifier, servomotor and regenerative resistor on
incombustible. Mounting them directly or close to combustibles will lead to fire.
If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo
amplifier’s power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is mounted and for the wires used. Failing to do so may
lead to fire.
Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing
so may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
3-2
3 DESIGN
CAUTION
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
Always mount a leakage breaker on the Motion controller and servo amplifier power source.
If mounting of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always mount the electromagnetic contactor.
Mount an emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in
the system.
In systems where coasting of the servomotor will be a problem during the forced stop, the
emergency stop, servo OFF or when the power is shut OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
In systems where perpendicular shaft dropping may be a problem during the forced stop, the
emergency stop, servo OFF or when the power is shut OFF, use both dynamic brakes and
electromagnetic brakes.
The dynamic brakes must be used only during the forced stop, the emergency stop and errors
where servo OFF occurs. These brakes must not be used for normal braking.
The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications,
and must not be used for normal braking.
The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier,
servomotor) used in a system must be compatible with the Motion controller, servo amplifier and
servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to
the life or mechanical structure (when the ball screw and servomotor are connected with a
timing belt, etc.). Mount a stopping device to ensure safety on the machine side.
3-3
3 DESIGN
3.2 External Circuit Design
As to the ways to design the external circuits of the Motion system, this section
describes the method and instructions for designing the power supply circuits and
safety circuits, etc. (Example: Q173DSCPU/Q172DSCPU and MR-J4- B use)
(1) Sample system circuit design for motion control
3-phase
200 to 230VAC
MCCB1
R S
T
Power Supply
Q61P
PLC CPU
QnUD CPU
Motion CPU
Q173DSCPU/
Q172DSCPU
Input module
QX40
Forced stop (Note-1)
EMI.COM
CP1
INPUT
100-240VAC
Output module Servo external
signals interface
QY10
module
Q172DLX
PYm
RA1
FLS1
(Note-2)
Servo normal output
(Servo normal:ON
Alarm:OFF)
EMI
DOG8/
CHANGE8
FG
COM
LG
COM
SSCNET
Number of inputs:
8 axes/module
/H
FLS1
DOG8/
CHANGE8
CP2
Power supply for I/O
EMG
24VDC +24V
Power
supply 24G
+24V
24G
Emergency Stop
EMG
CP3
Operation Ready
OFF
ON
RA1
EMG
CP4
MC1 to 3
MC1
SK
(Note-6)
Power supply for
electromagnetic brake
MC2
SK
(Note-6)
MC3
SK
(Note-6)
Surge suppresser
24VDC +24V
Power
supply 24G
3-4
3 DESIGN
POINT
(1) (Note-1): Make the forced stop input cable within 30m(98.43ft.). The forced stop <Example> For control axis 1, axis 2 and axis 3
by the forced stop terminal of input module is also possible.
Servo error detection
(2) (Note-2): Motion SFC program example is shown in the right record.
(3) (Note-3): It is also possible to use a full wave rectified power supply as the
[F 1]
PYm ON with initial
SET PYm
power supply for the electromagnetic brake.
(ON : normal)
(4) (Note-4): It is also possible to use forced stop signal of the servo amplifier.
[G
1]
(5) (Note-5): Refer to the servo amplifier instruction manuals for selection of the
Servo error detection
M2408+M2428+M2448
circuit breaker and electromagnetic contactor.
of the axis 1, axis 2,
axis 3
(6) (Note-6): The surge suppressor is recommended to be used for an AC relay or
[F 2]
OFF : abnormal (error)
RST PYm
electromagnetic contactor (MC) near the servo amplifier.
Refer to the servo amplifier instruction manual for selection of the
END
surge suppressor.
MCCB2 (Note-5)
MC1
L1 MR-J4-B
L2
A
L3
U
U
V
V
W
W
SSCNET
DICOM
CN1A
/H
MCCB3 (Note-5)
MC2
L1 MR-J4-B
L2
B
L3
RA2
+24V
24G
(Note-4)
U
U
V
V
W
W
DICOM
CN1A
MCCB4 (Note-5)
MC3
L1 MR-J4-B
L2
C
L3
CN1A
(Note-4)
U
U
V
V
W
W
M
RA4
ElectroGround magnetic B
brake
DICOM
U
(Note-3)
ALM
CN1B EM2/1
DOCOM
U
RA3
L11
L21
RA3
(Note-3)
ALM
CN1B EM2/1
DOCOM
M
ElectroGround magnetic B
brake
L11
L21
U
(Note-3)
ALM
CN1B EM2/1
DOCOM
RA2
ElectroGround magnetic B
brake
L11
L21
M
RA4
(Note-4)
(Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that.
Example) When the control power supply L11/L21 of servo amplifier in figure B above is shut off, it is also not possible to
communicate with the servo amplifier C .
If only a specific servo amplifier main circuit power supply is shut off, be sure to shut off the main circuit power supply L1/L2/L3,
and do not shut off the control power supply L11/L21.
(Note-2): Be sure to shut off the both of main circuit power supply L1/L2/L3 and control power supply L11/L21 after disconnection of
SSCNET communication by the connect/disconnect function of SSCNET communication at the time of exchange of servo
amplifier. At this time, it is not possible to communicate between the servo amplifier and Motion controller. Therefore, be sure to
exchange the servo amplifier after stopping the operating of machine beforehand.
3-5
3 DESIGN
(2) System design circuit example of the PLC I/O
(a) System design circuit example(when not using ERR terminal
of power supply module)
Power supply
FOR AC
FOR AC/DC
Power supply
Transformer Transformer
Transformer
Input switched when
power supply established
Fuse
Fuse
CPU module
CPU module
SM52
SM52
Ym
RUN/STOP circuit
Yn
Interlocked with RA1
(Run monitor relay)
SM403
Fuse
DC power
Ym
(-) (+)
SM403
Yn
Fuse
Set time for DC power
supply to be established.
XM
TM
Program
START SW
MC
TM
RA1
MC1 NO M10
N0
MC
STOP SW
M10
Program
Input module
START SW
MC
Output module
Ym
L
Low battery alarm
(Lamp or buzzer)
RA1
MC
STOP SW
RA2
RA2
Voltage relay is
recommended.
XM
ON when run by SM403
Yn
RA1
Ym
Power to output equipment
switched OFF when the
STOP signal is given.
MC
MC2
MC1
MC1
MC2
Low battery alarm
(Lamp or buzzer)
Output module
MC
Output module
In the case of an emergency
stop or a stop caused by a
limit switch.
Interlock circuits as necessary.
Provide external interlock
circuits for conflicting
operations, such as forward
rotation and reverse rotation,
and for parts that could
damage the machine or cause
accidents if no interlock were
used.
The power-ON procedure is as follows:
For AC
1) Switch power ON.
2) Set CPU to RUN.
3) Turn ON the start switch.
4) When the magnetic contactor (MC) comes on, the output
equipment is powered and may be driven by the program.
L
ON when run by SM403
Yn
RA1
Output module
MC
Power to output
equipment switched
OFF when the STOP
signal is given.
MC2
MC1
MC1
MC
MC2
In the case of an
emergency stop or a
stop caused by a limit
switch.
For AC/DC
1) Switch power ON.
2) Set CPU to RUN.
3) When DC power is established, RA2 goes ON.
4) Timer (TM) times out after the DC power reaches 100[%].
(The TM set value should be the period of time from when
RA2 goes ON to the establishment of 100[%] DC voltage.
Set this value to approximately 0.5 seconds.)
5) Turn ON the start switch.
6) When the electromagnetic contactor (MC) comes on, the
output equipment is powered and may be driven by the
program. (If a voltage relay is used at RA2, no timer (TM) is
required in the program.)
3-6
3 DESIGN
(b) System design circuit example(when using ERR terminal of
power supply module)
Power supply
FOR AC/DC
Transformer Transformer
Input switched when
power supply established
Fuse
Fuse
CPU module
SM52
DC power
Ym
RUN/STOP circuit
(-) (+)
SM403
interlocked with RA1
(run monitor relay)
Yn
Fuse
XM
Set time for DC power
supply to be established.
TM
TM
MC1 NO M10
NO
M10
Program
START SW RA1 RA3
MC
MC
STOP SW
RA2
RA2
Voltage relay is
recommended.
XM
Output module
Ym
Low battery alarm
(Lamp or buzzer)
L
Yn
RA1
OFF at ERR contact OFF
(stop error occurrence)
ERR
RA3
Output module
Interlock circuits as
necessary. Provide
external interlock
circuits for conflicting
operations, such as
forward rotation and
reverse rotation,
and for parts that could
damage the machine or
cause accident if no
interlock were used.
MC
MC
Output by ERR contact OFF
Power OFF of equipment
MC2
MC1
MC1
In the case of an
emergency stop or a
stop caused by a limit
switch.
MC2
The power-ON procedure is as follows:
For AC/DC
1) Switch power ON.
2) Set CPU to RUN.
3) When DC power is established, RA2 goes ON.
4) Timer (TM) times out after the DC power reaches 100[%]. (The TM set value should be the period of time
from when RA2 goes ON to the establishment of 100[%] DC voltage. Set this value to approximately 0.5
seconds.)
5) Turn ON the start switch.
6) When the magnetic contactor (MC) comes on, the output equipment is powered and may be driven by the
program. (If a voltage relay is used at RA2, no timer (TM) is required in the program.)
3-7
3 DESIGN
3.2.1 Power supply circuit design
This section describes the protective coordination and noise suppression techniques of
the power supply circuit.
(1) Separation and protective coordination (leakage current protection,
over current protection) of power supply lines
Separate the lines for Multiple CPU system power supplies from the lines for I/O
devices and servo amplifiers as shown below.
When there is much noise, connect an insulation transformer.
100/200VAC
Main power
supply
PLC power
supply
MCCB
CP
Isolation
transformer
Multiple CPU
system
T1
I/O power supply
I/O equipment
CP
Motor power supply
100/200/400VAC
Motor equipment
CP
Main circuit power supply
for servo amplifier
MCCB
Control power supply
for servo amplifier
Servo amplifier
CP
(2) Grounding
The Motion system may malfunction as it is affected by various noises such as
electric path noises from the power supply lines, radiated and induced noises
from other equipment, servo amplifiers and their cables, and electromagnetic
noises from conductors. To avoid such troubles, connect the earthing ground of
each equipment and the shield grounds of the shielded cables to the earth.
For grounding, use the exclusive ground terminal wire of each equipment or a
single-point earth method to avoid grounding by common wiring, where possible,
since noises may sneak from other equipment due to common impedances.
100/200VAC
Line noise
filter
Multiple CPU
system
SSCNET
Servo amplifier
(/H)
Servo
motor
(Note): Be sure to ground the line noise filter, Multiple CPU system, servo amplifier and
servomotor. (Ground resistance: 100 or less)
3-8
3 DESIGN
3.2.2 Safety circuit design
(1) Concept of safety circuits
When the Multiple CPU system is powered on and off, normal control output may
not be done momentarily due to a delay or a startup time difference between the
Multiple CPU system power supply and the external power supply (DC in
particular) for the control target.
Also, an abnormal operation may be performed if an external power supply fault
or Motion controller failure takes place.
To prevent any of these abnormal operations from leading to the abnormal
operation of the whole system and in a fail-safe viewpoint, areas which can result
in machine breakdown and accidents due to abnormal operations
(e.g. emergency stop, protective and interlock circuits) should be constructed
outside the Multiple CPU system.
(2) Emergency stop circuit
The circuit should be constructed outside of the Multiple CPU system or servo
amplifier. Shut off the power supply to the external servo amplifier by this circuit,
make the electromagnetic brakes of the servomotor operated.
(3) Forced stop circuit
(a) The forced stop of all servo amplifiers is possible in a lump by using the
forced stop input of Motion CPU modules. After forced stop, the forced stop
factor is removed and the forced stop canceled.
(The servo error detection signal does not turn on with the forced stop.)
The forced stop input cannot be invalidated in the parameter setting of
system setting.
Make the forced stop input cable within 30[m](98.43[ft.]).
The wiring example for the forced stop input of Motion CPU module is
shown below.
Q61P
QnUD
CPU
Q17 D(S)
CPU
EMI.COM
EMI
Forced stop
24VDC
<Motion CPU module>
24VDC (Note-1)
EMI.COM
EMI
Forced stop
(Note): The forced stop input can not be invalidated in the system settings.
(Note-1): As for the connection, both "+" and "-" are possible.
3-9
3 DESIGN
(b) The forced stop of all servo amplifiers is possible in a lump by using the
forced stop input of input modules. After forced stop, the forced stop factor is
removed and the forced stop canceled.
(The servo error detection signal does not turn on with the forced stop.)
The forced stop input can be set by allocation of the device number in the
parameter setting of system setting. When the device is used, apply 24VDC
voltage on EMI connector and invalidate the forced stop input of EMI
connector.
The wiring example that uses the forced stop input of input module (QX10)
is shown below.
Q61P
QnUD
CPU
Q17 D(S)
CPU
QX10
EMI.COM
Xn
EMI
COM
24VDC
Forced stop
100VAC
<Input module QX10>
100VAC
TB17
QX10
TB16
LED
Internal
circuit
TB1
Forced stop
(Note): The forced stop input can be set in the system settings.
(c) It is also possible to use the forced stop signal of the servo amplifier.
Refer to manual of the servo amplifier about servomotor capacity.
Operation status of the emergency stop and the forced stop are as follows.
Item
Operation of
the signal ON
Remark
Shut off the power supply to the external servo amplifier
Emergency stop
Servo OFF
Forced stop
by external circuit, make the servomotor stopped.
The servomotor is stopped according to the stop
instruction from Motion controller to the servo amplifier.
3 - 10
3 DESIGN
3.3 Layout Design within the Control Panel
3.3.1 Mounting environment
Mount the Motion controller system in the following environment conditions.
(1) Ambient temperature is within the range of 0 to 55[°C] (32 to 131[°F]) .
(2) Ambient humidity is within the range of 5 to 95[%]RH.
(3) No condensing from sudden temperature changes
(4) No corrosive or inflammable gas
(5) There must not be a lot of conductible dust, iron filings, oil mist, or salt, organic
solvents.
(6) No direct sunlight
(7) No strong electrical or magnetic fields
(8) No direct vibrations or shocks on the Motion controller
3 - 11
3 DESIGN
3.3.2 Calculating heat generation by Motion controller
The ambient temperature inside the panel storing the Motion controller must be
suppressed to an ambient temperature of 55°C(131°F) or less, which is specified for
the Motion controller.
For the design of a heat releasing panel, it is necessary to know the average power
consumption (heating value) of the devices and instruments stored inside.
Here the method of obtaining the average power consumption of system is described.
From the power consumption, calculate a rise in ambient temperature inside the
control panel.
How to calculate average power consumption
The power consuming parts of the Motion controller are roughly classified into six
blocks as shown below.
(1) Power consumption of power supply module
The power conversion efficiency of the power supply module is approx. 70[%],
while 30 [%] of the output power is consumed as heat. As a result, 3/7 of the
output power is the power consumption.
Therefore the calculation formula is as follows.
3
WPW = 7
(I5V
5) [W]
I5V: Current consumption of 5VDC logic circuit of each module
(2) Total power consumption for 5VDC logic circuits of all modules
(including CPU module)
The power consumption of the 5VDC output circuit section of the power supply
module is the power consumption of each module (including the current
consumption of the base unit).
W5V = I5V
5 [W]
(3) A total of 24VDC average power consumption of the output module
The average power of the external 24VDC power is the total power consumption
of each module.
W24V = I24V 24 Simultaneous ON rate [W]
I24V: Average current consumption of 24VDC power supply for internal
consumption of the output module [A]
(Power consumption for simultaneous ON points)
(4) Average power consumption due to voltage drop in the output
section of the output module
(Power consumption for simultaneous ON points)
WOUT = IOUT
Vdrop
Number of outputs
Simultaneous ON rate [W]
IOUT : Output current (Current in actual use) [A]
Vdrop : Voltage drop in each output module [V]
3 - 12
3 DESIGN
(5) Average power consumption of the input section of the input
module (Power consumption for simultaneous ON points)
WIN = IIN
E
Number of input points
Simultaneous ON rate [W]
: Input current (Effective value for AC) [A]
: Input voltage (Voltage in actual use) [V]
IIN
E
(6) Power consumption of the external power supply section of the
intelligent function module
WS = I5V
5 + I24V
24 + I100V
100 [W]
The total of the power consumption values calculated for each block is the power
consumption of the overall Motion system
W = W PW + W5V + W 24V + WOUT + WIN + WS [W]
From this overall power consumption [W], calculate the heating value and a rise
in ambient temperature inside the panel.
The outline of the calculation formula for a rise in ambient temperature inside the
panel is shown below.
W
T = UA [°C]
W : Power consumption of overall Motion system (value obtained above)
2
A : Surface area inside the panel [m ]
U : When the ambient temperature inside the panel is uniformed by a fan ...... 6
When air inside the panel is not circulated .............................................. 4
POINT
If the temperature inside the panel has exceeded the specified range, it is
recommended to mount a heat exchanger to the panel to lower the temperature.
If a normal ventilating fan is used, dust will be sucked into the Motion controller
together with the external air, and it may affect the performance of the Motion
controller.
3 - 13
3 DESIGN
(7) Example of average power consumption calculation
(Q173DCPU use)
(a) System configuration
Q61P
Q03UD
CPU
Q173D
CPU
QX40
QX40
Q172D
LX
Q172D
EX
Q173D
PX
QY10
QY10
Q38DB
(b) 5VDC current consumption of each module
Q03UDCPU
Q173DCPU
(Note)
QX40
Q172DLX
Q172DEX
Q173DPX
(Note)
QY10
(Note)
Q38DB
(Note)
: 0.33 [A]
: 1.25 [A]
: 0.05 [A]
: 0.06 [A]
: 0.19 [A]
: 0.38 [A]
: 0.43 [A]
: 0.23 [A]
(Note) : 5VDC internal current consumption of shared
equipments with PLC might be changed.
Be sure to refer to the MELSEC-Q series PLC
Manuals.
(c) Power consumption of power module
WPW = 3/7 (0.33 + 1.25 + 0.05 + 0.05 + 0.06 + 0.19 + 0.38 + 0.43 + 0.43 +
0.23) 5 = 7.29 [W]
(d) Total power consumption for 5VDC logic circuits of all modules
W5V = (0.33 + 1.25 + 0.05 + 0.05 + 0.06 + 0.19 + 0.38 + 0.43 + 0.43 +
0.23) 5 = 17 [W]
(e) A total of 24VDC average power consumption of the output module
W24V = 0 [W]
(f) Average power consumption due to voltage drop in the output section of the
output module
WOUT = 0 [W]
(g) Average power consumption of the input section of the input module
WIN = 0.004 24 32 1 = 3.07 [W]
(h) Power consumption of the power supply section of the intelligent function
module.
WS = 0 [W]
(i) Power consumption of overall system
W = 7.29 + 17 + 0 + 0 + 3.07 + 0 = 27.36 [W]
3 - 14
3 DESIGN
3.4 Design Checklist
At the worksite, copy the following table for use as a check sheet.
Item
Sub Item
Design confirmation
Number of axes
Motion CPU module
selection
axes
Motion CPU module selection
Manual pulse generator
pcs.
Incremental synchronous encoder
pcs.
Number of I/O points
points
PLC CPU module
Number of I/O points
points
selection
PLC CPU module selection
Motion module
Module
Check
selection
selection
Manual pulse generator
pcs.
Synchronous encoder
pcs.
Upper limit point
points
Lower limit point
points
STOP input point
points
Proximity dog input point
points
Speed switching input point
points
Tracking enable signal point
points
Q172DLX
modules
Q172DEX
modules
Q173DPX
modules
Motion CPU module
modules
Main base unit
I/O module/intelligent function module installed to
selection
main base unit
modules
Main base unit selection
Number of I/O modules/intelligent function
Extension base unit
and extension cable
selection
modules installed to extension base unit
Distance between Main base unit and extension
base unit
modules
mm
(inch)
Extension base unit selection
Extension cable selection
External
circuit design
Fail-safe circuit design
Avoidance of operation failure at power-on
Avoidance of hazard at Motion controller failure
Conformance with general specifications such as ambient
temperature, humidity, dust, etc.
Total power consumption of base unit
Layout design Module layout design
(Calculate the heating value)
Layout in consideration of clearances between enclosure's inside
walls, other structures and modules and heats generated by
modules within the control panel.
3 - 15
W
3 DESIGN
MEMO
3 - 16
4 INSTALLATION AND WIRING
4. INSTALLATION AND WIRING
4.1 Module Installation
4.1.1 Instructions for handling
CAUTION
Use the Motion controller in an environment that meets the general specifications contained in this
manual. Using this Motion controller in an environment outside the range of the general specifications
could result in electric shock, fire, operation failure, and damage to or deterioration of the product.
While pressing the installation lever located at the bottom of module, insert the module fixing
projection into the fixing hole in the base unit until it stops. Then, securely install the module with the
fixing hole as a supporting point. Incorrect installation of the module can cause an operation failure,
damage or drop.
When using the Motion controller in the environment of much vibration, tighten the module with a
screw. Tighten the screw in the specified torque range. Under tightening may cause a drop, short
circuit or operation failure. Over tightening may cause a drop, short circuit or operation failure due to
damage to the screw or module.
Be sure to connect the extension cable to connectors of the base unit correctly. After connecting,
check them for looseness. Poor connections could cause an input or output failure.
Completely turn off the externally supplied power used in the system before installation or removing
the module. Not doing so could result in electric shock or damage to the product.
Do not install/remove the module onto/from base unit or terminal block more than 50 times, after the
first use of the product. Failure to do so may cause the module to malfunction due to poor contact of
connector.
Do not directly touch the module's conductive parts and electronic components. Doing so may cause
an operation failure or damage the module.
Lock the control panel and prevent access to those who are not certified to handle or install electric
equipment.
Do not touch the heat radiating fins of controller or servo amplifier's, regenerative resistor and servo
motor, etc. while the power is ON and for a short time after the power is turned OFF. In this timing,
these parts become very hot and may lead to burns.
Remove the modules while paying attention.
This section describes instructions for handling the CPU, Motion, I/O, intelligent
function and power supply modules, base units and so on.
(1) Module, terminal block connectors and pin connectors are made of resin; do not
drop them or subject them to strong impact.
(2) Do not remove modules' printed circuit boards from the enclosure in order to avoid
changes in operation.
4-1
4
4 INSTALLATION AND WIRING
(3) Tighten the module fixing screws and terminal block screws within the tightening
torque range specified below.
Location of screw
Motion CPU module fixing screw (M3
Module fixing screw (M3
Tightening torque range [N•m]
13 screw)
12 screw)
0.36 to 0.48
0.36 to 0.48
I/O module terminal block screw (M3 screw)
0.42 to 0.58
I/O module terminal block fixing screw (M3.5 screw)
0.68 to 0.92
Power supply module terminal screw (M3.5 screw)
0.68 to 0.92
(4) Be sure to install a power supply module on the main base unit and extension
base unit. Even if the power supply module is not installed, when the I/O modules
and intelligent function module installed on the base units are light load type, the
modules may be operated. In this case, because a voltage becomes unstable, we
cannot guarantee the operation.
(5) When using an extension cable, keep it away from the main circuit cable (high
voltage and large current).
Keep a distance of 100mm (3.94inch) or more from the main circuit.
(6) Be sure to fix a main base unit to the panel using mounting screws. Not doing so
could result in vibration that may cause erroneous operation.
Mount a main base unit in the following procedure.
(a) Fit the two base unit top mounting screws into the enclosure.
Panel
(b) Place the right-hand side notch of the base unit onto the right-hand side
screw.
Panel
4-2
4 INSTALLATION AND WIRING
(c) Place the left-hand side pear-shaped hole of the base unit onto the left-hand
side screw.
Panel
(d) Fit the mounting screws into the holes at the bottom of the base unit, and
then retighten the all mounting screws.
(Note): Mount a main base unit to a panel, with no module installed in the rightend slot.
Remove the base unit after removing the module from the right-end slot.
4-3
4 INSTALLATION AND WIRING
4.1.2 Instructions for mounting the base unit
When mounting the Motion controller to an enclosure or similar, fully consider its
operability, maintainability and environmental resistance.
(1) Fitting dimensions
Fitting dimensions of each base unit are as follows:
5-fixing screw (M4 14)
CPU
I/O0
I/O1
I/O2
I/O4
I/O3
I/O5
I/O6
I/O7
I/O8
I/O9
I/O10
II/O11
/O11
Ws1
Ws2
Hs1
Q312DB
H
POWER
Hs2
OUT
Ws3
W
W
Q35DB
Q38DB
Q312DB
Q63B
Q65B
Q68B
Q612B
245
328 (12.91)
439 (17.28)
189 (7.44)
245 (9.65)
328 (12.91)
439 (17.28)
170 ± 0.3
170 ± 0.3
190 ± 0.3
190 ± 0.3
(6.69 ± 0.01)
(6.69 ± 0.01)
(7.48 ± 0.01)
(7.48 ± 0.01)
Ws1
Ws2
15.5 (0.61)
224.5 ± 0.3
(8.84 ± 0.01)
Ws3
(Ws2 + Ws3)
138 ± 0.3
249 ± 0.3
(5.43 ± 0.01)
(9.80 ± 0.01)
167 ± 0.3
222.5 ± 0.3
(6.57 ± 0.01)
(8.76 ± 0.01)
(Ws2 + Ws3)
(Ws2 + Ws3)
H
98 (3.86)
Hs1
7 (0.28)
Hs2
80 ± 0.3 (3.15 ± 0.01)
116 ± 0.3
227 ± 0.3
(4.57 ± 0.01)
(8.93 ± 0.01)
[Unit: mm (inch)]
4-4
4 INSTALLATION AND WIRING
(2) Module mounting position
Keep the clearances shown below between the top/bottom faces of the module
and other structures or parts to ensure good ventilation and facilitate module
replacement.
(Note): It is impossible to mount the main base unit by DIN rail.
Top of panel or wiring duct
Base unit
Motion CPU module
Door
40mm
(1.57inch)
or more
Motion CPU module
Panel
100mm
(3.94inch)
or more
MITSUBISHI
(Note-2)
5mm(0.20inch)
or more (Note-1)
5mm(0.20inch)
or more
(Note-1): 20mm (0.79inch) or more when the adjacent module is not removed and the extension cable is connected.
(Note-2): Q173DSCPU/Q172DSCPU use
70mm (2.76inch) or more
Q173DCPU(-S1)/Q172DCPU(-S1) use
100mm (3.94inch) or more
(3) Module mounting orientation
(a) Mount the Motion controller in the orientation shown below to ensure good
ventilation for heat release.
(b) Do not use it in either of the orientations shown below.
Flat
Vertical
4-5
Upside down
4 INSTALLATION AND WIRING
(4) Mounting surface
Mount the base unit on a flat surface. If the mounting surface is not even, this
may strain the printed circuit boards and cause malfunctions.
(5) Mounting of unit in an area where the other devices are mounted
Avoid mounting base unit in proximity to vibration sources such as large
magnetic contractors and no-fuse circuit breakers; mount those on a separate
panel or at a distance).
(6) Distances from the other devices
In order to avoid the effects of radiated noise and heat, provide the clearances
indicated below between the Motion controller and devices that generate noise or
heat (contactors and relays, etc.).
• In front of Motion controller
: 100mm (3.94inch) or more
• On the right and left of Motion controller : 50mm (1.97inch) or more
50mm(1.97inch)
or more
100mm(3.94inch)
or more
50mm(1.97inch)
or more
Contactor, relay, etc.
4-6
4 INSTALLATION AND WIRING
4.1.3 Installation and removal of module
This section describes how to install and remove a power supply module, PLC CPU
module, Motion CPU module, Motion module, I/O module, intelligent function module
or another module to and from the base unit.
(1) Installation and removal of the module from base unit
(a) Installation
Securely insert the module
fixing projection into the
module fixing hole so that the
latch is not misaligned.
Using the module fixing hole
as a fulcrum, push the module
in the direction of arrow to
install it into the base unit.
Base unit
Base unit
Module
connector
Module
fixing
projection
Module
mounting lever
Module
Module fixing hole
Make sure that the module is
installed in the base unit
securely.
Module
fixing
projection
Module
fixing
projection
Module
mounting
lever
Module fixing hole
Module fixing hole
When using module in a place (Note)
where there is large vibration
or impact, install them by the
unit fixing screws.
Base unit
Base unit
END
Module fixing
hook
Module
fixing
projection
Module fixing hole
(Note): Screw the Motion CPU module to the main base unit.
4-7
4 INSTALLATION AND WIRING
POINTS
(1) When installing the module, always insert the module fixing projection into the
module fixing hole of the base unit.
At that time, securely insert the module fixing projection so that it does not
come off from the module fixing hole.
If the module is forcibly installed without the latch being inserted, the module
connector and module will be damaged.
(2) When using the modules in a place where there is large vibration or impact,
screw the module to the base unit.
Module fixing screw : M3 12 (user-prepared)
Screw the Motion CPU module to the main base unit using supplied fixing
screws.
(3) Do not install/remove the module onto/from base unit or terminal block more
than 50 times, after the first use of the product. Failure to do so may cause the
module to malfunction due to poor contact of connector.
CAUTION
While pressing the installation lever located at the bottom of module, insert the module fixing
projection into the fixing hole in the base unit until it stops. Then, securely install the module with
the fixing hole as a supporting point. Incorrect installation of the module can cause an operation
failure, damage or drop.
When using the Motion controller in the environment of much vibration, tighten the module with a
screw.
Tighten the screw in the specified torque range. Under tightening may cause a drop, short circuit
or operation failure. Over tightening may cause a drop, short circuit or operation failure due to
damage to the screw or module.
4-8
4 INSTALLATION AND WIRING
(b) Removal
Push
When using the module fixing
screws, remove them.
Module fixing hook
Support the module with both
hands and securely press the
module fixing hook with your
finger.
Base unit
Pull the module based on the
supporting point of module
bottom while pressing the
module fixing hook.
Module
Module
connector
Module fixing hole
While lifting a module, take off
the module fixing projection
from the module fixing hole.
Lifting
Pull
END
POINT
When the module fixing screw is used, always remove the module by removing the
module fixing screw and then taking the module fixing projection off the module
fixing hole of the base unit.
Attempting to remove the module by force may damage the module fixing
projection.
CAUTION
Do not touch the heat radiating fins of controller or servo amplifier's, regenerative resistor and
servomotor, etc. while the power is ON and for a short time after the power is turned OFF. In
this timing, these parts become very hot and may lead to burns.
Remove the modules while paying attention.
4-9
4 INSTALLATION AND WIRING
4.1.4 Instructions for mounting of the battery holder unit
QD
When mounting the battery holder unit (Q170DBATC) to an enclosure or similar, fully
consider its mounting position and orientation.
(1) Module mounting position
Mount the battery holder unit within 50cm(1.64ft.) or less (Battery cable length:
50cm(1.64ft.)) from the Motion controller.
(2) Mounting surface
Mount the battery holder unit on a flat surface.
(3) Module mounting orientation
Do not mount the battery holder unit downward. Doing so may lead to battery
liquid to leak at damage to the battery.
(Correct)
(Wrong)
CPU
Q170DBATC
BATTERY
M IT SU B ISH I
LITHIUM BATTE RY
M ITSU BISH I
LITH IUM BATTERY
BATTERY
BATTERY
CPU
CPU
LITHIUM B ATTERY
M ITS U BIS H I
Q170DBATC
CPU
BATTERY
4 - 10
Q170DBATC
Q170DBATC
M ITSU BISH I
LITHIUM BATTE RY
4 INSTALLATION AND WIRING
4.2 Connection and Disconnection of Cable
4.2.1 SSCNET
cable
(1) Precautions for handling the SSCNET
cable
• Do not stamp the SSCNET cable.
• When laying the SSCNET cable, be sure to secure the minimum cable bend
radius or more. If the bend radius is less than the minimum cable bend radius, it
may cause malfunctions due to characteristic deterioration, wire breakage, etc.
• For connection and disconnection of SSCNET
cable connector.
cable, hold surely a tab of
Motion CPU module
CN1
CN2
(2) Connection of SSCNET
cable
• For connection of SSCNET cable to the Motion CPU module, connect it to the
SSCNET connector CN1 or CN2 of Motion CPU module while holding a tab
of SSCNET cable connector. Be sure to insert it until it clicks.
• If the cord tip for the SSCNET cable is dirty, optical transmission is interrupted
and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile,
etc. Do not use solvent such as alcohol.
(3) Disconnection of SSCNET
cable
• For disconnection of SSCNET cable, pull out it while holding a tab of
SSCNET cable connector or the connector.
• After disconnection of SSCNET cable, be sure to put a cap (attached to
Motion CPU module or servo amplifier) to the Motion CPU module and servo
amplifier.
• For SSCNET cable, attach the tube for protection optical cord's end face on
the end of connector.
4 - 11
4 INSTALLATION AND WIRING
(4) Precautions of SSCNET
cable wiring
SSCNET cable is made from optical fiber. If optical fiber is added a power such
as a major shock, lateral pressure, haul, sudden bending or twist, its inside
distorts or breaks, and optical transmission will not be available. Especially, as
optical fiber for MR-J3BUS M and MR-J3BUS M-A is made of synthetic resin,
it melts down if being left near the fire or high temperature. Therefore, do not
make it touched the part, which becomes high temperature, such as radiator or
regenerative option of servo amplifier, or servo motor.
Be sure to use optical fiber within the range of operating temperature described
in this manual.
Read described item of this section carefully and handle it with caution.
(a) Minimum bend radius
Make sure to lay the cable with greater radius than the minimum bend
radius. Do not press the cable to edges of equipment or others. For
SSCNET cable, the appropriate length should be selected with due
consideration for the dimensions and arrangement of Motion controller and
servo amplifier. When closing the door of control panel, pay careful
attention for avoiding the case that SSCNET cable is hold down by the
door and the cable bend becomes smaller than the minimum bend radius.
Model name of SSCNET
MR-J3BUS M
cable
Minimum bend radius[mm(inch)]
25(0.98)
Enforced covering cord : 50 (1.97)
MR-J3BUS M-A
Cord : 25 (0.98)
Enforced covering cord : 50 (1.97)
MR-J3BUS M-B
Cord : 30 (1.18)
(b) Tension
If tension is added on the SSCNET cable, the increase of transmission
loss occurs because of external force which concentrates on the fixing part
of SSCNET cable or the connecting part of SSCNET connector. At
worst, the breakage of SSCNET cable or damage of SSCNET
connector may occur. For cable laying, handle without putting forced
tension. (Refer to "APPENDIX1.1 SSCNET cables" for the tension
strength.)
(c) Lateral pressure
If lateral pressure is added on the SSCNET cable, the cable itself distorts,
internal optical fiber gets stressed, and then transmission loss will increase.
At worst, the breakage of SSCNET cable may occur. As the same
condition also occurs at cable laying, do not tighten up SSCNET cable
with a thing such as nylon band (TY-RAP).
Do not trample it down or tuck it down with the door of control panel or
others.
4 - 12
4 INSTALLATION AND WIRING
(d) Twisting
If SSCNET cable is twisted, it will become the same stress added
condition as when local lateral pressure or bend is added. Consequently,
transmission loss increases, and the breakage of SSCNET cable may
occur at worst.
(e) Disposal
When incinerating optical cable (cord) used for SSCNET cable, hydrogen
fluoride gas or hydrogen chloride gas which is corrosive and harmful may
be generated. For disposal of SSCNET cable, request for specialized
industrial waste disposal services who has incineration facility for disposing
hydrogen fluoride gas or hydrogen chloride gas.
(f) Wiring process of SSCNET
cable
Put the SSCNET cable in the duct or fix the cable at the closest part to
the Motion CPU module with bundle material in order to prevent SSCNET
cable from putting its own weight on SSCNET connector.
Leave the following space for wiring.
• Putting in the duct
Top of panel or wiring duct
Base unit
Motion CPU module
Door
40mm
(1.57inch)
or more
Motion CPU module
Panel
100mm
(3.94inch)
or more
MITSUBISHI
(Note-2)
5mm(0.20inch)
or more (Note-1)
5mm(0.20inch)
or more
(Note-1): 20mm (0.79inch) or more when the adjacent module is not removed and the extension cable is connected.
(Note-2): Q173DSCPU/Q172DSCPU use
70mm (2.76inch) or more
Q173DCPU(-S1)/Q172DCPU(-S1) use
100mm (3.94inch) or more
4 - 13
4 INSTALLATION AND WIRING
• Bundle fixing
Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and
it should not be twisted. When bundling the cable, fix and hold it in position by using cushioning such as
sponge or rubber which does not contain migratable plasticizing.
If using adhesive tape for bundling the cable, fire resistant acetate cloth adhesive tape 570F (Teraoka
Seisakusho Co., Ltd) is recommended.
Base unit
Motion CPU module
Panel
Cord
Loose slack
Bundle material
Recommended product
NK clamp SP type (NIX,INC.)
4 - 14
Cable
4 INSTALLATION AND WIRING
POINTS
(1) Be sure to connect SSCNET cable with the above connector. If the
connection is mistaken, between the Motion CPU module and servo amplifier
cannot be communicated.
(2) Forced removal of the SSCNET cable from the Motion CPU module will
damage the Motion CPU modules and SSCNET cables.
(3) After removal of the SSCNET cable, be sure to put a cap on the SSCNET
connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may
cause malfunctions.
(4) Do not remove the SSCNET cable while turning on the power supply of
Multiple CPU system and servo amplifier.
Do not see directly the light generated from SSCNET connector of Motion
CPU module or servo amplifier and the end of SSCNET cable. When the
light gets into eye, may feel something is wrong for eye. (The light source of
SSCNET cable complies with class1 defined in JISC6802 or IEC60825-1.)
(5) If the SSCNET cable is added a power such as a major shock, lateral
pressure, haul, sudden bending or twist, its inside distorts or brakes, and
optical transmission will not be available.
Be sure to take care enough so that the short SSCNET cable is added a
twist easily.
(6) Be sure to use the SSCNET cable within the range of operating temperature
described in this manual. Especially, as optical fiber for MR-J3BUS M and
MR-J3BUS M-A are made of synthetic resin, it melts down if being left near
the fire or high temperature. Therefore, do not make it touched the part which
becomes high temperature, such as radiator or regenerative option of servo
amplifier, or servomotor.
(7) When laying the SSCNET
radius or more.
cable, be sure to secure the minimum cable bend
(8) Put the SSCNET cable in the duct or fix the cable at the closest part to the
Motion CPU module with bundle material in order to prevent SSCNET cable
from putting its own weight on SSCNET connector.
When laying cable, the optical cord should be given loose slack to avoid from
becoming smaller than the minimum bend radius, and it should not be twisted.
When bundling the cable, fix and hold it in position by using cushioning such
as sponge or rubber which does not contain migratable plasticizing.
If using adhesive tape for bundling the cable, fire resistant acetate cloth
adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.
4 - 15
4 INSTALLATION AND WIRING
POINTS
(9) Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and
MR-J3BUS M-A cables away from vinyl tape because the optical
characteristic may be affected.
Optical cord
SSCNET
cable
Cord
Cable
Cable
MR-J3BUS M
MR-J3BUS M-A
MR-J3BUS M-B
: Normally, cable is not affected by plasticizer.
: Phthalate ester plasticizer such as DBP and DOP may affect optical
characteristic of cable.
Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine
resin contain non-migrating plasticizer and they do not affect the optical
characteristic of SSCNET cable. However, some wire sheaths and cable
ties, which contain migrating plasticizer (phthalate ester), may affect
MR-J3BUS M and MR-J3BUS M-A cables (made of plastic). In addition,
MR-J3BUS M-B cable (made of quartz glass) is not affected by plasticizer.
(10) If the adhesion of solvent and oil to the cord part of SSCNET cable may
lower the optical characteristic and machine characteristic. If it is used such
an environment, be sure to do the protection measures to the cord part.
(11) When keeping the Motion CPU or servo amplifier, be sure to put on a cap to
connector part so that a dirt should not adhere to the end of SSCNET
connector.
(12) SSCNET connector to connect the SSCNET cable is put a cap to protect
light device inside connector from dust. For this reason, do not remove a cap
until just before connecting SSCNET cable. Then, when removing
SSCNET cable, make sure to put a cap.
(13) Keep the cap and the tube for protecting light cord end of SSCNET cable in
a plastic bag with a zipper of SSCNET cable to prevent them from
becoming dirty.
(14) When exchanging the Motion controller or servo amplifier, make sure to put a
cap on SSCNET connector. When asking repair of Motion controller or
servo amplifier for some troubles, make also sure to put a cap on SSCNET
connector. When the connector is not put a cap, the light device may be
damaged at the transit. In this case, exchange and repair of light device is
required.
4 - 16
4 INSTALLATION AND WIRING
4.2.2 Battery cable
QD
(1) Handling the battery cable
(a) Precautions for handling the battery cable
• For connection or removal of the battery cable, do it surely while holding a
connector.
Base unit
Motion CPU module
Battery
connector (BAT)
Panel
Connector for
CPU side
Do not hold lead wire
Connector for
battery side
CPU connector
(CPU)
CPU connector (CPU)
Battery holder unit
(Q170DBATC)
(b) Connection of the battery cable
• For connection of a connector to the Motion CPU module, connect it surely
to the battery connector (BAT) of Motion CPU module while holding a
connector. Be sure to insert it until it clicks.
• For connection of a connector to the battery holder unit, connect it surely to
the CPU connector (CPU) of battery holder while holding a connector. Be
sure to insert it until it clicks
(c) Removal of the battery cable
• For removal of the battery cable, pull out it while holding a connector.
4 - 17
4 INSTALLATION AND WIRING
POINT
(1) Forcibly removal the battery cable from the battery holder unit will damage the
battery holder unit, battery cable.
(2) As for the battery cable, the shape of connector is different on Motion CPU
side and battery holder side. Be sure to connect after confirming shape.
(3) The programs, parameters, motion devices (#), latch range devices and
absolute position data of SRAM built-in Motion CPU module are not backed up
if the battery connector is not connect correctly.
4 - 18
4 INSTALLATION AND WIRING
4.2.3 Forced stop input cable
(1) Precautions for handling the forced stop input cable
• For connection or removal of the forced stop input cable, do it surely while
holding a forced stop input connector.
Motion CPU module
Tab
(2) Connection of the forced stop input cable
• For connection of a forced stop input cable to the Motion CPU module, connect
it surely to a forced stop input connector of Motion CPU module while holding a
connector. Be sure to insert it until it clicks.
(3) Removal of the forced stop input cable
• For removal of the forced stop input cable, push a tab and pull out the cable
while holding a connector.
POINTS
The following handling will damage the Motion CPU module or forced stop input
cable.
• Forced removal of the forced stop input cable from the CPU module.
• The forced stop input cable is twined other cables.
• Excessive power is applied at cable laying.
Wire the cable correctly.
4 - 19
4 INSTALLATION AND WIRING
4.2.4 Internal I/F connector cable
QDS
(1) Precautions on use of Internal I/F connector cable
When using the modules in a place where there is large vibration or impact, fix
the internal I/F connector cable to the control panel.
Base unit
Q173DSCPU/Q172DSCPU
Panel
4 - 20
4 INSTALLATION AND WIRING
4.3 Mounting of Battery
(1) Handling the battery lead wire
(a) Q173DSCPU/Q172DSCPU
1) Precautions for mounting the battery
• Set the battery to the battery holder correctly after confirming "+" side
and "-" side for the battery.
2) Precautions for handling the battery lead wire
• For connection or removal of the battery lead wire, do it surely while
holding a battery lead connector.
"+" side
Battery lead connector
Do not hold lead wire
Battery connector
L IT H I
Q6BAT
Battery lead wire
Battery holder
3) Connection of the battery lead wire
• For connection of a battery (Q6BAT), connect it surely to a battery
connector while holding a battery lead connector. Be sure to insert it
until it clicks.
4) Removal of the battery lead wire
• For removal of the battery lead wire, pull out it while holding a battery
lead connector.
4 - 21
4 INSTALLATION AND WIRING
(b) Q173DCPU(-S1)/Q172DCPU(-S1)
1) Precautions for handling the battery lead wire
• For connection or removal of the battery lead wire, do it surely while
holding a battery lead connector.
Do not hold lead wire
Battery lead wire
Q6BAT
M IT S U B IS H I
L IT H IU M B A T T E R Y
Battery lead connector
Connector (BATTERY)
Battery holder unit
(Q170DBATC)
2) Connection of the battery lead wire
• For connection of a battery (Q6BAT) to the battery holder unit, connect
it surely to a connector (BATTERY) of battery holder unit while holding
a battery lead connector. Be sure to insert it until it clicks.
3) Removal of the battery lead wire
• For removal of the battery lead wire, pull out it while holding a battery
lead connector.
POINT
(1) Forced removal the battery lead wire will damage the battery connector,
battery lead wire.
(2) The programs, parameters, motion devices (#), latch range devices and
absolute position data of SRAM built-in Motion CPU module are not backed up
if the battery connector is not connect correctly.
4 - 22
4 INSTALLATION AND WIRING
4.4 Mounting of Serial Absolute Synchronous Encoder
This section describes precautions for handling the serial absolute synchronous
encoder.
(1) If the serial absolute synchronous encoder is linked to a chain, timing belt, or
gears, the machine rotating shaft should be supported by a separate bearing
and connected to serial absolute synchronous encoder through a coupling. Ensure
that excessive force (greater than the permitted shaft load) is not applied to the
shaft of serial absolute synchronous encoder.
Table 4.1 Permitted Shaft Loads
Gear
Serial absolute
synchronous encoder
Bearing
Coupling
Radial direction Thrust direction
Permitted shaft load
Up to 19.6N
Up to 9.8N
(2) Excessive load is applied to the shaft of serial absolute synchronous encoder by
the large mounting errors in eccentricity and angle of deviation. As a result, it
might damage the machine or shorten extremely the life.
Minimize loads applied to the shaft such that they make within the permitted shaft
load range.
CAUTION
The serial absolute synchronous encoder contains a glass disk and precision mechanism. Take
care when handling it. The encoder performance may deteriorate if it is dropped or subjected to
shocks or vibration exceeding the prescribed limits.
Do not connect the shaft of serial absolute synchronous encoder directly to machine side rotary
shaft. Always after connecting the shaft of serial absolute synchronous encoder to another bearing
once, connect the shaft through a flexible coupling.
Never hit the end of the serial absolute synchronous encoder coupling shaft with a hammer when
connecting the coupling to it. The large loads applied to serial absolute synchronous encoder will
damage it.
The serial absolute synchronous encoder uses optical parts. Mount it in an atmosphere where there
are extremely few water drops and little oil and dust.
In any place where the serial absolute synchronous encoder is exposed to water and/or oil, provide
protection from oil and water, e.g. mount a cover. In addition, run the cable downward to prevent oil
and/or water from running on the cable into the serial absolute synchronous encoder. When it is
inevitable to mount the serial absolute synchronous encoder vertically or obliquely, trap for the
cable.
Use the serial absolute synchronous encoder within the specified temperature range (-5 to 55°C
(23 to 131°F)).
4 - 23
4 INSTALLATION AND WIRING
4.5 Wiring
4.5.1 Instructions for wiring
DANGER
Completely turn off the externally supplied power used in the system before installation or placing
wiring. Not doing so could result in electric shock or damage to the product.
When turning on the power supply or operating the module after wiring, be sure that the module's
terminal covers are correctly attached. Not attaching the terminal cover could result in electric shock.
CAUTION
Be sure to ground of the earth terminal FG and LG. Not doing so could result in electric shock or
operation failure. (Ground resistance: 100 or less)
When wiring in the Motion controller, be sure that it is done correctly by checking the product's rated
voltage and the terminal layout. Connecting a power supply that is different from the rating or
incorrectly wiring the product could result in fire or damage.
External connections shall be crimped or pressure welded with the specified tools, or correctly
soldered. Imperfect connections could result in short circuit, fire, or operation failure.
Tighten the terminal screws within the specified torque range. If the terminal screws are loose, it could
result in short circuit, fire, or operation failure. Tightening the terminal screws too far may cause
damages to the screws and/or the module, resulting in drop, short circuit, or operation failure.
Be sure there are no foreign matters such as sawdust or wiring debris inside the module. Such debris
could cause fire, damage, or operation failure.
The module has an ingress prevention label on its top to prevent foreign matter, such as wiring debris,
from entering the module during wiring.
Do not remove this label during wiring.
Before starting system operation, be sure to remove this label because of heat dissipation.
This section describes instructions for the wiring of the power supply.
Refer to the "7 EMC directives" for grounding method and measure against noise.
(1) Power supply wiring
(a) 100VAC, 200VAC and 24VDC wires should be twisted as dense as possible
respectively. Connect the modules with the shortest distance.
Also, to reduce the voltage drop to the minimum, use the thickest wires (Up
2
to 2.0mm ) possible.
Use the wires of the following core size for wiring.
Application
Recommended core size
100VAC, 200VAC, 24VDC wires
2.0mm or more
2
(Note-1)
AWG
AWG14 or less
2
I/O equipment
0.3 to 0.75mm
(Outside diameter 2.8mm (0.11inch) or less)
2
2.0mm or more
Ground wire
AWG18 to AWG22
AWG14 or less
(Note-1): AWG stands for "American Wire Gauge". AWG is a unit of the thickness of conducting wire.
4 - 24
4 INSTALLATION AND WIRING
(b) Do not bundle the 100VAC and 24VDC wires with, or run them close to, the
main circuit (high voltage, large current) and I/O signal lines (including
common line).
Reserve a distance of at least 100mm (3.94inch) from adjacent wires.
(c) Momentary power failure may be detected or the Multiple CPU system may
be reset due to surge caused by lightning.
As measures against surge caused by lightning, connect a surge absorber
for lightning as shown below.
Using the surge absorber for lightning can reduce the influence of lightning.
AC
Multiple CPU
system
U
U
U
E1
E2
Surge absorber for lightning
POINTS
(1) Separate the ground of the surge absorber for lightning (E1) from that of the
Multiple CPU system (E2).
(2) Select a surge absorber for lightning whose power supply voltage does not
exceed the maximum allowable circuit voltage even at the time of maximum
power supply voltage elevation.
(2) Wiring of I/O equipment
(a) Insulation-sleeved crimping terminals cannot be used with the terminal block.
It is recommended to cover the wire connections of the crimping terminals
with mark or insulation tubes.
(b) The wires used for connection to the terminal block should be 0.3 to
2
0.75mm in core and 2.8mm (0.11inch) or less in outside diameter.
(c) Run the input and output lines away from each other.
(d) When the wiring cannot be run away from the main circuit and power lines,
use a batch-shielded cable and ground it on the Motion controller side.
In some cases, ground it on the opposite side.
Multiple CPU system
Shield cable
Input
RA
Output
Shield
DC
4 - 25
4 INSTALLATION AND WIRING
(e) Where wiring runs through piping, ground the piping without fail.
(f) Run the 24VDC input line away from the 100VAC and 200VAC lines.
(g) Wiring of 200m (656.17ft.) or longer distance will give rise to leakage
currents due to the line capacity, resulting in a fault.
Refer to the troubleshooting chapter of the I/O Module User's Manual.
(h) As a countermeasure against the power surge due to lightning, separate the
AC wiring and DC wiring and connect a surge absorber for lightning (Refer
to Section 4.5.1(1)).
Failure to do so increases the risk of I/O device failure due to lightning.
(3) Grounding
For grounding, follow the steps (a) to (c) shown below.
(a) Use a dedicated grounding wire as far as possible.
(Ground resistance: 100 or less)
(b) When a dedicated grounding cannot be performed, use (2) Common
Grounding shown below.
Multiple CPU
system
Another
equipment
Multiple CPU
system
Multiple CPU
system
Another
equipment
grounding
grounding
(1) Independent grounding.....Best
Another
equipment
(2) Common grounding.....Good
(3) Joint grounding.....Not allowed
2
(c) For grounding a cable, use the cable of 2mm or more.
Position the ground-contact point as nearly to the Multiple CPU system as
possible, and reduce the length of the grounding cable as much as possible.
4 - 26
4 INSTALLATION AND WIRING
4.5.2 Connecting to the power supply module
The following diagram shows the wiring example of power lines, grounding lines, etc.
to the main and extension base units.
Main base unit
(Q38DB)
100/200VAC
AC
Q61P
CPU module
ERR
Fuse
AC
DC
(Note-1)
FG
LG
INPUT
100-240VAC
24VDC
Ground
wire
Connect to 24VDC terminals
of I/O module that requires
24VDC internally.
Grounding
Extension cable
Extension base unit
(Q68B)
Q61P
I/O module
100VAC
ERR
Ground
wire
(Note-1)
FG
LG
INPUT
100-240VAC
Grounding
(Note): The operation of the ERR terminal is as follows.
<When the power supply module is installed on the main base unit>
The terminal turns OFF (opens) when the AC power is not input, a CPU module stop error
(including a reset) occurs, or the fuse of the power supply module is blown.
<When the power supply module is installed on the extension base unit>
The terminal is always OFF(open).
4 - 27
4 INSTALLATION AND WIRING
POINT
2
(1) Use the thickest possible (up to 2mm ) wires for the 100/200VAC and 24VDC
power cables. Be sure to twist these wires starting at the connection terminals.
For wiring a terminal block, be sure to use a solderless terminal. To prevent a
short circuit should any screws loosen, use solderless terminals with insulation
sleeves of 0.8mm (0.03inch) or less.
Also, only two solderless terminals can be connected per terminal block.
Solderless terminals
with insulation sleeves
Terminal
block
(2) Ensure that the earth terminals LG and FG are grounded.
(Ground resistance : 100 or less)
If not, the programmable controller may become susceptible to noise.
Since the LG terminal has a half of the input voltage, touching this terminal
may result in an electric shock.
(3) No system error can be detected by the ERR terminal of an extension base
unit. (The ERR terminal is always set off.)
4 - 28
5 START-UP PROCEDURES
5. START-UP PROCEDURES
5.1 Check Items Before Start-up
Table 5.1 Check items before start-up
Part name
Confirmation Items
Check
(1) Check that the main base unit is Q35DB, Q38DB or Q312DB.
Reference
2.5.3
2.3
(2) Check that the model name of module is correct.
2.1.4
(3) Check that the installation order is correct.
(4) Check that the damage for installed modules.
4.1.3
(5) Check that the modules are installed correctly.
Main base unit/
Extension base unit
(6) Check for looseness, rattling or distorted installation.
(7) Check that the module fixing screw tightening torque is as specified.
(8) Check that the total I/O points of I/O modules and intelligent function
modules do not exceed the I/O points of the CPU module.
(1) Check that the model name of power supply modules is correct.
(2) Check that the wire sizes of cables are correct.
4.1.1
Refer to the
"Q173D(S)CPU/
Q172D(S)CPU Motion
controller Programming
Manual(COMMON)"
2.5.2
4.5.1
(3) Check that the power line is wired correctly.
4.5.2
(4) Check that FG and LG are wired correctly.
(5) Check that the terminal screws are tightened correctly.
Power supply module
(6) Check that the terminal screws are tightening torque is as specified.
(7) Check that the 100VAC, 200VAC and 24VDC wires are twisted as
closely as possible respectively and run in the shortest distance.
(8) Check that cables are not binded with 100VAC, 200VAC and
24VDC wires or run close to the power wires.
PLC CPU module
4.5.1
(9) Check the grounding of the earth terminal FG and LG.
4.5.2
(1) Check that the model name of PLC CPU modules is correct.
2.1.4
2.3
(2) Check that the modules are installed to CPU slot or I/O slot 0 to 2 of
the main base unit.
2.1.4
(1) Check that the Q173HCPU(-T)/Q172HCPU(-T)/Q173CPUN(-T)/
Q173CPUN(-T)/Q173CPU/Q172CPU is not used.
(2) Check that the modules are installed to I/O slot 0 to 2 of the main
base unit.
2.1.4
4.1.1
(3) Check that the module fixing screws are tightened correctly.
Q173D(S)CPU/
Q172D(S)CPU
Motion CPU module
4.1.1
3.2
(4) Check that the forced stop input is wired correctly.
(5) Check that the battery is installed.
(6) Check that the battery cables are connected correctly.
4.2.2
QD
(7) Check that the battery lead connector is connected correctly.
QDS
4.3
(8) Check that the built-in interface in Motion CPU is wired correctly.
QDS
(9) Check that the manual pulse generator/incremental synchronous
encoder is wired correctly. QDS
5-1
2.5.1
5
5 START-UP PROCEDURES
Part name
Confirmation Items
Check
(1) Check that the Q172DEX is installed to I/O slot 3 to 11 of the main
base unit.
(2) Check that the Q172DLX/Q173DPX is installed to I/O slot 3 to 11
when installation to the main base unit.
Q172DLX Servo external
signals interface module/
Q172DEX synchronous
encoder interface module/
(3) Check that the installation position of modules correspond to the
system setting.
Q173DPX Manual pulse
generator interface module
(4) Check that the connection with external equipments is correct.
(5) Check that the battery is connected to connector of Q172DEX
correctly.
(1) Check that the wire size of cable is correct.
(2) Check that the terminal block screws are tightened correctly.
(3) Check that the cables connected to each terminal of terminal block
correspond to the signal names.
(4) Check that the external power supply are connected correctly.
(24VDC, 5VDC)
I/O module
Reference
2.1.4
Refer to the
"Q173D(S)CPU/
Q172D(S)CPU Motion
controller Programming
Manual (COMMON)".
2.5.4
2.5.5
2.5.6
6.5.2
Refer to the I/O Module
Type Building Block
User's Manual
(5) Check that the 100VAC, 200VAC and 24VDC wires are twisted as
closely as possible respectively and run in the shortest distance.
(6) Check that the 100VAC, 200VAC and 24VDC wires are not bind the
cable together with and run close to the I/O wires.
4.5.1
(7) Check that the I/O wires are wired correctly.
(1) Check that the model name of SSCNET
cables is correct.
(2) Check that the connecting position for connector of SSCNET
cables are correct.
(3) Check that the SSCNET
SSCNET
cable
cables are connected correctly.
(4) Check for looseness, rattling or distorted connection.
(5) Check that the minimum bend radius or more secured.
(6) Check that the MR-J3BUS M or MR-J3BUS M-A do not come in
contact with wires/cables that use materials where the plasticizing
material is contained.
(1) Check that the lead connector of Q6BAT is connected to the
connector (BATTERY) correctly.
Battery holder unit
(Q170DBATC)
QD
4.2.1
4.3
(2) Check that the mounting orientation is correct.
(Do not mount it downward.)
4.1.4
(3) Check that the battery cable is connected correctly.
4.2.2
(4) Check for looseness, rattling or distorted mounting.
(5) Check that the module fixing screw tightening torque is as specified.
Serial absolute
synchronous encoder
(Q171ENC-W8/Q170ENC)
2.5.9
(1) Check that the amplitude, eccentricity and axial displacement
relative to the machine side rotary shaft are within the permissible
values.
4.1.1
4.4
(2) Check that a flexible coupling is used for coupling with the machine
side rotary shaft.
(3) Check that the damage for units.
(4) Check that the forcible impact is given on modules.
5-2
4.4
5 START-UP PROCEDURES
5.2 Start-up Adjustment Procedure
The mode indicated in the brackets [ ] at top left of
each step is the mode for checking or setting using
MT Developer2/GX Works2/GX Developer.
START
PLC CPU
Motion CPU
Turn OFF power supply
Check that the power supply of Multiple
CPU system is OFF.
Check wiring and module installation
(1) Check the installation position and
condition of each modules.
(2) Check the connecting condition of
connectors.
(3) Check that all terminal screws are tight.
(4) Check the ground wires of servo
amplifier, etc.
(5) Check the servo motor wiring (U, V, W).
(6) Check the regenerative option wiring.
(7) Check the circuit of emergency stop or
forced stop.
Install operating system software
Install the operating system software to the
Motion CPU module using MT Developer2.
Set the station number of SSCNET /H
head module.
(SSCNET /H head module use)
Set the RUN/STOP/RESET switch of PLC
CPU module to STOP, and turn ON the
Multiple CPU power supply.
[System setting]
Parameters setting
Motion CPU
Set the following parameters using
MT Developer2.
(1) Multiple CPU setting
(2) Automatic refresh setting
(3) System setting
[System setting]
Parameter setting
SSCNET /H
head module
Refer to Section 5.3.
Q173DSCPU/Q172DSCPU
The operating system software (SV22 (Virtual mode
switching method)) is installed at
the time of product purchases.
Q173DCPU(-S1)/Q172DCPU(-S1)
The operating system software is not installed at the
time of product purchase.
Be sure to install the operating system software to
be used before a system start.
When using a regenerative resistor, shut the
power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in
the regenerative transistor, etc., and may lead to
fires.
Always take heat measure such as flame proofing
for the inside of the control panel where the servo
amplifier or regenerative resistor is mounted and
for the wires used. Failing to do so may lead to
fires.
Turn ON power supply
PLC CPU
Motion CPU
CAUTION
CAUTION
Set the axis number of servo amplifier.
SSCNET /H head module setting
SSCNET /H
head module
Be sure to ground the Motion controllers, servo
amplifiers and servo motors.
(Ground resistance: 100 or less)
Do not ground commonly with other devices.
Refer to Section 2.5.9(4)
Servo amplifier setting
Servo amplifier
DANGER
Check that the combination of modules are correct.
Wrong combination may damage the modules.
[Installation mode]
Motion CPU
Refer to Section 2.1.4 for installation method and
installation position.
Refer to Section 4.1.3 for installation of module.
Set the SSCNET /H head module
parameter using MT Developer2.
(SSCNET /H head module use)
1)
5-3
5 START-UP PROCEDURES
1)
[Servo data setting]
CAUTION
Positioning parameters setting
Motion CPU
Set the following positioning parameters
using MT Developer2.
(1) Fixed parameters
(2) Home position return data
(3) JOG operation data
(4) Servo parameters
(5) Parameter block
(6) Limit output data
(7) Work coordinate data (SV43)
Set parameter values to those that are compatible
with the Motion controller, servo amplifier,
servo motor and regenerative resistor model name
and the system name application.
The protective functions may not function if the
settings are incorrect.
[Parameter setting]
Parameter setting
PLC CPU
Set the PLC parameter using GX Works2/
GX Developer.
[Parameter setting]
Parameter setting
SSCNET /H
head module
Set the SSCNET /H head module
parameter using GX Works2.
(SSCNET /H head module use)
(Note): An error may occur if the power is turned on
before system setting. In the case, reset the
Multiple CPU system after system setting.
Refer to the "Q173D(S)CPU/Q172D(S)CPU
Motion controller Programming Manual
(COMMON)" at the system setting error
occurrence.
Turn ON power supply again
Turn ON again the power supply or reset
of Multiple CPU system.
Check pulse input signal of built-in interface
in Motion CPU
Refer to Section 2.5.1
Check the wiring of pulse input signals of
built-in interface in Motion CPU by
monitoring of MT Developer2.
(1) Manual pulse generator/incremental
synchronous encoder setting
Check input signal of built-in interface in
Motion CPU
Refer to Section 2.5.1
Check the wiring of input signals of built-in
interface in Motion CPU by monitoring of
MT Developer2.
Motion CPU
Check external inputs to Q172DLX
Refer to Section 2.5.4
Check the wiring of following external inputs
by monitoring of MT Developer2.
(1) FLS (Upper stroke limit input)
(2) RLS (Lower stroke limit input)
(3) STOP (Stop signal)
(4) DOG (Proximity dog)
Check servo external inputs signal
Check the wiring of servo external input
signals by monitoring of MT Developer2.
(1) FLS (Upper stroke limit input)
(2) RLS (Lower stroke limit input)
(3) DOG (Proximity dog)
2)
5-4
5 START-UP PROCEDURES
2)
Check external inputs to Q172DEX
Refer to Section 2.5.5
Check the wiring of following external inputs
by monitoring of MT Developer2 or LED
indicators.
(1) Serial absolute synchronous encoder
setting
Motion CPU
Check external inputs to Q173DPX
Refer to Section 2.5.6
Check the wiring of following external inputs
by monitoring of MT Developer2 or LED
indicators.
(1) Manual pulse generator/incremental
synchronous encoder setting
CAUTION
Do not mount a phase advancing capacitor, surge
absorber or radio noise filter (option FR-BIF) on
the output side of the servo amplifier.
Correctly connect the output side (terminal U, V,
W). Incorrect connections will lead the servo motor
to operate abnormally.
Check I/O module
Check the wiring of I/O modules.
Check SSCNET /H head module
SSCNET /H
head module
Check the wiring of I/O module of the
intelligent function modules that are
connected to the SSCNET /H head module
by monitoring of GX Works2.
(SSCNET /H head module use)
[Programming]
DANGER
Create Motion programs
Motion CPU
Create the Motion programs using
MT Developer2.
When performing wiring work or inspections, turn
the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc.
Failing to do so may lead to electric shocks.
Wire the units after mounting the Motion controller,
servo amplifier and servo motor.
Failing to do so may lead to electric shocks or
damage.
[Programming]
Create sequence programs
Create the sequence programs to start of
Motion programs using GX Works2/
GX Developer.
PLC CPU
CAUTION
Write sequence programs
Write the sequence programs created to the
PLC CPU module.
Write Motion programs
Motion CPU
Write the positioning data and Motion
programs created to the Motion CPU
module.
Always mount a leakage breaker on the Motion
controller and servo amplifier power source.
Install emergency stop circuit externally so that
operation can be stopped immediately and the
power shut off.
Use the program commands for the program with
the conditions specified in the instruction manual.
Some devices used in the program have fixed
applications, so use these with the conditions
specified in the programming manual.
CAUTION
Turn ON power supply again
If safety standards (ex., robot safety rules, etc., )
apply to the system using the Motion controller,
servo amplifier and servo motor, make sure that
the safety standards are satisfied.
Construct a safety circuit externally of the Motion
controller or servo amplifier if the abnormal
operation of the Motion controller or servo
amplifier differ from the safety directive operation
in the system.
Turn ON again or reset the Multiple CPU
system power supply.
Turn ON servo amplifiers power supply
Check the emergency stop ON and forced
stop ON, and turn ON the power supply of
servo amplifiers.
3)
5-5
5 START-UP PROCEDURES
3)
[Test mode
servo start-up
(Initial check) ]
Check servo amplifier
Axis No. and error description of servo amplifier which
detected errors are displayed on initial check screen.
Check that the mounted servo amplifiers
operate correctly.
[Test mode
servo start-up
(Upper/lower stroke
limit check) ]
Check upper/lower stroke limits
Check that the upper/lower stroke limits
operate correctly.
[Test mode
JOG operation ]
CAUTION
Check machine operation
Motion CPU
Check the following by making the machine
operate with the JOG operation of
MT Developer2.
(1) Machine operates correctly
(no vibration, hunting, etc. )
(2) Stroke limits operate correctly
(3) Machine stops by the emergency stop
or forced stop.
The system must have a mechanical allowance so
that the machine itself can stop even if the stroke
limits switch is passed through at the max. speed.
Execute the test operation in the system that it is
low-speed as much as possible and put forced
stop, and confirm the operation and safety.
[Test mode
home position return ]
Check home position return
Check the following by executing the home
position return.
(1) Home position return direction
(2) Home position return data
(3) Proximity dog position
[Programming]
Check Motion program
Set the RUN/STOP/RESET switch of PLC
CPU module to RUN and the RUN/STOP
switch of Motion CPU module to RUN, and
check that all positioning controls by Motion
programs are correct.
[Monitor]
Check by automatic operation
PLC CPU
Check the sequence operation by executing
the sequence program using an actual
external input.
END
POINTS
(1) Make note of servo motor module names before the servo motor is mounted
on a machine. The servo motor rating plate may not be visible after the servo
motor is mounted.
(2) When the servo amplifier, servo motor is first turned on, check the operation
before the servo motor is mounted on a machine to avoid an unexpected
accidents such as machine breakage.
5-6
5 START-UP PROCEDURES
5.3 Operating System Software Installation Procedure
The operating system software must be installed to the Motion CPU module by using
the MT Developer2.
The installation procedure is shown below.
START
Set a rotary switch1 (SW1) of Motion
CPU module to "A".
(Rotary switch 2 (SW2) is optional.)
Set to installation mode.
Refer to Section 2.5.1(3) for rotary switch.
Turn ON the Multiple CPU system
power supply.
Steady "INS" display.
RUN/STOP is ignored.
Switch setting of factory default
Q173DSCPU/Q172DSCPU
: SW1 "0", SW2 "0" position
Q173DCPU(-S1)/Q172DCPU(-S1): SW1 "A", SW2 "0" position
Start the install of MT Developer2.
Set the connection method between
the personal computer and Multiple
CPU system in the Transfer Setup.
Operation in
MT Developer2
(Note)
Select the operating system software
installed, and install it in the Motion
CPU module.
Only when the operating system software
(SV22) is installed on the Q173DSCPU/
Q172DSCPU, select one of the following
operation methods. Ver.!
Virtual mode switching method
Advanced synchronous control method
Dialog "Installation is completed" is
displayed.
The operating system software can be
installed normally by dialog display.
Turn OFF the Multiple CPU system
power supply.
Set a rotary switch1 (SW1) and
switch2 (SW2) of Motion CPU module
to "0".
Set to mode operated by RAM.
END
(Note): Install the operating system software by screen of MT Developer2.
Refer to help of MT Developer2 for details.
Ver.! : Refer to Section 1.3 for the software version that supports this function.
5-7
5 START-UP PROCEDURES
POINTS
(1) When the software security key function is used in
Q173DSCPU/Q172DSCPU, if the software security key of the operating
system software already installed in Motion CPU is different from that
embedded to the operating system software to be installed, "Clear all" is
executed at installation. It is recommended to backup the data in advance
using MT Developer2.
(2) State of the Motion CPU module at the time of product purchase is shown
below.
• Q173DSCPU/Q172DSCPU
The operating system software (SV22 (Virtual mode switching method)) is
installed at the time of product purchase.
• Q173DCPU(-S1)/Q172DCPU(-S1)
The operating system software is not installed at the time of product
purchase.
Be sure to install the operating system software to be used before a system
start.
(3) Be sure to turn power supply OFF before changing rotary switch setting.
(4) Even if the operating system software is installed, the programs, parameters
and absolute position data written in the Motion CPU module not rewritten.
(5) Do not do any of the following while installing operation system software.
Doing so could result damage the Motion CPU module.
• Turn OFF the power supply of Multiple CPU system.
• Change the RUN/STOP/RESET switch of PLC CPU module to RESET.
• Turn OFF the power supply of the personal computer.
• Pull out the personal computer's communication cable.
(6) When installing the operating system software to several Motion CPU modules
on the same base unit, be sure to set all Motion CPU module s that have not
been installed to installation mode (set rotary switch1 (SW1) to "A" position.).
(Note): If the power supply is turned ON without setting all Motion CPU
modules that have not been installed to installation mode, it does not
operate normally.
Be sure to install the operating system software before system start.
(7) Only when the operating system software (SV22) is installed on the
Q173DSCPU/Q172DSCPU, select one of the following operation methods.
Ver.!
• Virtual mode switching method
• Advanced synchronous control method
To change the operation method after the operating system software is
installed, install the operating system software (SV22) again, or change the
operation method in "Change CPU operation method" of MT Developer2.
Refer to help of MT Developer2 for details.
Ver.! : Refer to Section 1.3 for the software version that supports this function.
5-8
5 START-UP PROCEDURES
5.4 Trial Operation and Adjustment Checklist
At the worksite, copy the following table for use as a check sheet.
Work Step
Item
Check Items
Check
Check that each module is installed correctly.
Check that each connector is connected correctly.
Check each terminal screw for looseness.
Before power supply
ON
Installation of
unit/module
and basic wiring
Check that the earth wires of power supply module or servo amplifiers, etc. are
correct.
Check that the servomotor wiring is correct.
Check that the regenerative option wiring is correct.
Check that the circuit of emergency stop and forced stop are correct.
Check that the wiring of each power supply and I/O are correct.
Check that the rotary switch setting is correct.
Power supply ON/
Motion CPU module
in STOP status/
PLC CPU module in
STOP status
Installation of OS
Check that the operating system software is compatible.
System setting
Check that the system setting is correct.
Q172DLX/Servo
amplifier external
signal
Check that the upper/lower stroke limit inputs are correct.
Program/
positioning data
Check that the Motion program, sequence program and positioning data are stored
in the PLC/Motion CPU module correctly.
Check that the STOP signal input is correct. (Q172DLX only)
Check that the proximity dog and speed/position switching signal input are correct.
Check the communications with servo amplifiers.
Check that the rotation direction for JOG operation is correct.
Check that the upper/lower limit switches operate correctly.
Motion CPU module
in RUN status/
Check that the rotation at maximum command speed is motor rating or less.
Basic axis
operations
Check that the machine operates correctly by the JOG operation.
(Check each axis) Check that the machine stops by the upper/lower stroke limit.
Check that the machine stops by the emergency stop or forced stop.
PLC CPU module in
STOP status
Check that the home position return is executed correctly.
Check that each positioning control of Motion program is operates correctly.
Check each operation in manual operation mode of system during Motion program execution.
Check that the machine operation stops immediately by the emergency stop or
forced stop.
Manual operation
Check the operation of each actuator and confirmation limit switch.
Check that the emergency stop, forced stop and equipment alarm signals are
correct.
Checks in compliance with control specifications specific to system and equipment.
Check each operation in automatic operation mode of system during Motion program
execution.
Motion CPU module
in RUN status/
Check that the automatic operation motions.
PLC CPU module in
RUN status
Automatic
operation
Check that the machine operation stops immediately by the emergency stop or
forced stop.
Check that the module or equipment alarm causes an immediate stop or cycle
stop.
Check that the restoring operation can be performed after an alarm stop.
Make other checks in compliance with control specifications specific to system and
equipment.
Torque check
Check that the acceleration/deceleration torque is maximum torque or less.
Check that the continuous effective load torque is rated torque or less.
5-9
5 START-UP PROCEDURES
MEMO
5 - 10
6 INSPECTION AND MAINTENANCE
6. INSPECTION AND MAINTENANCE
DANGER
Do not touch the terminals while power is on. Doing so could cause electric shock.
Correctly connect the battery. Also, do not charge, disassemble, heat, place in fire, short circuit, or
solder the battery.
Mishandling of a battery may cause overheating, cracks or ignition which could result in injury and fire.
Switch off all phases of the externally supplied power used in the system when cleaning the module or
retightening the terminal or module mounting screws.
Not doing so could result in electric shock.
Under tightening of terminal screws can cause a short circuit or malfunction.
Over tightening of screws can cause damages to the screws and/or the module, resulting in fallout,
short circuits, or malfunction.
The capacitor is mounted to the modules. Do not incinerate the modules so that the incineration of
capacitor may cause burst.
For disposal of the modules, request for specialized industrial waste disposal services who has
incineration facility.
CAUTION
Read the manual carefully and pay careful attention to safety for the on-line operation (especially
program change, forced stop or operation change) performed by connecting peripheral devices to the
Motion controller during operation.
Erroneous operation may cause machine breakage or accident.
Never try to disassemble or modify module. It may cause product failure, operation failure, injury or fire.
Use any radio communication device such as a cellular phone or a PHS phone more than 25cm (9.84
inch) away in all directions of the Motion controller.
Failure to do so may cause a malfunction.
Completely turn off the externally supplied power used in the system before installation or removing
the module. Not doing so could result in electric shock, damage to the module or operation failure.
Do not install/remove the module on to/from base unit or terminal block more than 50 times, after the
first use of the product. Failure to do so may cause the module to malfunction due to poor contact of
connector.
Do not drop or impact the battery installed to the module. Doing so may damage the battery, causing
battery liquid to leak in the battery.
Do not use the dropped or impacted battery, but dispose of it.
Before touching the module, always touch grounded metal, etc. to discharge static electricity from
human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components. Touching them could
cause an operation failure or damage the module.
In order that you can use the Motion controller in normal and optimal condition at all
times, this section describes those items that must be maintained or inspected daily or
at regular intervals.
6-1
6
6 INSPECTION AND MAINTENANCE
6.1 Maintenance Works
6.1.1 Instruction of inspection works
In order that can use the Motion controller in safety and normal, those items that must
be inspected list below.
DANGER
Never open the front case or terminal covers while the power is ON or the unit is running, as this may
lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never remove the front case or terminal cover at times other than wiring work or periodic inspections
even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and
may lead to electric shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then
check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may
lead to electric shocks or fire.
Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power is
ON, as this may lead to electric shocks or fire.
Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller and
servo amplifier, as this may lead to electric shocks.
CAUTION
Be sure to ground the Motion controller, servo amplifier and servomotor. Do not ground commonly
with other devices. (Ground resistance : 100
or less)
The wiring work and inspections must be done by a qualified technician.
Wire the units after mounting the Motion controller, servo amplifier and servomotor. Failing to do so
may lead to electric shocks or damage.
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the Motion
controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or
wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
When replacing the Motion controller or servo amplifier, always set the new unit settings correctly.
After maintenance and inspections are completed, confirm that the position detection of the absolute
position detector function is correct.
6-2
6 INSPECTION AND MAINTENANCE
CAUTION
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion
controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically change these to prevent secondary
damage from faults. Replacements can be made by our sales representative.
If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the check
details according to the instruction manual, and restore the operation.
If a dangerous state is predicted in case of a power failure or product failure, in order to prevent that
state, use a servomotor with electromagnetic brakes for maintenance or mount a brake mechanism
externally.
Use a double circuit construction so that the electromagnetic brake operation circuit can be operated
by emergency stop signals set externally.
Shut off with servo ON signal OFF,
alarm, electromagnetic brake signal.
Servo motor
RA1
Electromagnetic
B
brakes
Shut off with the
emergency stop
signal (EMG).
EMG
24VDC
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly restart after a power failure is restored, so do not go near the machine. (Design
the machine so that personal safety can be ensured even if the machine restarts suddenly.)
Confirm and adjust the program and each parameter before operation. Unpredictable movements may
occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity ( + / - ), as this may lead to destruction or damage.
Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and
servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts
may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching. Doing so
may lead to injuries.
Do not bunch the control wires or communication cables with the main circuit or power wires, or lay
them closely. They should be installed 100mm (3.94inch) or more from each other.
Trying to bunch or install could result in noise that would cause operation failure.
6-3
6 INSPECTION AND MAINTENANCE
6.2 Daily Inspection
The items that must be inspected daily are shown below.
Table 6.1 Daily Inspection
Item
1
2
3
Inspection item
Inspection
Check that the fixing screws
Mounting of base unit are not loose and the cover
is not dislocated.
Installation of Motion Check that the module is not
modules and I/O
dislocated and the unit fixing
modules
hook is engaged securely.
Check for loose terminal
screws.
Check the distance between
Connecting conditions solderless terminals.
Criterion
The screws and cover must be mounted securely.
The module fixing hook must be engaged and installed
correctly.
Screws should not be loose.
The proper clearance should be provided between
solderless terminals.
[POWER]
LED
Check that the LED is ON.
The LED must be ON (green).
(Abnormal if the LED is OFF or flickering.)
Check that the LED is ON in The LED must be ON.
RUN status.
(Abnormal if the LED is OFF.)
The LED must be OFF.
Check that the LED is OFF.
(Abnormal if the LED is ON or flickering.)
The LED must be OFF.
Check that the LED is OFF.
(Abnormal if the LED is ON.)
[MODE] LED Check that the LED is ON.
[RUN] LED
[ERR.] LED
[BAT.] LED
Normal
Motion CPU module
Steady "STP" display.
(Abnormal if "STP" does not display or incorrect display.)
Battery error
warning
(2.7V or less)
Battery error
warning
(2.5V or less)
"BT1" does not display.
(Abnormal if steady "BT1" display.)
"BT2" does not display.
(Abnormal if steady "BT2" display.)
WDT error
" . . . " does not display.
(Abnormal if steady " . . ." display.)
Others
" AL" does not flash.
(Abnormal if " . . ." flashes.)
Input LED
Check that the LED is
ON/OFF.
Output LED
Check that the LED is
ON/OFF.
Retighten the
screws.
Securely engaged
the module fixing
hook.
Retighten the
terminal screws.
Correct.
Retighten the
connector fixing
screws.
The LED must be ON (green).
(Abnormal if the LED is OFF or ON (red)).
Steady "RUN" display.
(Abnormal if "RUN" does not display or incorrect display.)
I/O module
4
Module indication LED
PLC CPU module
Power supply module
Check the connector part of
Connections should not be loose.
the cable.
Action
Refer to
"QnUCPU User's
Manual (Function
Explanation,
Program Fundamentals)".
Refer to Section
2.5.1
Refer to Section
6.5
Refer to Section
2.5.1
The LED must be ON when the input power is turned ON.
The LED must be OFF when the input power is turned OFF.
(Abnormal if the LED does not turn ON or turn OFF as
Refer to
indicated above.)
"I/O Module Type
The LED must be ON when the output power is turned ON. Building Block
The LED must be OFF when the output power is turned
User's Manual".
OFF.
(Abnormal if the LED does not turn ON or turn OFF as
indicated above.)
6-4
6 INSPECTION AND MAINTENANCE
6.3 Periodic Inspection
The items that must be inspected one or two times every 6 months to 1 year are listed
below. When the equipment is moved or modified, or layout of the wiring is changed,
also implement this inspection.
Table 6.2 Periodic Inspection
3
4
5
Inspection
Criterion
0 to 55 °C (32 to 131 °F)
Ambient temperature
Ambient humidity
Measure with a thermometer and
a hygrometer.
Measure corrosive gas.
Atmosphere
Power voltage
Installation
2
Connection
1
Inspection item
Ambient environment
Item
5 to 95 % RH
No corrosive gases
Action
When the controller is used in
the board, the ambient
temperature in the board
becomes the ambient
temperature.
85 to 132VAC
Measure a voltage across the
terminals of 100/200VAC and
24VDC.
170 to 264VAC
Change the power supply.
15.6 to 31.2VDC
Looseness, rattling
Move the module to check for
looseness and rattling.
The module must be installed
solidly.
Retighten the screws.
If the CPU modules, Motion
modules, I/O modules, or
power supply modules are
loose, fix it with screws.
Adhesion of dirt and
foreign matter
Check visually.
Dirt and foreign matter must not
be present.
Remove and clean.
Looseness of terminal
screws
Try to further tighten screws with a
Screws must not be loose.
screwdriver.
Retighten the terminal screws.
Proximity of solderless
Check visually.
terminals to each other
Solderless terminals must be
positioned at proper intervals.
Correct.
Looseness of
connectors
Check visually.
Connectors must not be loose.
Retighten the connector fixing
screws.
Check the 7-segment LED at the
front side of CPU module.
Must be turned OFF "BT1" or
"BT2" display.
Check the length of term after
purchasing the battery
Must not be used more than 5
years.
Check that SM51 or SM58 is
turned OFF using MT Developer2
in monitor.
Must be turned OFF.
Battery
6-5
Even if the lowering of a
battery capacity is not shown,
replace the battery with a new
one if a service life time of the
battery is exceeded.
Replace the battery with a new
one when SM51 or SM58 is
ON.
6 INSPECTION AND MAINTENANCE
6.4 Life
The following parts must be changed periodically as listed below.
However, if any part is found faulty, it must be changed immediately even when it has
not yet reached the end of its life, which depends on the operating method and
environmental conditions.
For parts replacement, please contact your sales representative.
Table 6.3 Life
Module name
Motion CPU module
Motion module
Part name
Electrolytic capacitor
Synchronous
Capacitor
encoder
Bearings
Life guideline
10 years
Remark
Life guideline is reference time.
If faulty, it must be changed
immediately even when it has
20,000 to 30,000 not yet reached the life
hours
guideline.
(1) Capacitor
The life of the capacitor greatly depends on ambient temperature and operating
conditions. The capacitor will reach the end of its in 10 years of continuous
operation in normal air-conditioned environment.
(2) Bearing
Change the bearings in 20,000 to 30,000 hours as a guideline under rated speed.
This differs on the operating conditions, The bearings must also be changed if
unusual noise or vibration is found during inspection.
6-6
6 INSPECTION AND MAINTENANCE
6.5 Battery
The battery installed in the Motion CPU module is used for data retention during the
power failure of the program memory and latch device. Special relays (SM51, SM52,
SM58 or SM59) turn on due to the decrease of battery voltage. Even if the special
relays turn on, the program and retained data are not erased immediately.
However, if these relays are overlooked, the contents may be erased.
After relay SM51 or SM58 turns on, replace the battery quickly within the data
retention time for power failure (3 minutes).
POINT
(1) SM51 or SM58 turns on when the battery voltage falls below the specified
value, and remains ON even after the battery voltage is recovered to the
normal value. SM51 or SM58 turns off by power supply on again or reset.
(2) After SM51, SM52, SM58 or SM59 turns on, replace the battery quickly.
• SM51 or SM52 turns on at the battery voltage 2.5V or less.
• SM58 or SM59 turns on at the battery voltage 2.7V or less.
(3) If SM51 turns on, the details for the programs, parameters, motion device(#),
latch range device and absolute position data of SRAM built-in Motion CPU
module cannot be guaranteed.
It is recommended to back-up the data periodically.
(4) For Q173DSCPU/Q172DSCPU, whether or not to check the battery of Motion
CPU can be set in the system basic setting of system setting. If "Perform
battery check" is not set, a self-diagnosis error will not occur and the 7segment LED "BT1" or "BT2" is not also displayed.
Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming
Manual (COMMON)" for details.
6-7
6 INSPECTION AND MAINTENANCE
6.5.1 Battery life
The battery life is shown below.
Battery life (Total power failure time) [h]
Module type
Battery type
Power-on
time ratio
(Note-2)
Q173D(S)CPU/
Q172D(S)CPU
(Note-7)
Battery (Q6BAT)
Q171ENC-W8/
Q170ENC 1
Q172DEX
Internal
battery
(A6BAT/
MR-BAT)
Q171ENC-W8/
Q170ENC 2
Guaranteed
(Note-3)
value
Guaranteed
(Note-4)
value
(MIN)
(75°C (167°F))
(TYP)
(40°C (104°F))
0%
20000
30%
27000
50%
31000
70%
36000
100%
43800
43800
(Note-1)
Actual service
(Note-5)
value
(Reference value)
(TYP)
(25°C (77°F))
43800
0%
3000
8000
24000
30%
4000
11000
34000
50%
6000
16000
43800
70%
10000
26000
43800
100%
43800
43800
43800
0%
1500
4000
12000
30%
2000
5500
17000
50%
3000
8000
21900
70%
5000
13000
21900
100%
43800
43800
43800
Backup time
after alarm
(Note-6)
90
(After
SM51/SM52
ON)
40
(After Error
code 1152
occurrence)
(Note-1): The actual service value indicates the average value, and the guaranteed value indicates the minimum value.
(Note-2): The power-on time ratio indicates the ratio of Multiple CPU system power-on time to one day (24 hours).
(When the total power-on time is 17 hours and the total power-off time is 7 hours, the power-on time ratio is 70%.)
(Note-3): The guaranteed value (MIN) ; equivalent to the total power failure time that is calculated based on the characteristics value of the
memory (SRAM) supplied by the manufacturer and under the storage ambient temperature range of -25°C to 75°C (-13 to
167°F) (operating ambient temperature of 0°C to 55°C (32 to 131°F)).
(Note-4): The guaranteed value (TYP) ; equivalent to the total power failure time that is calculated based on the normal air-conditioned
environment (40°C (104°F)).
(Note-5): The actual service value (Reference value) ; equivalent to the total power failure time that is calculated based on the measured
value and under the storage ambient temperature of 25°C (77°F). This value is intended for reference only, as it varies with
characteristics of the memory.
(Note-6): In the following status, the backup time after power OFF is 3 minutes.
• The battery connector/Q6BAT lead connector is disconnected.
• The battery cable/lead wire of Q6BAT is broken.
(Note-7): Set the battery (Q6BAT) to battery holder unit (Q170DBATC) when using the Q173DCPU(-S1)/Q172DCPU(-S1).
6-8
6 INSPECTION AND MAINTENANCE
POINT
(1) Do not use the battery exceeding its guaranteed life.
(2) When the battery hours (total power failure time) may exceed its guaranteed
value, take the following measure.
• Perform ROM operation to protect a program even if the battery dies at the
Multiple CPU system power-OFF.
• If SM51 turns on, the contents for programs, parameters, motion device(#),
latch range device and absolute position data cannot be guaranteed.
It is recommended to back-up the data periodically.
(3) When the total power failure time exceeds its guaranteed value, and SM51,
SM52, SM58 and SM59 turns on, immediately change the battery. Even if the
alarm has not yet occurred, it is recommended to replace the battery
periodically according to the operating condition
(4) The self-discharge influences the life of battery without the connection to
Q173D(S)CPU/Q172D(S)CPU/Q172DEX. The external battery should be
exchanged approximately every 4 or 5 years.
And, exchange the battery with a new one in 4 to 5 years even if a total power
failure time is guaranteed value or less.
(5) It is recommended to shift to the mode operated by ROM after the programs
and parameters are fixed. The erasing of the programs and parameters can be
avoided even if the battery decrease. (The ROM writing cannot be executed
for the current position of the servo motor in the absolute position system,
home position and latch device. Back up them beforehand using
MT Developer2.)
Refer to Section 4.4 of the "Q173D(S)CPU/Q172D(S)CPU Motion controller
Programming Manual (COMMON)" for details of the ROM operation.
6-9
6 INSPECTION AND MAINTENANCE
6.5.2 Battery replacement procedure
(1) Battery replacement procedure of the Motion CPU module
When the battery has been exhausted, replace the battery with a new one in
accordance with the procedure shown below.
POINTS
When replacing the battery, pay attention to the following.
(1) The Multiple CPU power supply must be on for 10 minutes or longer before
dismounting the battery.
(2) Back up the data using MT Developer2 before starting replacement.
(3) Firstly back up the data stored in the Motion CPU to the personal computer
which is installed MT Developer2 then replace the battery with a new one.
After setting the battery, verify the backing up the data to the personal
computer which is installed MT Developer2 and the data in the Motion CPU
module, confirm the data is not changing.
In the following status, the backup time after power OFF is 3 minutes.
• The battery connector/Q6BAT lead connector is disconnected.
• The battery cable/lead wire of Q6BAT is broken.
6 - 10
6 INSPECTION AND MAINTENANCE
(a) Q173DSCPU/Q172DSCPU battery replacement procedure
Replacing Battery
Turn on the Multiple CPU system
power supply for 10 minutes or longer.
Turn off the Multiple CPU system
power supply.
Remove the internal I/F connector
cable from Motion CPU.
Internal I/F connector cable
Open the battery cover.
Disconnect the lead connector from
the battery connector. Remove the
old battery from its holder.
Install a new battery to the battery
holder correctly after confirming "+"
side and "-" side for the battery.
Battery connector
"+" side
L IT H I
Battery holder
Battery (Q6BAT)
CN2
Connect the lead connector to the
battery connector.
Battery lead
connector for
Q6BAT
Lead wire
Close the battery cover.
Battery cover
Battery (Q6BAT)
Connect the internal I/F connector
cable to the Motion CPU.
Turn on the Multiple CPU system
power supply.
Front face of Motion CPU
END
6 - 11
6 INSPECTION AND MAINTENANCE
(b) Q173DCPU(-S1)/Q172DCPU(-S1) battery replacement procedure
Replacing Battery
Turn on the Multiple CPU system
power supply for 10 minutes or longer.
<Battery holder unit(Q170DBATC)>
Lead wire
Q170DBATC
Turn off the Multiple CPU system
power supply.
Disconnect the lead connector from
the battery connector. Remove the
old battery from its holder.
M ITSU BISH I
Install a new battery into the holder in
the correct direction. Connect the
lead connector to the connector
(BATTERY).
LITH IU M BATTERY
CPU
BATTERY
Turn on the Multiple CPU system
power supply.
Battery(Q6BAT)
END
6 - 12
Battery connector for Q6BAT
6 INSPECTION AND MAINTENANCE
(2) Q172DEX module battery replacement procedure
When the battery has been exhausted, replace the battery with a new one in
accordance with the procedure shown below.
POINT
When replacing the battery, pay attention to the following.
(1) The Multiple CPU power supply must be on for 10 minutes or longer before
dismounting the battery.
(2) Encoder data in the memory are backed up for a while by a capacitor even
after the battery is removed. However, since data in the memory may be
erased if the time for replacement exceeds the backup time shown the
following guaranteed value, replace the battery quickly.
• Backup time by capacitor : 3 minutes
Replacing Battery
Turn on the Multiple CPU system
power supply for 10 minutes or longer.
Turn off the Multiple CPU system
power supply.
Side of the Q172DEX
Remove the encoder cable from
Q172DEX.
Remove the Q172DEX from the base
unit.
Disconnect the lead connector from
the battery connector. Remove the
old battery from its holder of the
Q172DEX.
LITHIUM BATTERY
Install the Q172DEX to the base unit.
MITSUBISHI
Install a new battery into the holder in
the correct direction. Connect the
lead connector to the connector
(COM4).
Front
Battery
(A6BAT/MR-BAT)
Connect the encoder cable to the
Q172DEX.
Turn on the Multiple CPU system
power supply.
END
6 - 13
Connector for battery
connection (CON4)
Encoder cable
6 INSPECTION AND MAINTENANCE
6.5.3 Resuming operation after storing the Motion controller
When the operation is to be resumed after being stored with the battery removed or
the battery has gone flat during storage, the contents of programs, parameters,
motion device(#), latch range device and absolute position data cannot be guaranteed.
Before resuming operation, write the contents of programs, parameters, motion
device(#), latch range device and absolute position data backed up prior to storage to
SRAM built-in Motion CPU module.
POINT
Before storing the Motion controller, always back up the contents of programs,
parameters, motion device(#), latch range device and absolute position data to
SRAM built-in Motion CPU module.
6.5.4 Symbol for the new EU battery directive
This section describes a symbol for the new EU Battery Directive (2006/66/EC) that is
labeled batteries.
Note: This symbol mark is for EU countries only.
This symbol mark is according to the directive 2006/66/EC Article 20 Information for
end-users and Annex II.
Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality
materials and components which can be recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be
disposed of separately from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol
means that the battery or accumulator contains a heavy metal at a certain
concentration. This will be indicated as follows:
Hg: mercury (0.0005%), Cd: cadmium (0.002%), Pb: lead (0.004%)
In the European Union there are separate collection systems for used batteries and
accumulators.
Please, dispose of batteries and accumulators correctly at your local community waste
collection/recycling centre.
Please, help us to conserve the environment we live in!
6 - 14
6 INSPECTION AND MAINTENANCE
6.6 Troubleshooting
This section describes the various types of trouble that occur when the system is
operated, and causes and corrective actions of these troubles.
6.6.1 Troubleshooting basics
The basic three points that must be followed in the troubleshooting are as follows.
(1) Visual inspection
Visually check the following.
(a) Movement of machine (stopped condition, operating condition)
(b) Power supply on/off
(c) Status of input/output devices
(d) Installation condition of the Power supply module, Motion CPU module, PLC
CPU module, I/O module, Motion module, intelligent function module,
SSCNET cable, Synchronous encoder cable.
(e) State of wiring (I/O cables, cables)
(f) Display states of various types of indicators
PLC CPU module : MODE LED, RUN LED, ERR. LED, BAT LED, I/O
LED, etc.
Motion CPU module : 7-segment LED (Installation mode, Operation mode,
Battery error, STOP/RUN, etc.)
(g) Status of setting of various types of switches (Setting of No. of stages of
extension base, power interrupt hold-on status).
After checking (a) to (g), monitor the operating conditions of servomotors and
error code using MT Developer2 and GX Works2/GX Developer.
(2) Check of trouble
Check to see how the operating condition varies while the Motion controller is
operated as follows.
(a) Set the RUN/STOP switch of Motion CPU module to STOP.
(b) Reset the trouble with the RUN/STOP/RESET switch of PLC CPU module.
(c) Turn ON and OFF the Multiple CPU system power supply.
(3) Narrowing down the range of trouble occurrence causes
Estimate the troubled part in accordance with items (1) and (2) above.
(a) Multiple CPU system or external devices
(b) Motion CPU or PLC CPU
(c) I/O module or others
(d) Servo program or Motion SFC program/Motion program
(e) Sequence program
6 - 15
6 INSPECTION AND MAINTENANCE
6.6.2 Troubleshooting of Motion CPU module
This section describes the contents of troubles for the error codes and corrective
actions of the troubles.
As for troubleshooting of PLC CPU, refer to the QCPU User's Manual (Hardware
Design, Maintenance and Inspection) of their respective modules.
As for troubleshooting of I/O modules, refer to the "I/O Module Type Building Block
User's Manual" of their respective modules.
POINT
Check that the operating system software is installed before starting the Motion
CPU module.
(1) Troubleshooting flowchart
The following show the contents of the troubles classified into a variety of groups
according to the types of events.
Error-occurrence description
"POWER" LED turns off
(a)
"Flowchart for when "POWER" LED turns off"
" ." does not flash in the first digit of
7-segment LED
(b)
"Flowchart for when "
7-segment LED"
"A00" displays on 7-segment LED
(c)
"Flowchart for when "A00" displays on 7-segment LED"
"AL"
"L01" displays on 7-segment LED
(d)
"Flowchart for when "AL"
"L01" displays on 7-segment LED"
"AL"
LED
"A1"
(e)
"Flowchart for when "AL"
"A1"
"
" displays on 7-segment
." does not flash in the first digit of
"
" displays on 7-segment LED"
"BT " displays on 7-segment LED
(f)
"Flowchart for when "BT " displays on 7-segment LED"
" . . ." displays on 7-segment LED
(g)
"Flowchart for when " . . ." displays on 7-segment LED"
Servo amplifier does not start
(h)
"Flowchart for when servo amplifier does not start"
"AL"
(i)
"Flowchart for when "AL"
"S01" displays on 7-segment LED
6 - 16
"S01" displays on 7-segment LED"
6 INSPECTION AND MAINTENANCE
(a) Flowchart for when "POWER" LED turns off
The following shows the flowchart for when "POWER" LED of the power
supply module turns off at the power supply ON or during operation.
"POWER" LED turns off
Is there a power supply?
NO
Supply power.
YES
NO
Is the wiring/
terminal connection
correct?
NO
YES
Does "POWER"
LED turn on?
Connect wiring and fix terminal
connection correctly.
YES
NO
Is the power
supply voltage within the
rated range?
NO
YES
Does "POWER"
LED turn on?
The supply voltage should be within
the rated range.
YES
NO
Is the power supply
module fixed?
NO
YES
Does "POWER"
LED turn on?
Fix the power supply module correctly.
YES
NO
1)
YES
Does "POWER"
LED turn on?
END
6 - 17
6 INSPECTION AND MAINTENANCE
1)
Remove all modules other than the
power supply module from the base
unit.
NO
Does "POWER"
LED turn on?
The base unit that includes the
corresponding power module is faulty.
(Replace it with a normal base unit.)
YES
YES
Does "POWER"
LED turn on?
NO
Install all modules that removed from
the base unit to the base unit.
A hardware fault
Explain the error symptom and get
advice from our sales representative.
Check the sum of internal current
consumption of the modules that
comprise the system.
Does the total
current exceed the rated
output current of the power
supply module?
YES
Reexamine the system configuration
to make the total current less than the
rated output current of the power
supply module.
NO
NO
A hardware fault
Check operation in the order starting
with the minimum system.
If the module will not work, explain
the error symptom and get advice
from our sales representative for the
modules with failure.
6 - 18
YES
Does "POWER"
LED turn on?
END
6 INSPECTION AND MAINTENANCE
(b) Flowchart for when " ." does not flash in the first digit of
7-segment LED
" ." does not flash in the first digit of
7-segment LED.
NO
Does "POWER"
LED turn on?
(a)
"Flowchart for when "POWER" LED
turns off"
YES
Is the
connecting direction
of extension cable correctly?
(Isn't IN-IN or OUT-OUT
connection?)
NO
Connect the extension cable correctly.
YES
NO
"RESET"
Is the
RUN/STOP/RESETand
RUN/STOP switch of CPU
No.1 and target CPU Module
set to STOP?
Does " . " flash
in the first digit of 7-segment
LED?
YES
Set the RUN/STOP/RESET and
RUN/STOP switch to "STOP".
"STOP"
NO
A hardware fault
Check operation in the order starting
with the minimum system.
If the module will not work, explain
the error symptom and get advice
from our sales representative for the
modules with failure.
6 - 19
Does " . " flash
in the first digit of 7-segment
LED?
YES
END
(Note) : Normally, " . " flashes in the first digit of
7-segment LED.
6 INSPECTION AND MAINTENANCE
(c) Flowchart for when "A00" displays on 7-segment LED
"A00" displays when the operating system software is not installed.
The following shows the flowchart for when "A00" displays on 7-segment
LED at the power supply ON or operation start.
"A00" displays on 7-segment LED
Is the
operating system
software installed to Motion
CPU module?
NO
Install the operating system software.
YES
Reset the Multiple CPU system.
Does "A00" disappear
on 7-segment LED?
NO
YES
END
6 - 20
Explain the error symptom and get
advice from our sales representative.
6 INSPECTION AND MAINTENANCE
(d) Flowchart for when "AL"
"L01" displays on 7-segment LED
""AL" (flashes 3 times)
Steady "L01" display" displays at the system
setting error occurrence.
The following shows the flowchart for when ""AL" (flashes 3 times)
Steady "L01" display" displays during operation.
"AL"
LED.
"L01" displays on 7-segment
Confirm details of error by Motion
CPU error batch monitor of
MT Developer2.
Does a ROM ERROR
occur?
YES
NO
Is ROM operation executed?
NO
YES
Set a rotary switch1 (SW1) to "0", a
rotary switch2 (SW2) to "6" of Motion
CPU module, and then execute ROM
writing.
Does a LAY ERROR
(SL**) occur?
YES
Check that the installed modules
correspond to system setting and
correct details of error.
NO
Set so that an error does not occur
by a relative check of system setting,
then write to the Motion CPU.
Reset the Multiple CPU system.
Does "A00"
"L01"
disappear on 7-segment
LED?
NO
YES
END
6 - 21
Set a rotary switch1 (SW1) to "0", a
rotary switch2 (SW2) to "0" of Motion
CPU module.
(Mode operated by RAM)
6 INSPECTION AND MAINTENANCE
(e) Flowchart for when "AL"
LED.
"A1"
" " displays on 7-segment
""AL" (flashes 3 times)
Steady "A1" display
" "" displays at the selfdiagnosis error occurrence.
The following shows the flowchart for when ""AL" (flashes 3 times)
Steady "A1" display
" "" displays during operation.
: 4-digits error code is displayed in two sequential flashes of 2-digits each.
"AL"
"A1"
" " displays
on 7-segment LED.
Confirm details of error by Motion
CPU error batch monitor of
MT Developer2.
Hardware cause fault?
YES
NO
NO
Noise cause?
Correct each Multiple CPU system
setting based on the error causes .
YES
Take measures against noise.
Reset the Multiple CPU system.
Does "AL"
"A1"
" " disappear on 7-segment
LED.
Explain the error symptom and get
advice from our sales representative.
NO
YES
END
6 - 22
6 INSPECTION AND MAINTENANCE
(f) Flowchart for when "BT " displays on 7-segment LED
"BT1" or "BT2" displays when the battery voltage is lowered.
"BT1" or "BT2" displays at the following cases.
• BT1: Battery voltage 2.7V or less
• BT2: Battery voltage 2.5V or less
The following shows the flowchart for when "BT1" or "BT2" displays on
7-segment LED.
"BT " displays on 7-segment LED
Turn off the Multiple CPU system
power supply.
Replace the battery.
Turn on the Multiple CPU system
power supply.
Does "BT "
disappear on 7-segment
LED (Confirm ON/OFF by
monitoring SM )
NO (SM58 or SM51 ON)
YES (SM58, SM51 OFF)
END
A hardware fault
Explain the error symptom and get
advice from our sales representative.
REMARK
If SM51, SM58 turns on, the contents of the programs, parameters, motion device(#),
latch range device and absolute position data cannot be guaranteed.
It is recommended to back-up the data periodically.
6 - 23
6 INSPECTION AND MAINTENANCE
(g) Flowchart for when " . . ." displays on 7-segment LED
" . . ." displays at the WDT error occurrence.
The following shows the flowchart for when " . . ." displays on 7-segment
LED during operation.
" . . ." displays on 7-segment LED
Confirm details of error by Motion
CPU error batch monitor of
MT Developer2.
Is the error
code of Motion CPU WDT
cause "1"?
NO
YES
Is the error
code of Motion CPU WDT
cause "2"?
Correct the main cycle not to exceed
1.0[s] by the following methods, and
write it to Motion CPU.
1) Change the operation cycle to
large value in the system setting.
2) Reduce the number of execution to
the event task program and NMI
task program in the Motion SFC
program. (SV13/SV22)
3) Reduce the number of execution to
the normal task program executed
simultaneously in the Motion SFC
program. (SV13/SV22)
4) Reduce the number of automatic
refresh points of CPU shared
memory.
YES
Correct the Motion operating time to
shorten by the following methods,
and write it to Motion CPU.
1) Change the operation cycle to
large value in the system setting.
2) Reduce the number of execution to
the event task program and NMI
task program in the Motion SFC
program. (SV13/SV22)
Reset the Multiple CPU system.
Does " . . ." disappear
on 7-segment LED.
NO
YES
END
6 - 24
NO
Explain the error symptom and get
advice from our sales representative.
6 INSPECTION AND MAINTENANCE
(h) Flowchart for when servo amplifier does not start
The following shows the flowchart for when servo amplifier does not start.
Servo amplifier does not start.
Is there error display
on 7-segment LED of Motion
CPU module?
NO
YES
Remove the error cause.
YES
NO
Does servo amplifier start?
Is the target axis set in
the system setting?
NO
YES
Set the target axis in the system
setting.
NO
Does servo amplifier start?
Is the connection of
SSCNET cable correct?
NO
Connect the SSCNET
YES
cable correctly.
YES
NO
Is the axis select
rotary switch setting of servo
amplifier correct?
NO
YES
Is the servo amplifier
connected from target axis near
controller started?
YES
YES
Set the axis select rotary switch
correctly.
NO
NO
Does servo amplifier start?
Does servo amplifier start?
YES
Remove the error cause of servo
amplifier that does not start.
NO
Does servo amplifier start?
YES
Explain the error symptom and get
advice from our sales representative.
END
6 - 25
6 INSPECTION AND MAINTENANCE
(i) Flowchart for when "AL"
"S01" displays on 7-segment LED
""AL" (flashes 3 times)
Steady "S01" display" displays at the servo error
occurrence.
The following shows the flowchart for when ""AL" (flashes 3 times)
Steady "S01" display" displays on 7-segment LED during operation.
"AL"
LED.
"S01" displays on 7-segment
Confirm details of error by Motion
CPU error batch monitor of
MT Developer2.
Remove the error cause of servo
amplifier, and then execute the servo
error reset (M3208+20n ON) or
re-turn on the servo amplifier power
supply.
Does "AL"
"S01"
disappear on
7-segment LED?
NO
YES
END
6.6.3 Confirming error code
The error codes and error contents can be read using MT Developer2.
Refer to help of MT Developer2 for details of operating method.
6 - 26
6 INSPECTION AND MAINTENANCE
6.6.4 Internal input circuit troubleshooting
QDS
This section describes possible problems with internal input circuits and their corrective
actions.
(1) Internal input circuit troubleshooting
The following describes possible problems with internal input circuits and their
corrective actions.
Table 6.4 Internal Input Circuit Troubleshooting and Corrective Action
Condition
Cause
Corrective action
Example 1
• Drive by switch with LED indicator.
• Connect an appropriate resistor so that the
current across the Motion CPU becomes lower
than the off current.
DC input
(plus common)
DC input
(plus common)
Internal input
signal is not
Leakage
current
turned OFF.
Resistor
Motion CPU
Motion CPU
(Note): A calculation example of the resistance to
be connected is shown below.
Example 2
• Sneak path due to the use of two power
supplies.
DC input
Internal input
DC input
signal is not
turned OFF.
• Use only one power supply.
• Connect a sneak path prevention diode.
(Figure below)
E1
Motion CPU
E2
E1
E2
Motion CPU
E1>E2
<Calculation example of Example 1>
If a switch with LED display is connected to Motion CPU, and current of 4 [mA] is
leaked.
Motion CPU
Leakage
current 4[mA]
3.6k[ ]
Input signal
part
24VDC
(a) Because the condition for OFF voltage (0.9[mA]) of Motion CPU is not
satisfied. Connect a resistor as shown below.
4[mA]
Motion CPU
Iz=0.9[mA]
Iz=3.1[mA]
3.6k[ ]
24VDC
6 - 27
Input impedance
5.6k[ ]
6 INSPECTION AND MAINTENANCE
(b) Calculate the connecting resistor value R as indicated below.
To satisfy the 0.9 [mA] OFF current of the Motion CPU, the resistor R to be
connected may be the one where 3.1 [mA] or more will flow.
IR: Iz = Z(Input impedance): R
Iz
0.9
3
R  IR × Z(Input impedance) = 3.1 × 5.6 × 10 = 1625[ ]
R < 1625 [ ]
Assuming that resistor R is 1500 [ ], the power capacity W of resistor R is:
2
2
W = (Input voltage) ÷ R = 26.4 ÷ 1500 = 0.464 [W]
(c) The power capacity of the resistor selected is 3 to 5 times greater than the
actual current consumption. 1.5k [ ], 2 to 3 [W] resistor may therefore be
connected to the terminal in question.
6 - 28
7 EMC DIRECTIVES
7. EMC DIRECTIVES
Compliance to the EMC Directive, which is one of the EU Directives, has been a legal
obligation for the products sold in European countries since 1996 as well as the Low
Voltage Directive since 1997.
Manufacturers who recognize their products are compliant to the EMC and Low
Voltage Directives are required to declare that print a "CE mark" on their products.
MITSUBISHI
MITSUBISHI
MOTION CONTROLLER PASSED
MODEL
Q173DCPU-S1
SERIAL
M16349999
0026924699D0
C
UL
80M1
US LISTED
MODEL
5VDC 1.30A
IND. CONT. EQ.
MADE IN JAPAN
MITSUBISHI ELECTRIC CORPORATION
See Q173DCPU-S1 Instruction manual.
PASSED
MOTION CONTROLLER
Q173DSCPU
SERIAL
CE mark
C
UL
80M1
5VDC
N2X234999
US LISTED
IND. CONT.EQ.
1.75A
KCC-REI-MEKTC510A792G61
DATE:2011-11
CE mark
DATE:2011-06
KCC-REI-MEK-TC510A692051
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
See Q173DSCPU Instruction manual.
(1) Authorized representative in Europe
Authorized representative in Europe is shown below.
Name : Mitsubishi Electric Europe B.V.
Address : Gothaer strase 8, 40880 Ratingen, Germany
7.1 Requirements for Compliance with the EMC Directive
The EMC Directive specifies that products placed on the market must be so
constructed that they do not cause excessive electromagnetic interference (emissions)
and are not unduly affected by electromagnetic interference (immunity)".
Section 7.1.1 through Section 7.1.4 summarize the precautions on compliance with the
EMC Directive of the machinery constructed with the Motion controllers.
These precautions are based on the requirements and the standards of the regulation,
however, it does not guarantee that the entire machinery constructed according to the
descriptions will comply with above-mentioned directive. The method and judgement
for complying with the EMC Directive must be determined by the person who construct
the entire machinery.
7-1
7
7 EMC DIRECTIVES
7.1.1 Standards relevant to the EMC directive
The standards relevant to the EMC Directive are listed in table below.
Certification
Test item
Test details
Standard value
(Note-2)
30M-230MHz QP
EN55011:2007/A2:2007
(Note-1)
Radiated emission
EN61000-6-4:2007
EN61131-2:2007
Radio waves from the product are
measured.
AC power line
0.15M-0.5MHz QP
: 79dBµV
(Note-5)
AV
: 66dBµV
(Note-3)
EN55011:2007/A2:2007
Noise from the product to the power
(Power line)
(Note-4)
EN55022:2006/A1:2007
line and electrical communication port
(Electrical communication port) is measured.
Conducted emission
0.5M-30MHz
QP: 73dBµV
AV: 60dBµV
Electrical communication port
0.15M-0.5MHz QP, AV: Logarithmic
decrease
0.5M-30MHz QP: 87dBµV
AV: 74dBµV
EN61000-4-2:1995
+A1:1998+A2:2001
Electrostatic discharge
immunity
Immunity test in which electrostatic
discharge is applied to the product.
8kV: 10 times at 1 second interval,
Air discharge
4kV: 10 times at 1 second interval,
Contact discharge
EN61000-4-3:2006
(Note-1)
Radiated immunity
Immunity test in which electric fields
are radiated to the product.
80-1000MHz 10V/m,
1400M-2000MHz 3V/m,
2000M-2700MHz 1V/m,
80%AM modulation @1kHz
EN61000-4-4:2004
Electrical fast transient/
burst (EFT/B) immunity
Immunity test in which burst noise is
applied to the power cable and signal
line.
AC power line
: ±2kV/5kHz
DC power line
: ±2kV/5kHz
I/O, communication line : ±1kV/5kHz
EN61000-4-5:2006
Surge immunity
Immunity test in which surge is applied
to the power line and signal line.
AC power line
Common mode: ±2.5kV
Differential mode: ±1.5kV
DC power line
Common mode: ±0.5kV
Differential mode: ±0.5kV
I/O, communication line
Common mode: ±1kV
EN61000-4-6:2007
+A:2001
Conducted immunity
Immunity test in which high frequency
noise is applied to the power line and
signal line.
0.15-80MHz,
80%AM modulation @1kHz, 10Vrms
EN61000-4-11:2004
Immunity test in which power supply
has short interruptions.
0% of rated voltage, 250cycle
Test in which voltage dip is applied to
the power supply.
40% of rated voltage, 10cycle
70% of rated voltage, 25cycle
Immunity test in which voltage dip is
applied to the power supply.
0% of rated voltage, 0.5cycle 20 times
EN61000-6-2:2005
EN61131-2:2007
(Note-3)
Short interruptions immunity
(Note-3)
EN61000-4-11:2004
Voltage dip
EN61131-2:2007
: 40dBµV/m
(10m (32.81ft.) in measurement range)
230M-1000MHz QP: 47dBµV/m
(10m (32.81ft.) in measurement range)
(Note-3)
EN61131-2:2007
Voltage dip immunity
(Note-1): This product is an open type device (a device designed to be housed inside other equipment) and must be installed inside a
conductive control panel.
The corresponding test has been done with the programmable controller installed inside a control panel.
(Note-2): QP : Quasi-peak value
(Note-3): For the AC power supply line.
(Note-4): For the electrical communication port.
(Note-5): AV: Average value
7-2
7 EMC DIRECTIVES
7.1.2 Installation instructions for EMC directive
(1) Installation
Motion controller is an open type device and must be installed inside a control
panel for use.
This not only ensures safety but also ensures effective shielding of Motion
controller-generated electromagnetic noise.
(a) Control panel
1) Use a conductive control panel.
2) When attaching the control panel's top plate or base plate, expose bare
metal surface and weld so that good surface contact can be made
between the panel and plate.
3) To ensure good electrical contact with the control panel, mask the paint
on the installation bolts of the inner plate in the control panel so that
contact between surfaces can be ensured over the widest possible area.
4) Ground the control panel with a thick wire so that a low impedance
connection to ground can be ensured even at high frequencies.
5) Holes made in the control panel must be 10cm (3.94inch) diameter or
less. If the holes are 10cm (3.94 inch) or larger, radio frequency noise
may be emitted.
In addition, because radio waves leak through a clearance between the
control panel door and the main unit, reduce the clearance as much as
practicable.
The leakage of radio waves can be suppressed by the direct application
of an EMI gasket on the paint surface.
(2) Connection of power line and ground wire
It is necessary to use the Motion controller grounding terminal only when it is in
the grounded condition. Be sure to ground the grounding for the safety reasons
and EMC Directives.
Ground wire and power supply cable for the Motion controller system must be
connected as described below.
(a) Provide a grounding point near the FG terminals. Ground the FG terminals
(FG : Frame Ground) with the thickest and shortest wire possible. (The wire
length must be 30cm (11.81inch) or shorter.) The FG terminals function is to
pass the noise generated in the Motion controller system to the ground, so
wire the ground wire as short as possible to ensure a low impedance.
The wire itself carries a large noise content and thus short wiring means that
the wire is prevented from acting (noise emission) as an antenna.
7-3
7 EMC DIRECTIVES
(3) Cables
The cables extracted from the control panel contain a high frequency noise
component. On the outside of the control panel, therefore, they serve as
antennas to emit noise. To prevent noise emission, use shielded cables for the
cables which are connected to the I/O modules and intelligent function modules
and may be extracted to the outside of the control panel.
The use of a shielded cable also increases noise resistance.
The signal lines (including common line) of the programmable controller, which
are connected to I/O modules, intelligent function modules and/or extension
cables, have noise durability in the condition of grounding their shields by using
the shielded cables. If a shielded cable is not used or not grounded correctly, the
noise resistance will not meet the specified requirements.
(a) Grounding of shield section of shield cable
1) Ground the exposed shield section of the shielded cable close to the
module. When the grounded cables and the not yet grounded cables are
bundled, the cables might be induced to electromagnetic.
2) Ground the exposed shield section to spacious area on the control panel.
A clamp can be used as shown in Figure 7.2.
In this case, mask the inner wall surface when coating the control panel,
and contact the exposed shield section with the clamp at the exposed
bare metal surface.
Screw
Clamp fitting
Shield section
Shield cable
Exposed bare
metal surface
Figure 7.1 Part to be exposed
Figure 7.2 Shield grounding (Correct example)
Note) The method of grounding with a vinyl-coated wire soldered onto
the shielded section of the shielded cable as in shown Figure 7.3
is not recommended. Doing so will raise the high-frequency
impedance, resulting in loss of the shielding effect.
Shield cable
Wire
Solderless terminal, crimp contact
Figure 7.3 Shield grounding (Incorrect example)
7-4
7 EMC DIRECTIVES
(4) Precautions relevant to the electrostatic discharge
There is a weak part to electrostatic discharge in the surface of the module.
Before touching the module, always touch grounded metal, etc. to discharge
static electricity from human body. Failure to do so may cause the module to fail
or malfunction.
Do not directly touch the module's conductive parts and electronic components.
Touching them could cause an operation failure or damage the module.
7-5
7 EMC DIRECTIVES
7.1.3 Parts of measure against noise
(1) Ferrite core
A ferrite core has the effect of reducing noise in the 30MHz to 100MHz band.
It is not required to fit ferrite cores to cables, but it is recommended to fit ferrite
cores if shield cables pulled out of the enclosure do not provide sufficient
shielding effects.
Note that the ferrite cores must be fitted to the cables in the position immediately
before they are pulled out of the enclosure. If the fitting position is improper, the
ferrite will not produce any effect.
• Ferrite core (Recommended product)
Manufacturer
Model name
TDK
ZCAT3035-1330
(2) Noise filter (power supply line filter)
A noise filter is a component which has an effect on conducted noise.
The attachment of the noise filter to the power supply line of the servo amplifier
and Multiple CPU system's power supply is effective for the reducing noise.
(The noise filter has the effect of reducing conducted noise of 10 MHz or less.)
• Noise ferrite (Recommended product)
Manufacturer
Model name
Mitsubishi electric
FR-BLF
Soshin Electric
HF3010A-UN
The precautions required when installing a noise filter are described below.
(a) Do not bundle the wires on the input side and output side of the noise filter.
When bundled, the output side noise will be induced into the input side wires
from which the noise was filtered.
Input side
Input side
(power supply side) (power supply side)
Induction
Noise filter
Noise filter
Output side
(device side)
The noise will be included when the
input and output wires are bundled.
Output side
(device side)
Separate and lay the input and
output wires.
Figure 7.4 Precautions on noise filter
(b) Ground the noise filter grounding terminal to the control cabinet with the
shortest wire possible (approx. 10cm (3.94 inch)).
7-6
7 EMC DIRECTIVES
(3) Cable clamp
It is also possible to ground the exposed shielded part of the cable to the panel
with the cable clamp.
• Ground the shield at a position 20 to 30cm (7.87 to 11.81 inch) away from the
module.
• When the cables pulled out from the control panel, ground the cables at a
position 5 to 10cm (1.97 to 3.94inch) away from the input/output hole of the
control panel with the cable clamp (AD75CK), etc.
Motion controller
Inside control panel
AD75CK
20 to 30cm
(7.87 to 11.81 inch)
AD75CK
5 to 10cm
(1.97 to 3.94 inch)
• Cable clamp (Recommended product)
Manufacturer
Model name
AERSBAN-DSET
Mitsubishi electric
AERSBAN-ESET
AD75CK
CAUTION
Do not ground the cable clamp to the top of control panel. Doing so may lead to damage by drop of
screws, etc. during installation or removing the cable clamp.
7-7
7 EMC DIRECTIVES
7.1.4 Example of measure against noise
Control panel
Q61P
QnUD
CPU
Q17 D(S)
CPU
QI60
: AD75CK cable clamp
: Ferrite core (ZCAT3035-1330)
QX / Q6 AD Q172D Q173D Q172D
QY
/DA
LX
PX
EX
Battery holder
unit
(Q170DBATC)
: Ferrite core (ZCAT2032-0930)
(It is packed together with internal I/F
connector set)
3)
Encoder cable
(Note-1)
Manual pulse generator/
DI cable
1)
2)
Noise ferrite
(FR-BLF)
5)
Ethernet cable
(Shield twisted pair of category 5 or more)
SSCNET
Encoder
(Q171ENC-W8/
Q170ENC)
4)
Manual pulse
generator
(MR-HDP01)
Limit switch
cable
MCCB
AC power
supply
(Note-1): Q173DCPU(-S1)/Q172DCPU(-S1) only
1) Ground the FG terminal of the Motion controller and 24VDC power supply module to the control panel.
2) Measure against noise of the power supply cable
• Wire the power supply cable as short as possible using the twisted cable.
• Set a line filter (FR-BLF) near the exit/entrance of control panel and in secondary side of MCCB. (Approx. 4 turn)
3) Measure against noise of the encoder cable
• When the cables are extracted from the control panel, ground the cables at a position 5 to 10cm (1.97 to 3.94inch) away from the exit/entrance
of the control panel with the cable clamp, etc.
• Refer to the Section 2.5.5 and Appendix 1.2 for encoder cable.
Use shielded twisted pair cable.
4) Measure against noise of the manual pulse generator/external signal input cable
• When the cables are extracted from the control panel, ground the cables at a position 5 to 10cm (1.97 to 3.94inch) away from the exit/entrance
of the control panel with the cable clamp, etc.
• Refer to the Section 2.5.6 for manual pulse generator.
Use shielded twisted pair cable.
• Refer to the Section 2.5.4 for external signal input.
Use shielded twisted pair cable between the external signal and COM signal.
• When the cables are connected to internal I/F connector of Q173DSCPU/Q172DSCPU and extracted from the control panel, ground the
cables at a position 20 to 30cm (1.97 to 3.94inch) away from the module with the cable clamp, etc. Use a shielded cable.
• Refer to the Section 2.5.1and Appendix 1.5 for internal I/F connector cable.
5) Measure against noise of the internal I/F cable
• When the cables are extracted from the control panel, ground the cables at a position 20 to 30cm (1.97 to 3.94inch) away from the module
with the cable clamp, etc. Use a shielded cable.
(1) Refer to Section 2 for the following cables.
• Ethernet cable
• USB cable
• SSCNET cable
• Battery cable
• Forced stop input cable
7-8
7 EMC DIRECTIVES
(2) In wiring inside the panel, the power line connected to the power or servo amplifier
and the communication cable such as bus connection cable or network cable
must not be mixed. If the cables are installed closely with each other for wiring
reasons, using a separator (made of metal) can make the cables less influenced
by noise.
Mixing the power line and communication cable may cause malfunction due to
noise.
7-9
7 EMC DIRECTIVES
MEMO
7 - 10
APPENDICES
APPENDICES
APPENDIX 1 Cables
In this cable connection diagram, maker names of connectors are omitted.
Refer to "APPENDIX 2.8 Connector" for maker names of connectors.
APPENDIX 1.1 SSCNET
cables
Generally use the SSCNET cables available as our products.
Refer to APPENDIX 1.7 for long distance cable up to 100(328.08)[m(ft.)] and ultra-long
bending life cable.
(1) Model explanation
Numeral in the column of cable length on the table is a symbol put in the " " part
of cable model. Cables of which symbol exists are available.
Cable length [m(ft.)]
Cable model
MR-J3BUSM
0.15
(0.49)
0.3
(0.98)
0.5
(1.64)
1
(3.28)
3
(9.84)
015
03
05
1
3
5
(16.40)
MR-J3BUSM-A
10
(32.81)
5
10
MR-J3BUSM-B (Note-1)
20
(65.62)
30
(98.43)
40
50
(131.23) (164.04)
20
30
40
50
Bending life
Application/
remark
Standard
Standard cord for
inside panel
Standard
Standard cable for
outside panel
Long bending Long distance
life
cable
(Note-1) : For the cable of less than 30[m](98.43[ft.]), contact your nearest Mitsubishi sales representative.
(2) Specifications
Description
MR-J3BUS M
0.15
(0.49)
cable length [m(ft.)]
Minimum bend radius
[mm(inch)]
Tension strength [N]
0.3 to 3
(0.98 to 9.84)
MR-J3BUS M-B
5 to 20
(16.40 to 65.62)
30 to 50
(98.43 to 164.04)
Enforced covering cord: 50 (1.97) Enforced covering cord: 50 (1.97)
Cord: 25 (0.98)
Cord: 30(1.18)
25(0.98)
70
MR-J3BUS M-A
140
420 (Enforced covering cord)
-40 to 80
(-40 to 176)
Temperature range
(Note-1)
for use [°C(°F)]
Indoors (no direct sunlight), No solvent or oil
Optical cable
(Cord)
External appearance
[mm(inch)]
2.2 0.07
(0.09 0.003)
10.16(Note-2)
(0.40)
4.4 0.1
(0.17 0.004)
4.4 0.1
(0.17 0.004)
6 0.2
(0.24 0.008)
4.4 0.4
(0.17 0.016)
2.2 0.2
(0.09 0.008)
Ambient
980 (Enforced covering cord)
-20 to 70
(-4 to 158)
2.2 0.07
(0.09 0.003)
SSCNET
cable model
2.2 0.07
(0.09 0.003)
SSCNET
7.6 0.5
(0.30 0.02)
(Note-1): This temperature range for use is the value for optical cable (cord) only.
(Note-2): Dimension of connector fiber insert location. The distance of two cords is changed by how to bend it.
App - 1
App.
APPENDICES
POINTS
(1) If the end face of cord tip for the SSCNET cable is dirty, optical transmission
is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a
bonded textile, etc. Do not use solvent such as alcohol.
(2) Do not add impossible power to the connector of the SSCNET
cable.
(3) When incinerating the SSCNET cable (optical fiber), hydrogen fluoride gas or
hydrogen chloride gas which is corrosive and harmful may be generated. For
disposal of the SSCNET cable (optical fiber), request for specialized
industrial waste disposal services who has incineration facility for disposing
hydrogen fluoride gas or hydrogen chloride gas.
(a) MR-J3BUS M
1) Model explanation
Type: MR-J3BUS MSymbol
Cable type
None Standard cord for inside panel
A
Standard cable for outside panel
Long distance cable
B
Symbol
015
03
05
1
3
5
10
20
30
40
50
Cable length [m(ft.)]
0.15(0.49)
0.3(0.98)
0.5(1.64)
1(3.28)
3(9.84)
5(16.40)
10(32.81)
20(65.62)
30(98.43)
40(131.23)
50(164.04)
2) Exterior dimensions
• MR-J3BUS015M
[Unit: mm(inch)]
6.7(0.26)
15 13.4
(0.59) (0.53)
37.65
(1.48)
20.9(0.82)
Protective tube
1.7(0.07)
2.3(0.09)
8+0
(0.31)
150 +50
-0
(5.91)
App - 2
APPENDICES
• MR-J3BUS03M to MR-J3BUS3M
Refer to the table of this section (1) for cable length (L).
[Unit: mm(inch)]
Protective tube (Note)
100
(3.94)
100
(3.94)
L
(Note) : Dimension of connector part is the same as that of MR-J3BUS015M.
• MR-J3BUS5M-A to MR-J3BUS20M-A,MR-J3BUS30M-B to
MR-J3BUS50M-B
Refer to the table of this section (1) for cable length (L).
SSCNET
Protective tube
Variation [mm(inch)]
cable
A
B
MR-J3BUS5M-A to MR-J3BUS20M-A
100(3.94)
30(1.18)
MR-J3BUS30M-B to MR-J3BUS50M-B
150(5.91)
50(1.97)
[Unit: mm(inch)]
(Note)
(A)
(B)
(B)
(A)
L
(Note) : Dimension of connector part is the same as that of MR-J3BUS015M.
POINTS
Keep the cap and the tube for protecting light cord end of SSCNET cable in a
plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty.
App - 3
APPENDICES
APPENDIX 1.2 Serial absolute synchronous encoder cable
Generally use the serial absolute synchronous encoder cables available as our
products. If the required length is not found in our products, fabricate the cable on the
customer side.
(1) Selection
The following table indicates the serial absolute synchronous encoder cables
used with the serial absolute synchronous encoder.
Connector sets are also available for your fabrication.
Table 1.1 Wire models
Type
Length [m(ft.)]
Q170ENCCBLM
2(6.56), 5(16.40),
10(32.81), 20(65.62),
30(98.43), 50(164.04)
Q170ENCCBLM-A
Wire model
Remark
M14B0023 12 pair (BLACK)
Q171ENC-W8/Q170ENC
Q172DEX
Q171ENC-W8
MR-J4-B-RJ
J14B103715-00 12 pair (BLACK)
Use the following or equivalent twisted pair cables as the serial absolute
synchronous encoder cables.
Table 1.2 Connector sets
Connector sets type
Description
Q170ENCCNS
• Connector shell kits
• Plug cable clamp
MR-J3CN2
• Servo amplifier connector
Remark
Q171ENC-W8/Q170ENC
Q171ENC-W8
Q172DEX
MR-J4-B-RJ
Table 1.3 Wire specifications
Characteristics of one core
Wire model
M14B0023 12 pair
(BLACK)
J14B103715-00 12 pair
(BLACK)
Core
size
2
[mm ]
0.2
Number of
cores
24(12 pair)
Conductor
resistance
[ /km]
Structure
[Number of
wires/mm]
40/0.08
105 or less
Insulating
sheath OD
d[mm (inch)]
(Note-1)
Finished OD
[mm (inch)]
(Note-2)
Remark
11.0 (0.43)
Q171ENC-W8/Q170ENC
Q172DEX
0.88 (0.035)
9.0 (0.35)
Q171ENC-W8
MR-J4-B-RJ
(Note-1): "d" is as shown below.
d
Insulation sheath
Conductor
(Note-2): Standard OD (Outside Diameter). Maximum OD is about 10% larger.
CAUTION
When fabricating the encoder cable, do not make incorrect connection. Wrong connection will
cause runaway or explosion.
App - 4
APPENDICES
(2) Q170ENCCBL M
(a) Model explanation
Type: Q170ENCCBL M
Symbol
2
5
10
20
30
50
Cable length [m(ft.)]
2(6.56)
5(16.40)
10(32.81)
20(65.62)
30(98.43)
50(164.04)
(b) Connection diagram
When fabricating a cable, use the recommended wire and connector set
(Q170ENCCNS) for encoder cable given on this section (1), and make the
cable as shown in the following connection diagram. Maximum cable length
is 50m(164.04ft.).
SY.ENC connector
1
2
LG
12
3
LG
13
LG
15
TREN.
COM
LG
4
5
TREN
16
7
MD
17
MR
8
MRR
18
19
P5
9
P5
10
Q171ENC-W8/
Q170ENC
P5
P5
MDR
Synchronous
encoder
SY.ENC
1 or 2
A
19
11
P5
LG
20
12
P5
LG
18
2
BAT
LG
MR
MRR
MD
MDR
9
1
7
17
6
16
J
T
H
SD plate
P5
LG
E
BAT
K
L
H
J
MR
MRR
MD
MDR
N
SHD
S
B
P
V
C
R D
View B
Pin
A
B
C
D
E
F
G
H
J
Encoder side
D/MS3106B22-14S(plug)
D/MS3057-12A(cable clamp)
S
R
A
N
G F E
B
View A
Q172DEX side
10120-3000PE(connector)
10320-52F0-008(connector case)
U
K
50m(164.04ft.) or less
20
M
L
P5
P5
LG
Encoder connector
Synchronous encoder cable
14
6
Encoder connector
Q172DEX
11
LG
Signal
BAT
MD
MDR
Pin
K
L
M
N
P
R
S
T
Signal
MR
MRR
SHD
LG
P5
(Note): Wire the cable as shown in figure below so that twisted
pair for signal do not touch.
: Twisted pair for signal
(BAT/LG, MR/MRR, MD/MDR)
: Twisted pair (P5/LG)
: Core
:Twisted pair cable
Cable cross-section
diagram
Cable length 50m(164.04[ft.]) or less
App - 5
APPENDICES
(3) Q170ENCCBL M-A
(a) Model explanation
Type: Q170ENCCBL M-A
Symbol
2
5
10
20
30
50
Cable length [m(ft.)]
2(6.56)
5(16.40)
10(32.81)
20(65.62)
30(98.43)
50(164.04)
(b) Connection diagram
When fabricating a cable, use the recommended wire and connector set
(MR-J3CN2) for encoder cable given on this section (1), and make the
cable as shown in the following connection diagram. Maximum cable length
is 50m(164.04ft.).
Encoder connector
MR-J4- B-RJ
Q171ENC-W8/
Q170ENC
CN2L connector
2
LG
6
8
MRR2
MDR2
1
P5
Synchronous encoder cable
10
4
5
7
MR2
MD2
BAT
A
P5
LG
T
J
H
1
2
S
R
P5
LG
BAT
9
E
BAT
MR2
MRR2
MD2
MDR2
3
4
7
8
K
L
H
J
MR
MRR
MD
MDR
N
SHD
SD plate
A
N
S
B
P
V
C
R D
G F E
B
View B
Pin
A
B
C
D
E
F
G
H
J
Encoder side
D/MS3106B22-14S(plug)
D/MS3057-12A(cable clamp)
MR-J4- B-RJ side
36210-0100PL (plug)
36310-3200-008(shell)
U
K
50m(164.04ft.) or less
View A
M
L
Synchronous
encoder
CN2L
9
3
Encoder connector
Signal
BAT
MD
MDR
Pin
K
L
M
N
P
R
S
T
Signal
MR
MRR
SHD
LG
P5
(Note): Wire the cable as shown in figure below so that twisted
pair for signal do not touch.
: Twisted pair for signal
(BAT/LG, MR/MRR, MD/MDR)
: Twisted pair (P5/LG)
: Core
:Twisted pair cable
Cable length 50m(164.04[ft.]) or less
App - 6
Cable cross-section
diagram
APPENDICES
APPENDIX 1.3 Battery cable
Generally use the battery cable available as our products. If the required length is not
found in our products, fabricate the cable on the customer side. Make the battery cable
within 0.5m(1.64ft.).
(1) Q170DBATCBL M
(a) Model explanation
Type : Q170DBATCBL M
Symbol
05
Cable length [m(ft.)]
0.5(1.64)
(b) Connection diagram
CPU module side
Battery holder side
4
1
A
B
3
1
View B
View A
50351-8100 (Terminal)
51103-0400 (Connector)
1376476-1 (Terminal)
1376477-3 (Connector)
+
4
1
+
2
N.C.
-
3
3
-
N.C.
2
FG
1
: Twisted pair cable
(Note) : Use a cable of wire size AWG24.
App - 7
APPENDICES
APPENDIX 1.4 Forced stop input cable
Generally use the forced stop input cable available as our products. If the required
length is not found in our products, fabricate the cable on the customer side. Make the
forced stop input cable within 30m(98.43ft.).
(1) Q170DEMICBL M
(a) Model explanation
Type : Q170DEMICBL M
Symbol
05
1
3
5
10
15
20
25
30
Cable length [m(ft.)]
0.5(1.64)
1(3.28)
3(9.84)
5(16.40)
10(32.81)
15(49.21)
20(65.62)
25(82.02)
30(98.43)
(b) Connection diagram
CPU module side
Solderless terminal
2
1
5556PBTL
(Terminal)
5557-02R-210 (Connector)
Solderless terminal size: R1.25-3.5
EMI.COM
2
EMI.COM
EMI
1
EMI
: Twisted pair cable
(Note) : Use a cable of wire size AWG22.
App - 8
APPENDICES
APPENDIX 1.5 Internal I/F connector cable
Fabricate the internal I/F connector cable on the customer side.
(1) Differential-output type
(a) Connection diagram
Make the cable within 30m(98.43ft.).
Attach a ferrite core included with the internal I/F connector set within 1 to
5(0.39 to 1.97)[cm(inch)] from the Motion CPU module.
Ferrite core (TDK make)
Type: ZCAT2032-0930
CPU module side
25
Solderless terminal
50
A
1
26
View A
HDR-E50MSG1+ (Connector)
HDR-E50LPH (Connector case)
HBH
22
HBH
HBL
24
HBL
HAH
18
HAH
HAL
20
HAL
HB
23
SG
13
HA
19
SG
41
SG
40
5V
39
5V
38
Differential-output type
Manual pulse generator/
incremental synchronous encoder side
5VGND
5V
DI1
6
COM
1
DI3
4
DI3
DI2
5
DI2
COM
2
DI4
3
DI1
Input signal/mark detection input side
DI4
DICOM
FG
Shell
FG
: Twisted pair cable
(Note): Wire the cable as shown in figure below so that twisted pair for signal do not touch.
: Twisted pair for signal
(HBH/HBL, HAH/HAL, DI1/COM, DI2/COM, DI3/COM, DI4/COM)
: Twisted pair (5V/SG)
: Core
Cable cross-section diagram
App - 9
APPENDICES
(2) Voltage-output/Open-collector type
(a) Connection diagram
Make the cable within 10m(32.81ft.).
Attach a ferrite core included with the internal I/F connector set within 1 to
5(0.39 to 1.97)[cm(inch)] from the Motion CPU module.
Ferrite core (TDK make)
Type: ZCAT2032-0930
CPU module side
25
Solderless terminal
50
A
1
26
View A
HDR-E50MSG1+ (Connector)
HDR-E50LPH (Connector case)
HBH
22
HBL
24
HAH
18
HAL
20
HB
23
SG
13
HA
19
HA
SG
41
5VGND
SG
40
5V
39
5V
38
HB
Voltage-output/Open-collector type
Manual pulse generator/
incremental synchronous encoder side
5V
DI1
6
COM
1
DI3
4
DI3
DI2
5
DI2
COM
2
DI4
3
DI1
Input signal/mark detection input side
DI4
DICOM
FG
Shell
FG
: Twisted pair cable
(Note): Wire the cable as shown in figure below so that twisted pair for signal do not touch.
: Twisted pair for signal
(HB/SG, HA/SG, DI1/COM, DI2/COM, DI3/COM, DI4/COM)
: Twisted pair (5V/SG)
: Core
Cable cross-section diagram
App - 10
APPENDICES
CAUTION
When fabricating the internal I/F connector cable, do not make incorrect connection.
Doing so may cause an operation failure or damage the module.
When fabricating the internal I/F connector cable, be sure to attach a ferrite core
(ZCAT2030-0930).
Not doing so may cause an operation failure or damage the module with noise.
App - 11
APPENDICES
APPENDIX 1.6 RIO cable
Generally use the RIO cable available as our products. If the required length is not
found in our products, fabricate the cable on the customer side. Make the RIO cable
within 0.5m(1.64ft.).
(1) Q173DSXYCBL M
(a) Model explanation
Type: Q173DSXYCBL M
Symbol
01
05
Cable length [m(ft.)]
0.1(0.33)
0.5(1.64)
(b) Connection diagram
CPU module side
3
Q173DSXY side
A
1
1
B
View A
3
View B
50351-8100 (Terminal)
51103-0300 (Connector)
50351-8100 (Terminal)
51103-0300 (Connector)
TXRXH
1
1
TXRXH
TXRXL
2
2
TXRXL
SG
3
3
SG
: Twisted pair cable
(Note) : Use a cable of wire size AWG24.
App - 12
APPENDICES
APPENDIX 1.7 SSCNET cables (SC-J3BUS M-C) manufactured by Mitsubishi Electric
System & Service
POINTS
• For the details of the SSCNET cables, contact your local sales office.
• Do not look directly at the light generated from CN1A/CN1B connector of servo
amplifier or the end of SSCNET cable. The light can be a discomfort when it
enters the eye.
The cable is available per 1[m] up to 100[m]. The number of the length (1 to 100) will
be in the part in the cable model.
Cable model
SC-J3BUS M-C
Cable length [m(ft.)]
1 to 100 (3.28 to 328.08)
1 to 100
App - 13
Bending life
Application/remark
Ultra-long bending life
Long distance cable
APPENDICES
APPENDIX 2 Exterior Dimensions
APPENDIX 2.1 Motion CPU module
(1) Q172DSCPU
[Unit: mm (inch)]
Q172DSCPU
CD
AB E
789
CD
AB E
F01
45
23 6
45
23 6
F01
789
1
SW
2
STOP RUN
98(3.86)
EXT.I/F
CN1
PERIPHERAL I/F
EMI
22.5(0.89)
PULL
FRONT
RIO
41.1(1.62)
26(1.02)
6(0.24)
27.4(1.08)
120.3(4.74)
(2) Q173DSCPU
[Unit: mm (inch)]
Q173DSCPU
CD
AB E
789
CD
AB E
F01
45
23 6
45
23 6
F01
789
1
SW
2
STOP RUN
98(3.86)
CN2
EXT.I/F
CN1
PERIPHERAL I/F
EMI
FRONT
RIO
41.1(1.62)
6(0.24)
26(1.02)
27.4(1.08)
120.3(4.74)
App - 14
22.5(0.89)
PULL
APPENDICES
(3) Q172DCPU
[Unit: mm (inch)]
Q172DCPU
CDE
AB
789
CD
AB E
F01
45
23 6
45
23 6
F01
789
1
SW
2
STOP RUN
CAUTION
CN1
98(3.86)
EMI
23(0.91)
27.4(1.08)
119.3(4.70)
4(0.16)
FRONT
BAT
(4) Q173DCPU
[Unit: mm (inch)]
Q173DCPU
CDE
AB
789
CD
AB E
F01
45
23 6
45
23 6
F01
789
1
SW
2
STOP RUN
CAUTION
CN2
CN1
98(3.86)
EMI
23(0.91)
27.4(1.08)
119.3(4.70)
App - 15
4(0.16)
FRONT
BAT
APPENDICES
(5) Q172DCPU-S1
[Unit: mm (inch)]
Q172DCPU-S1
CDE
AB
789
CD
AB E
F01
45
23 6
45
23 6
F01
789
1
SW
2
STOP RUN
PERIPHERAL I/F
CN1
98(3.86)
CAUTION
EMI
23(0.91)
27.4(1.08)
119.3(4.70)
4(0.16)
FRONT
BAT
RIO
(6) Q173DCPU-S1
[Unit: mm (inch)]
Q173DCPU-S1
CDE
AB
789
CD
AB E
F01
45
23 6
45
23 6
F01
789
1
SW
2
STOP RUN
PERIPHERAL I/F
CN2
CN1
98(3.86)
CAUTION
EMI
23(0.91)
27.4(1.08)
119.3(4.70)
App - 16
4(0.16)
FRONT
BAT
RIO
APPENDICES
APPENDIX 2.2 Servo external signals interface module (Q172DLX)
[Unit: mm (inch)]
98(3.86)
Q172DLX
CTRL
23(0.91)
90(3.54)
27.4(1.08)
45(1.77)
4(0.16)
Q172DLX
APPENDIX 2.3 Synchronous encoder interface module (Q172DEX)
[Unit: mm (inch)]
Q172DEX
SY.ENC1
98(3.86)
SY.ENC TREN
1
1
2
2
Q172DEX
4.2(0.17)
90(3.54)
39(1.54)
App - 17
23(0.91)
27.4(1.08)
4(0.16)
LITHIUM BATTERY
MITSUBISHI
SY.ENC2
APPENDICES
APPENDIX 2.4 Manual pulse generator interface module (Q173DPX)
[Unit: mm (inch)]
Q173DPX
PLS.B
1
2
3
TREN
1
2
3
98(3.86)
PLS.A
1
2
3
PULSER
1 2 3 4 5 6
ON
Q173DPX
90(3.54)
45(1.77)
4(0.16)
23(0.91)
27.4(1.08)
APPENDIX 2.5 Safety signal module (Q173DSXY)
[Unit: mm (inch)]
Q173DSXY
Q173DSXY
PLC
IO
23(0.91)
90(3.54)
45(1.77)
App - 18
27.4(1.08)
4(0.16)
RIO2 RIO1 SW
FRONT
98(3.86)
Motion
IO
APPENDICES
APPENDIX 2.6 Power supply module
[Unit: mm (inch)]
(1) Q61P-A1, Q61P-A2, Q61P, Q62P, Q63P
POWER
98(3.86)
Q61P
PULL
MITSUBISHI
90(3.54)
55.2(2.17)
(2) Q64P
[Unit: mm (inch)]
POWER
98(3.86)
Q64P
PULL
MITSUBISHI
115(4.53)
55.2(2.17)
App - 19
APPENDICES
(3) Q64PN
[Unit: mm (inch)]
POWER
98(3.86)
Q64PN
PULL
MITSUBISHI
115(4.53)
55.2(2.17)
App - 20
APPENDICES
APPENDIX 2.7 Battery holder unit (Q170DBATC)
[Unit: mm (inch)]
2- 5.3(0.21)
(Fixing screw M5 14)
11.6
(0.46)
App - 21
30(1.18)
18.4(0.72)
7.5
(0.30)
CPU
80(3.15)
60(2.36)
45(1.77)
Q170DBATC
BATTERY
40(1.57)
APPENDICES
APPENDIX 2.8 Connector
(1) Cable connector for serial absolute synchronous encoder
(Sumitomo 3M Limited make (MDR type))
Number of pins
Solder connection type
(Quick release metal latch type)
Solder connection type
(Threaded type)
Insulation displacement type
(Quick release metal latch type)
Connector
Connector case
10120-3000PE
10320-52F0-008
10120-3000PE
10320-52A0-008
(Note)
10120-6000EL
(Note)
10320-3210-000
(Note): These connectors are not options. Please purchase them by customer.
(a) Solder connection type (Quick release metal latch type)
Type Connector
: 10120-3000PE
Connector case : 10320-52F0-008
[Unit: mm (inch)]
22.0
(0.87)
14.0
(0.55)
33.3
(1.31)
12.7
(0.50)
23.8(0.94)
39.0(1.54)
10.0(0.39)
12.0(0.47)
(b) Solder connection type (Threaded type)
Type Connector
: 10120-3000PE
Connector case : 10320-52A0-008
10.0(0.39)
[Unit: mm (inch)]
12.0(0.47)
22.0(0.87)
14.0(0.55)
33.3(1.31)
12.7
(0.50)
23.8(0.94)
39.0(1.54)
27.4(1.08)
5.7
(0.22)
20
Type
Type
App - 22
APPENDICES
(c) Insulation displacement type (Quick release metal latch type)
Type Connector
: 10120-6000EL
Connector case : 10320-3210-000
11.5(0.45)
[Unit: mm (inch)]
6.7
42.0(1.65)
33.0(1.30)
Position where e.g. logo is indicated
20.9
2- 0.5(0.02)
29.7(1.17)
(2) Cable connector for serial absolute synchronous encoder
(Sumitomo 3M Limited make (SCR type))
Type Plug: 36210-0100PL
Shell: 36310-3200-008
[Unit: mm (inch)]
8
(0.31)
10
(0.39)
39.6(1.56)
34.8(1.37)
22.4(0.88)
22.7(0.89)
11
(0.43)
App - 23
APPENDICES
(3) SSCNET
cable connector
[Unit: mm (inch)]
13.4
(0.53)
4.8(0.19)
2.3
(0.09)
9.3(0.37)
6.7
(0.26)
15
(0.59)
1.7
(0.07)
17.6 0.2
(0.69 0.01)
8
(0.31)
20.9 0.2
(0.82 0.01)
(4) Battery cable connector
(a) Battery holder side (Tyco Electronics AMP K.K make)
Type Connector : 1376477-3
Terminal : 1376476-1
5.4
(0.21)
6.5 (0.26)
[Unit: mm (inch)]
8.3 (0.33)
8.2 (0.32)
10.0 (0.39)
(b) CPU module side (Molex Incorporated make)
Type Connector : 51103-0400
Terminal : 50351-8100
[Unit: mm (inch)]
7.5 (0.30)
5.8
(0.23)
9.5 (0.37)
12.2 (0.48)
10.5 (0.41)
App - 24
APPENDICES
(5) Forced stop input connector (Molex Incorporated make)
Type Connector : 5557-02R-210
Terminal : 5556PBTL
[Unit: mm (inch)]
10.6
(0.42)
9.6
(0.38)
6.3
(0.25)
8.5
(0.33)
10.7
(0.42)
19.6 (0.77)
5.4
(0.21)
3.5
(0.14)
(6) Internal I/F connector (HONDA TSUSHIN KOGYO CO., LTD.
make)
Type Connector
: HDR-E50MSG1+
(Soldering type)
HDR-E50MAG1+ (AWG30) (Pressure-displacement type)
HDR-E50MG1+ (AWG28) (Pressure-displacement type)
Connector case : HDR-E50LPH
[Unit: mm (inch)]
22.8(0.90)
33.8(1.33)
App - 25
34.59(1.36)
38.14(1.50)
3(0.12)
25.34(1.00)
9(0.35)
8
(0.31)
10
(0.39)
APPENDICES
(7) RIO connector (Molex Incorporated make)
Type Connector: 55103-300
Terminal: 50351-8100
[Unit: mm (inch)]
7.5(0.30)
5.8
(0.23)
9.5(0.37)
9.7(0.38)
8(0.31)
App - 26
APPENDICES
APPENDIX 2.9 Manual pulse generator (MR-HDP01)
[Unit: mm (inch)]
0.5
3.6(0.14)
3 Studs (M4 10)
PCD72, equi-spaced
1
80(3.15)
60(2.36)
70
50(1.97)
20
80
30
0.5
90
70(2.76)
0
10
27.0
(1.06)
+5to
12V 0V
A
B
60
40
50
M3 6
3- 4.8(0.19)
16
20
(0.63) (0.79)
Packing t=2.0
72 0.2
(2.8
3)
62 +
(2. -0 2
44
)
equi-spaced
Space
The figure of a processing disc
App - 27
8.89
(0.35)
7.6
(0.30)
APPENDICES
APPENDIX 2.10 Serial absolute synchronous encoder
(1) Q171ENC-W8
[Unit: mm (inch)]
85(3.35)
58.5(2.30)
29(1.14)
7(0.28)
45
8.72
(0.34)
8.72
(0.34)
(0.37)
0
A'
9.52 -0.008
0
75(2.95) -0.020
40(1.57)
A
Cross-section
diagram AA'
(0.88)
123.25(4.85)
22.25
4- 5.5(0.22)
2(0.08)
14(0.55)
58.5(2.30)
4)
.9
(3
0
10
30(1.18)
42(1.65)
37.5(1.48)
(2) Q170ENC
[Unit: mm (inch)]
85(3.35)
58.5(2.30)
29(1.14)
7(0.28)
45
37.5(1.48)
App - 28
8.72
(0.34)
8.72
(0.34)
0
(0.37)
0
42(1.65)
9.52 -0.008
A'
(0.88)
22.25
4- 5.5(0.22)
A
75(2.95) -0.020
40(1.57)
123.25(4.85)
3
0(
2(0.08)
14(0.55)
58.5(2.30)
10
4)
.9
30(1.18)
Cross-section
diagram AA'
WARRANTY
Please confirm the following product warranty details before using this product.
1. Gratis Warranty Term and Gratis Warranty Range
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as
the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the
distributor from which you purchased the Product or our service provider. However, we will charge the actual cost
of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We
are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are
repaired or replaced.
[Gratis Warranty Term]
The term of warranty for Product is thirty six (36) months after your purchase or delivery of the Product to a place
designated by you or forty two (42) months from the date of manufacture whichever comes first "Warranty Period".
Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.
[Gratis Warranty Range]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged.
However, it will not be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with
the terms and conditions and instructions that are set forth in the instruction manual and user manual for the
Product and the caution label affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
1) A failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure
caused by your hardware or software problem
2) A failure caused by any alteration, etc. to the Product made on your side without our approval
3) A failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is
equipped with a safety device required by applicable laws and has any function or structure considered to
be indispensable according to a common sense in the industry
4) A failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc.
are duly maintained and replaced
5) Any replacement of consumable parts (battery, fan, etc.)
6) A failure caused by external factors such as inevitable accidents, including without limitation fire and
abnormal fluctuation of voltage, and acts of God, including without limitation earthquake, lightning and
natural disasters
7) A failure generated by an unforeseeable cause with a scientific technology that was not available at the
time of the shipment of the Product from our company
8) Any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Onerous Repair Term after Discontinuation of Production
(1) We may accept the repair at charge for another seven (7) years after the production of the product is
discontinued.
The announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product; However, the terms and
conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability
Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for
which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product,
any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are
foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation
for any replacement work, readjustment, start-up test run of local machines and the Product and any other
operations conducted by you.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Precautions for Choosing the Products
(1) For the use of our Motion controller, its applications should be those that may not result in a serious damage
even if any failure or malfunction occurs in Motion controller, and a backup or fail-safe function should operate
on an external system to Motion controller when any failure or malfunction occurs.
(2) Our Motion controller is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other
power plants of electric power companies, and also which require a special quality assurance system, including
applications for railway companies and government or public offices are not recommended, and we assume no
responsibility for any failure caused by these applications when used.
In addition, applications which may be substantially influential to human lives or properties for such as airlines,
medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment,
entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any
failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality
for a specific application. Please contact us for consultation.
Microsoft, Windows, Windows NT, and Windows Vista are registered trademarks of Microsoft Corporation in
the United States and other countries.
Ethernet is a trademark of Xerox Corporation.
All other company names and product names used in this manual are trademarks or registered trademarks
of their respective companies.
IB(NA)-0300133-J